CN207734338U - A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism - Google Patents
A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism Download PDFInfo
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- CN207734338U CN207734338U CN201720728905.XU CN201720728905U CN207734338U CN 207734338 U CN207734338 U CN 207734338U CN 201720728905 U CN201720728905 U CN 201720728905U CN 207734338 U CN207734338 U CN 207734338U
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- leg member
- sliding slot
- leg
- solid lock
- regulating mechanism
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Abstract
The utility model discloses a kind of leg length regulating mechanism of lower limbs rehabilitation training robot, including leg member, small leg member and solid lock mechanism；It is provided with sliding slot along its length on the leg member, one end of the small leg member is slidably disposed in the sliding slot, the solid lock mechanism is set on the leg member, and the current sliding position for being locked at the small leg member in the sliding slot.Leg length regulating mechanism disclosed in the utility model, after position of the small leg member in sliding slot is adjusted, the Leg length overall length of robot also adjusts completion, is fixed again by solid lock mechanism later, and patient can carry out rehabilitation training to Energy and comfort.And different patients can arbitrarily carry out length adjustment by unlocking solid lock mechanism, therefore improve the scope of application of patient.A kind of lower limbs rehabilitation training robot including above-mentioned leg length regulating mechanism is also disclosed in the utility model, and advantage is as described above.
Description
Technical field
The utility model is related to the field of medical instrument technology, more particularly to a kind of leg of lower limbs rehabilitation training robot is long
Spend regulating mechanism.The utility model further relates to a kind of lower limbs rehabilitation training robot including above-mentioned leg length regulating mechanism.
Background technology
With the development of medical technology, more and more Medical Devices have been used widely.
The type of Medical Devices is various, generally comprises diagnostic device class, therapeutic equipment class and ancillary equipment class.Wherein, it examines
Disconnected equipment class can be divided into x-ray diagnostic equipment, ultrasonic diagnostic equipment, functional check equipment, endoscopic device, nuclear medicine and set
Standby, laboratory diagnosis equipment and pathological diagnosis equipment etc.；Therapeutic equipment class can be divided into ward nursing equipment, surgical apparatus, radiation are controlled
Treat equipment, nuclear medicine treatments equipment, physics and chemistry equipment, laser equipment, dialysis treatment equipment, body temperature freezing equipment, first-aid apparatus etc.；
Ancillary equipment class can be divided into sterilization device, refrigeration equipment, central suction and oxygen system, air-conditioning equipment, pharmaceutical machine are set
Standby, blood bank's equipment, medical data processing equipment, medical video recording photographic equipment etc..
Healing robot technology is then the emerging robot technology rapidly developed in recent years, is that robot technology is being cured
The new opplication in field and a kind of important auxiliary medical equipment.Healing robot has become international community's research at present
One of hot spot, for the patients such as apoplexy, hemiplegia, the damage of lower extremity movement technical ability, lower limbs rehabilitation training robot has very well
Therapeutic effect.
Currently, generally there is lower limbs rehabilitation training robot the wearing cavity similar with mankind's lower limb skeletons, patient can incite somebody to action
Lower limb penetrate wherein, using the control of mechanical structure and controller and all kinds of power, the feedback of velocity sensor, can assist suffering from
Person walks, and patient's lower limb is gradually made to restore normal function.
However, lower limbs rehabilitation training robot in the prior art, wearing cavity is unitary design, each machinery
The size of structure member can not change easily, and the wearing cavity of the same model can only adapt to the patient of a small number of heights or build,
Remaining patient can only separately seek the lower limbs rehabilitation training robot of other models.Also, even if patient's use and itself lower limb size
When adaptable lower limbs rehabilitation training robot carries out rehabilitation training, the size that also tends to carry out wearing cavity finely tune (under
Limb training generally requires adjustment length).
Therefore, how to make the leg length of lower limbs rehabilitation training robot adjustable, improve the scope of application of patient, be ability
Field technique personnel technical problem urgently to be resolved hurrily.
Utility model content
The purpose of this utility model is to provide a kind of leg length regulating mechanism of lower limbs rehabilitation training robot, can make
The leg length of lower limbs rehabilitation training robot is adjustable, improves the scope of application of patient.The utility model another object is that carrying
For a kind of lower limbs rehabilitation training robot including above-mentioned leg length regulating mechanism.
