CN207755512U - A kind of parallel hip joint healing robot of adjusting center - Google Patents
A kind of parallel hip joint healing robot of adjusting center Download PDFInfo
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- CN207755512U CN207755512U CN201721149457.4U CN201721149457U CN207755512U CN 207755512 U CN207755512 U CN 207755512U CN 201721149457 U CN201721149457 U CN 201721149457U CN 207755512 U CN207755512 U CN 207755512U
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 19
- 230000035876 healing Effects 0.000 title claims abstract description 15
- 210000001624 hip Anatomy 0.000 claims abstract description 106
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 70
- 210000000689 upper leg Anatomy 0.000 claims abstract description 61
- 230000001105 regulatory effect Effects 0.000 claims abstract description 51
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000002414 leg Anatomy 0.000 claims abstract description 29
- 238000009411 base construction Methods 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 abstract description 4
- 230000006378 damage Effects 0.000 abstract description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 230000002980 postoperative effect Effects 0.000 abstract description 2
- 230000009711 regulatory function Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 13
- 101000911772 Homo sapiens Hsc70-interacting protein Proteins 0.000 description 5
- 230000007423 decrease Effects 0.000 description 4
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- 208000020442 loss of weight Diseases 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
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Abstract
A kind of parallel hip joint healing robot of adjusting center, it includes waist adjusting part, rehabilitation executing agency and leg adjusting part, and rehabilitation executing agency connects waist adjusting part and leg adjusting part；The rehabilitation executing agency includes Liang Ge one-sided parallels mechanism, and the one-sided parallel mechanism includes the second waist pedestal, the first thigh attachment device and the identical kinematic chain of three structures；Waist adjusting part and leg adjusting part include regulating device, are incorporated in corresponding site and increase gasket, liner, can effectively adjust the registration of the rotation center and human hip center of rehabilitation executing agency.The utility model is compact-sized, good rigidity, adjusting center, hip joint can be allowed to wear or the patient of injury carries out postoperative hip joint healing training and walking power-assisted, the registration that rehabilitation executing agency and the hip joint rotation center of different patients can be adjusted by regulatory function, effectively avoids man-machine interfering edge from being injured caused by limbs of patient.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of healing robot.
Technical background
Parallel hip joint healing robot is a kind of wearable robot in patient body-surface, by pacifying in corresponding position
Driver is filled, patient is made to carry out the coordinated movement of various economic factors with healing robot, realizes the function of recovering aid treatment.
China and in the world some other country all suffer from since aging of population, unexpected injury, traffic accident etc. are made
At human body limb movement problem on obstacle.Theory of medicine and clinical medicine proves, correct, scientifically limbs are transported in rehabilitation training
The recovery and raising of dynamic function have very important effect.As the hip joint of human body heavy burden and movement significant points, even more close
Save the most important thing of rehabilitation.And rehabilitation teacher of professional convalescent home is less, rehabilitation labor intensity is big, and input is high.Therefore, in recent years
Healing robot and medical equipment have gradually put into market.
Currently, in the market with occurred the hip joint healing robot of several species in laboratory.Wherein, most of
Serial mechanism is used, another part then uses parallel institution or other hybrid mechanisms.
Due to hip joint serial mechanism at this stage can only in power-assisted on pendulum direction before and after thigh, and thigh 3 freely
It is consistent with human hip center always that it is difficult to keep its centre of motion in degree movement, causes wearing uncomfortable.And hip closes now
It is not 3DOF that it is again more, which to save the parallel institution of rehabilitation, but 4DOF, 5DOF or 6DOF, this is for human body
There is also people and the uncoordinated problem of machine for movement of the hip joint in 3 freedom degree directions.In addition, hybrid mechanism often structure
It is complicated.
Invention content
The purpose of the present invention is to provide a kind of rotation center of adjustable healing robot, it can guarantee hip joint 3 freely
The random rotational motion of degree, the parallel hip joint healing robot of adjusting center that hip joint 3DOF power-assisted can be achieved.
The present invention includes waist adjusting part, rehabilitation executing agency and leg adjusting part, the connection of rehabilitation executing agency
Waist adjusting part and leg adjusting part.The present invention is respectively suitable for two kinds of positions containing two kinds of structures：
The first structure is suitable for the rehabilitation exercise of human body erect position：
The waist adjusting part includes the first waist pedestal and four set of first regulating device, wherein the first waist pedestal is
Two semi-circular components, junction are connected to ellipsoidal structure by bolt, and symmetrical four are equipped on the first waist pedestal
Cover the first regulating device.First regulating device includes top connection, adjusting rod and lower contact, wherein the both ends of adjusting rod point
Not with top connection and lower contact by positive and negative threaded connection, top connection is fixedly linked with the first waist pedestal.