In order to solve the above technical problems, the utility model provides a kind of leg length adjusting of lower limbs rehabilitation training robot
Mechanism, including leg member, small leg member and solid lock mechanism；Sliding slot, institute are provided on the leg member along its length
The one end for stating small leg member is slidably disposed in the sliding slot, and the solid lock mechanism is set on the leg member, and
Current sliding position for being locked at the small leg member in the sliding slot.
Preferably, the solid lock mechanism specifically include the solid lock column being set in the detent surface, be set to it is described solid
Mounting groove on lock pillar surface matches with the mounting groove and merges compressor arm for compressing the shank component surface, detachably
Ground is arranged on the leg member surface and the locking member for fixing the compressor arm；It is provided on the small leg member
The center through hole for passing through the solid lock column when for being slided in the sliding slot.
Preferably, length direction of the length direction of the mounting groove perpendicular to the sliding slot.
Preferably, the locking member specifically includes locating piece and locking member, is arranged on the bottom surface of the locating piece useful
In the groove for installing the compressor arm, the bottom surface both side position of the locating piece is tightly attached to the two side upper surface of the sliding slot
On, so that the groove is aligned the mounting groove；The bottom surface of the locking member is bonded with the surface of the locating piece, and the lock
The hold-down column for being abutted across the groove and with the compressor arm installed in it is provided on the bottom surface of tight part；The solid lock
Vertical corresponding position on column, locating piece and locking member is offered for the fastener hole with appended claims.
Preferably, the fastener hole is specially threaded hole.
Preferably, reversed equally distributed wave-shaped groove, and institute along its length is provided on the surface of the small leg member
It is specially the straight pin coordinated with the wave-shaped groove to state compressor arm.
The utility model also provides a kind of lower limbs rehabilitation training robot, including body and the leg that is set on the body
Portion's length adjustment mechanism, wherein the leg length regulating mechanism is specially that leg length described in any one of the above embodiments adjusts machine
Structure.
The leg length regulating mechanism of lower limbs rehabilitation training robot provided by the utility model includes mainly thigh structure
Part, small leg member and solid lock mechanism.Wherein, leg member and small leg member are respectively the skeletal structure part of contoured design, big
Sliding slot is provided on leg member, which extends along the length direction of leg member.One end of small leg member is arranged in sliding slot,
It can reciprocatingly slide in sliding slot.Solid lock mechanism is arranged on leg member, is mainly used for when small leg member is on leg member
In sliding slot after sliding in place, it is locked at current sliding position.In this way, leg length provided by the utility model adjusts machine
Structure can be first by solid lock mechanism solution when finding to need to carry out leg length of the length adjustment to adapt to oneself after patient dresses
Lock so that one end of small leg member can be free to slide in sliding slot, and the size then needed according to itself adjusts small leg member and exists
Position in sliding slot, when small leg member stretch out the length in sliding slot it is longer when, the overall length of leg member and small leg member compared with
It is long, it is on the contrary then shorter.After adjusting total length, you can small leg member is locked at current location, made by operation solid lock mechanism
The lower limb overall length of robot is fixed, patient can be smoothed out wearing later, so Energy and comfort carry out rehabilitation training.And
When different patients carries out rehabilitation using the same recovery exercising robot, it can also complete to wear as described above by same step
It wears.Therefore, leg length regulating mechanism provided by the utility model, can make the leg length of lower limbs rehabilitation training robot
It is adjustable, improve the scope of application of patient.
Description of the drawings
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is the embodiments of the present invention, for those of ordinary skill in the art, without creative efforts, also
Other attached drawings can be obtained according to the attached drawing of offer.
Fig. 1 is a kind of overall structure diagram of specific implementation mode provided by the utility model；
Fig. 2 is a kind of concrete structure schematic diagram of leg member shown in Fig. 1；
Fig. 3 is a kind of concrete structure schematic diagram of small leg member shown in Fig. 1；
Fig. 4 is a kind of pitching visual angle schematic diagram of concrete structure of locating piece shown in Fig. 1；
Fig. 5 is a kind of pitching visual angle schematic diagram of concrete structure of locking member shown in Fig. 1.
Wherein, in Fig. 1-Fig. 5：
Leg member -1, sliding slot -101, small leg member -2, center through hole -201, wave-shaped groove -202, solid lock
Column -3, mounting groove -4, compressor arm -5, locating piece -6, groove -601, locking member -7, hold-down column -701, fastener hole -
8。
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
Referring to FIG. 1, Fig. 1 is a kind of overall structure diagram of specific implementation mode provided by the utility model.
In a kind of specific implementation mode provided by the utility model, the leg length tune of lower limbs rehabilitation training robot
It includes leg member 1, small leg member 2 and solid lock mechanism to save mechanism mainly.
Wherein, leg member 1 and small leg member 2 are respectively the skeletal structure part of contoured design, are arranged on leg member 1
There is sliding slot 101, which extends along the length direction of leg member 1.One end of small leg member 2 is arranged in sliding slot 101,
It can reciprocatingly slide in sliding slot 101.Solid lock mechanism is arranged on leg member 1, is mainly used for when small leg member 2 is in leg member
In sliding slot 101 on 1 after sliding in place, it is locked at current sliding position.
In this way, the leg length regulating mechanism that the present embodiment is provided, finds to need to carry out length tune after patient dresses
When saving the leg length to adapt to oneself, solid lock mechanism can be unlocked first so that one end of small leg member 2 can be in sliding slot 101
Interior free to slide, the size then needed according to itself adjusts position of the small leg member 2 in sliding slot 101, when small leg member 2 is stretched
Go out length in sliding slot 101 it is longer when, the overall length of leg member 1 and small leg member 2 is longer, on the contrary then shorter.Work as adjustment
After good total length, you can small leg member 2 is locked at current location so that the lower limb overall length of robot by operation solid lock mechanism
Fixed, patient can be smoothed out wearing later, so Energy and comfort carry out rehabilitation training.And different patients is using same
When a recovery exercising robot carries out rehabilitation, it can also complete to dress as described above by same step.
Therefore, the leg length regulating mechanism that the present embodiment is provided, can make the leg of lower limbs rehabilitation training robot
Length is adjustable, improves the scope of application of patient.
As shown in Fig. 2, Fig. 2 is a kind of concrete structure schematic diagram of leg member shown in Fig. 1.
In a kind of preferred embodiment about solid lock mechanism, which includes mainly solid lock column 3, mounting groove 4
With compressor arm 5.Wherein, solid lock column 3 is arranged on leg member 1 on the surface of set sliding slot 101, specifically may be provided at cunning
The centre position on 101 surface of slot.It is contemplated herein that it is free to slide in sliding slot 101 to the needs of small leg member 2, to avoid solid lock column 3
Presence the sliding of small leg member 2 is caused to hinder, the present embodiment is provided on small leg member 2 to be extended along its length
Center through hole 201, in this way, when small leg member 2 slides in sliding slot 101, solid lock column 3 can be successfully from its center through hole 201
Place across.Simultaneously as solid lock column 3 is generally located on the centre position of sliding slot 101, therefore center through hole 201 also can be correspondingly
It is arranged in the centre position of small leg member 2.
It connects above-mentioned, mounting groove 4 is provided on the surface of solid lock column 3, which has enough depth, main to use
Coordinate its clamping in compressor arm 5.And after compressor arm 5 is clamped in mounting groove 4, can the vertical sliding in mounting groove 4, work as cunning
When moving the bottom of mounting groove 4, the compressible surface that the small leg member 2 in sliding slot 101 is set in the both ends of compressor arm 5.Herein,
Since the purpose that compressor arm 5 compresses 2 surface of small leg member is to fix its sliding position or stretching sliding slot 101 in sliding slot 101
Length, therefore the length direction of the mounting groove 4 on solid lock column 3 can be set as vertical with the length direction of sliding slot 101, such as
This, compressor arm 5 can laterally compress small leg member 2, avoid generating interference to the shift position of its longitudinal direction (length direction).
Meanwhile to increase the pressing force of compressor arm 5, multiple mounting grooves 4 can be set simultaneously on the surface of solid lock column 3, and each
Mounting groove 4 can be uniformly distributed along the length direction of sliding slot 101, for example two mounting grooves 4 can be arranged, and be distributed in solid lock column 3
The head and the tail both ends of length direction.