The rehabilitation executing agency is that two structures are identical about the symmetrical one-sided parallel mechanism of human body sagittal plane, two
A one-sided parallel mechanism is fixedly connected by bolt in the second waist pedestal junction.The one-sided parallel mechanism includes
Second waist pedestal, the first thigh attachment device and the identical kinematic chain of three structures, the first thigh attachment device pass through three
The kinematic chain being triangularly arranged is connect with the second waist pedestal.The second waist pedestal containing motor in addition to connecting lug
Rest part is identical as above-mentioned first waist base construction, is fixedly connected with above-mentioned first regulating device lower contact；First is big
Leg attachment device is two semicircular structures, is connected by bolt and circularizes structure, which is provided with three second and adjusts dress
Set, the top connection of the first thigh attachment device and the second regulating device is fixedly linked, the structure of second regulating device with
Above-mentioned first regulating device is identical；Every kinematic chain of rehabilitation executing agency includes motor, upper connecting rod and lower link, wherein electricity
Motivation connects that lug and the second waist pedestal are connected by motor, the output shaft of motor pass through revolute pair A and upper connecting rod one
The other end of end connection, upper connecting rod is connected by one end of revolute pair B and lower link, and the other end of lower link passes through revolute pair C
It is connect with the first thigh attachment device.
In order to avoid kinematic chain internal intervention, revolute pair A, revolute pair B, revolute pair C in any one kinematic chain
Distance to rotation center is sequentially reduced, and the upper connecting rod and lower link are arc-shaped rod piece, and corresponding is connected above and below
Bar central angle is identical.In order to avoid the interference between kinematic chain, the distance of revolute pair B to the rotation center of the second kinematic chain is more than
Distances of the revolute pair B of third kinematic chain to rotation center.Meanwhile first kinematic chain it is identical with third kinematic chain structure size and
Opposite human body coronal-plane is arranged symmetrically on the second waist pedestal, the revolute pair A of the first kinematic chain and third kinematic chain formed with
The axis of the parallel plane of human body sagittal plane, the revolute pair A of the second kinematic chain is located in human coronary face, while need to ensure own
Revolute pair axis meet at a point O.First waist pedestal and the second waist pedestal are connected by the first regulating device, are worn on people
Body waist, rotation adjusting rod can adjust the distance between the first waist pedestal and the second waist pedestal.
The leg adjusting part is the second thigh attachment device and the second regulating device.Second thigh attachment device with
The lower contact of above-mentioned second regulating device is fixedly connected, the second thigh attachment device and the first thigh attachment device structure
Identical, rotation adjusting rod can adjust the distance between first and second thigh attachment devices.
The thigh of the left leg of human body and right leg all dresses the first and second thigh attachment devices, and the second thigh attachment device point
It is not fixed on the left and right thigh of human body, the movement of the second thigh attachment device drives human thigh's movement, realizes rehabilitation training.
Width can be adjusted in the first and second thigh attachment device junctions by increasing and decreasing gasket；In the first and second waist pedestal two
Junction is divided to increase and decrease gasket, the first and second waist base interiors increase liner, while using regulating device, can adjust rehabilitation
The registration of executing agency and human hip rotation center.If loss of weight hanger can be coordinated to be used together, effect can be more preferable.
Second of structure is suitable for the rehabilitation exercise of human body dorsal position：
The waist adjusting part includes the first waist pedestal and four set of first regulating device, wherein the first waist pedestal is
Two identical components, in-between oval shaped portion junction are connected by bolt, and both ends straight portion is equipped with bolt hole.
The arch section of first waist pedestal be equipped with symmetrical four set of first regulating device, the structure of the first regulating device and the first
The first regulating device in structure is identical, and top connection is fixedly linked with the first waist pedestal.
The rehabilitation executing agency includes that two structures are identical about the symmetrical one-sided parallel mechanism of human body sagittal plane.