It connects above-mentioned, small leg member 2 is compressed by way of in the mounting groove 4 that compressor arm 5 is clamped on solid lock column 3, also
It needs the compression of compressor arm 5 just can guarantee enough solid lock effects.For this purpose, the present embodiment is additionally arranged tight lock part in solid lock mechanism
Part is mainly used for compressing, being fixed and clamped bar 5 specifically, the locking member is removably disposed on the surface of leg member 1,
Apply sufficiently large vertical normal pressure to it, ensures the static friction between two end surfaces and the surface of small leg member 2 of compressor arm 5
Power is sufficiently large, and then ensures solid lock effect.
It should be noted that the concrete structure of solid lock mechanism is not limited in above-mentioned solid lock column 3, mounting groove 4, compressor arm
5 and locking member, remaining is similar to solid lock mode, for example can open up pin hole on the side wall of sliding slot 101 and small leg member 2, passes through
The fixed small mode of position in sliding slot 101 of leg member 2 of the cooperation of bolt and pin hole is equally possible.
As shown in Figure 4 and Figure 5, Fig. 4 is a kind of pitching visual angle schematic diagram of concrete structure of locating piece shown in Fig. 1,
Fig. 5 is a kind of pitching visual angle schematic diagram of concrete structure of locking member shown in Fig. 1.
In a kind of preferred embodiment about locking member, which specifically includes locating piece 6 and locking member
7.Wherein, locating piece 6 can be crossed on the groove 601 of leg member 1, specifically, its bottom surface both side position is tightly attached to sliding slot 101
Two side upper surface on, and when the sliding in the sliding slot 101 of small leg member 2, the bottom surface of locating piece 6 is compressible in shank
On the surface of component 2.Meanwhile the groove 601 for installing compressor arm 5 is additionally provided on the bottom surface of locating piece 6, it acts on and solid
Mounting groove 4 on lock pillar 3 is identical, in this way, when locating piece 6 is mounted on leg member 1, can be pacified on the basis of solid lock column 3
Dress ensures that the groove 601 on locating piece 6 is aligned with the mounting groove 4 on solid lock column 3, to facilitate the quilt from groove 601 of compressor arm 5
It is sent in mounting groove 4.
Locking member 7 coordinates for locating piece 6, is generally tightly attached on the surface of locating piece 6, on the bottom surface of locking member 7
It is provided with hold-down column 701, the effect of the hold-down column 701 is that (the 601 vertical perforation of groove is fixed for groove 601 on locating piece 6
Position part 6), and abutted with the compressor arm 5 being clamped in groove 601.And hold-down column 701 abuts the pressing force source after compressor arm 5
In external fastener, the vertical corresponding position (vertical projection same position) on solid lock column 3, locating piece 6 and locking member 7
Be both provided with fastener hole 8, which can match with fastener, with by the fastening effect of fastener by locking member 7, fixed
Position part 6 and solid lock column 3 successively compress, and finally compress compressor arm 5, are ensured between 2 surface of compressor arm 5 and small leg member with this
Stiction.Herein preferably, the fastener hole 8 concretely threaded hole can pass through the fasteners such as bolt and realize fastening.
It should be noted that the concrete structure of locking member is not limited in the cooperation of above-mentioned locating piece 6 and locking member 7,
Remaining is such as also same by way of the both ends of the tight compressor arm of the elastic clip clamp on 101 two side upper surface of sliding slot 5 are arranged
Sample is feasible.
As shown in figure 3, Fig. 3 is a kind of concrete structure schematic diagram of small leg member shown in Fig. 1.
In a kind of preferred embodiment about small leg member 2, to improve both ends and 2 table of small leg member of compressor arm 5
The frictional force and compression degree in face, can set the surface of small leg member 2 to equally distributed wave-shaped groove along its length
202.So set, the outer wall of compressor arm 5 will be pressed in the curved surfaces of wave-shaped groove 202, the contact of the two can be improved
Area and frictional force, and wave-shaped groove 202 can also position sliding position of the small leg member 2 in sliding slot 101.Accordingly
Ground, to be matched with wave-shaped groove 202, compressor arm 5 may be configured as cylinder latch structure.Certainly, wave-shaped groove 202 can also be in specifically
Zig-zag, while compressor arm 5 also can rectangular bar.
The present embodiment also provides a kind of lower limbs rehabilitation training robot, including body and the leg length that is arranged on body
Regulating mechanism, wherein the leg length regulating mechanism is identical as above-mentioned related content, and details are not described herein again.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use this practicality new
Type.Various modifications to these embodiments will be apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest range consistent with features of novelty.
Claims (7)
1. a kind of leg length regulating mechanism of lower limbs rehabilitation training robot, which is characterized in that including leg member (1), small
Leg member (2) and solid lock mechanism；Sliding slot (101), the small leg member are provided on the leg member (1) along its length
(2) one end is slidably disposed in the sliding slot (101), and the solid lock mechanism is set on the leg member (1), and
For the small leg member (2) to be locked at the current sliding position in the sliding slot (101).
2. leg length regulating mechanism according to claim 1, which is characterized in that the solid lock mechanism specifically includes setting
In on the sliding slot (101) surface solid lock column (3), be set on solid lock column (3) surface mounting groove (4), with it is described
Mounting groove (4) is with merging for compressing the compressor arm (5) on small leg member (2) surface, being removably disposed in the thigh
Locking member on component (1) surface and for fixing the compressor arm (5)；Be provided on the small leg member (2) for
Make the center through hole (201) that the solid lock column (3) passes through when sliding in the sliding slot (101).
3. leg length regulating mechanism according to claim 2, which is characterized in that the length direction of the mounting groove (4)
Length direction perpendicular to the sliding slot (101).
4. leg length regulating mechanism according to claim 2 or 3, which is characterized in that the locking member specifically includes
Locating piece (6) and locking member (7) are provided with the groove for installing the compressor arm (5) on the bottom surface of the locating piece (6)
(601), the bottom surface both side position of the locating piece (6) is tightly attached on the two side upper surface of the sliding slot (101), so that described
Groove (601) is aligned the mounting groove (4)；The bottom surface of the locking member (7) is bonded with the surface of the locating piece (6), and institute
State the pressure being provided on the bottom surface of locking member (7) for being abutted across the groove (601) and with the compressor arm (5) installed in it
Tight column (701)；Vertical corresponding position on the solid lock column (3), locating piece (6) and locking member (7) offer for it is tight
The fastener hole (8) of firmware cooperation.
5. leg length regulating mechanism according to claim 4, which is characterized in that the fastener hole (8) is specially screw thread
Hole.
6. leg length regulating mechanism according to claim 4, which is characterized in that on the surface of the small leg member (2)
It is provided with reversed equally distributed wave-shaped groove (202) along its length, and the compressor arm (5) is specially and the wave-shaped groove
(202) straight pin coordinated.
7. a kind of lower limbs rehabilitation training robot, including body and the leg length regulating mechanism that is set on the body,
It is characterized in that, the leg length regulating mechanism is specially claim 1-6 any one of them leg length regulating mechanisms.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720728905.XU CN207734338U (en) | 2017-06-21 | 2017-06-21 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720728905.XU CN207734338U (en) | 2017-06-21 | 2017-06-21 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN207734338U true CN207734338U (en) | 2018-08-17 |
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ID=63114485
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720728905.XU Active CN207734338U (en) | 2017-06-21 | 2017-06-21 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
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| CN (1) | CN207734338U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091354A (en) * | 2017-06-21 | 2018-12-28 | 上海傅利叶智能科技有限公司 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
| CN109157378A (en) * | 2018-08-31 | 2019-01-08 | 上海傅利叶智能科技有限公司 | Based on lower limb exoskeleton robot and its length adjustment device |
| CN113041099A (en) * | 2019-12-26 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Leg length adjusting device applied to lower limb rehabilitation training device |
-
2017
- 2017-06-21 CN CN201720728905.XU patent/CN207734338U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091354A (en) * | 2017-06-21 | 2018-12-28 | 上海傅利叶智能科技有限公司 | A kind of lower limbs rehabilitation training robot and its leg length regulating mechanism |
| CN109091354B (en) * | 2017-06-21 | 2024-08-02 | 上海傅利叶智能科技有限公司 | Lower limb rehabilitation training robot and leg length adjusting mechanism thereof |
| CN109157378A (en) * | 2018-08-31 | 2019-01-08 | 上海傅利叶智能科技有限公司 | Based on lower limb exoskeleton robot and its length adjustment device |
| CN113041099A (en) * | 2019-12-26 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Leg length adjusting device applied to lower limb rehabilitation training device |
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