Liang Ge one-sided parallels mechanism is fixedly connected by bolt in the second waist pedestal junction.The one-sided parallel mechanism
Component and connection type are identical as the first structure, are a difference in that the second waist pedestal is two and connects lug containing motor
Revolute pair B is to the relationship of rotation center distance and the cloth of kinematic chain in three kinematic chains of oval component and one-sided parallel mechanism
Seated position：In order to avoid the interference between kinematic chain, the distance of revolute pair B to the rotation center of the second kinematic chain is transported more than third
The revolute pair B of dynamic chain arrives the distance of rotation center, and both more than the revolute pair B of the first kinematic chain to rotation center away from
From；The arrangement in the arrangement orientation of the first kinematic chain and third kinematic chain and the first kinematic chain and the second kinematic chain in the first position
Orientation is identical, and the second kinematic chain is arranged at the angularly orientation between first and third kinematic chain on the second waist pedestal.
The component of the leg adjusting part and connection method are identical as the first structure.It is a difference in that the second tune
Regulating device is all located on the semicircular structure on front side of the second thigh attachment device.
The thigh of the left leg of human body and right leg all dresses the first and second thigh attachment devices, and the second thigh attachment device point
It is not fixed on the left and right thigh of human body, human thigh's movement is driven by the movement of the second thigh attachment device, realizes rehabilitation instruction
Practice.Width can be adjusted in the first and second thigh attachment device junctions by increasing and decreasing gasket；In the first and second waist pedestals
Two parts junction increases and decreases gasket, the first and second waist base interiors increase liner, while using regulating device, can adjust
The registration of rehabilitation executing agency and human hip rotation center.
The present invention has the following advantages that compared with prior art：
1, error accumulation and the enlarge-effect of serial mechanism are overcome, parallel institution error is small, precision is high；
2, exercise load can be effectively reduced by motor being placed on pedestal；
It 3 while being supported by three kinematic chains, greatly enhances the rigidity of end effector, improve the stabilization of mechanism
Property, increase the load capacity of mechanism；
4, due to using spherical mechanism, mechanism can be made more to be bonded with human hip rotary motion, hip can be closed
The patient of section damage carries out postoperative hip joint healing training and walking power-assisted, and mechanical structure is simple；
5, the registration of rehabilitation executing agency and the hip joint rotation center of different patients can be adjusted by regulatory function,
Man-machine interfering edge is effectively avoided to be injured caused by limbs of patient.
Description of the drawings
Fig. 1 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 1；
Fig. 2 is the waist adjusting part simplified schematic diagram of the embodiment of the present invention 1；
Fig. 3 is the regulating device simplified schematic diagram of the embodiment of the present invention 1；
Fig. 4 is the rehabilitation executing agency simplified schematic diagram of the embodiment of the present invention 1；
Fig. 5 is the one-sided parallel mechanism simplified schematic diagram of the rehabilitation executing agency of the embodiment of the present invention 1；
Fig. 6 is the leg adjusting part simplified schematic diagram of the embodiment of the present invention 1；
Fig. 7 is the three-dimensional simplified schematic diagram of the embodiment of the present invention 2；
Fig. 8 is the rehabilitation executing agency simplified schematic diagram of the embodiment of the present invention 2；
Fig. 9 is the one-sided parallel mechanism simplified schematic diagram of the rehabilitation executing agency of the embodiment of the present invention 2；
Figure 10 is 1 walking weight reducing device bandage simplified schematic diagram of the embodiment of the present invention；
Figure 11 is the schematic diagram that the embodiment of the present invention 1 is worn on human body；
Figure 12 is the schematic diagram that the embodiment of the present invention 2 is worn on human body.
In figure：1- waist adjusting parts, 2- rehabilitations executing agency, the legs 3- adjusting part, 4- the first waist pedestals, 5-
One regulating device, 501- top connections, 502- adjusting rods, 503- lower contacts, 6- motor, 7- upper connecting rods, 8- lower links, 9- second
Waist pedestal, 10- the first thigh attachment devices, 11- the second thigh attachment devices, 12- bolts, the first kinematic chains of 13-, 14-
Two kinematic chains, 15- third kinematic chains, the first adjusting buckles of 16-, 17- velcro, the second adjusting buckles of 18-.
Specific implementation mode
Embodiment 1
In the parallel hip joint healing robot schematic diagram of adjusting center shown in Fig. 1, rehabilitation executing agency 2 connects waist
Adjusting part 1 and leg adjusting part 3.As shown in Figures 2 and 3, the first waist pedestal 4 in the waist adjusting part 1 is
Two semi-circular components, junction connect into ellipsoidal structure by bolt 12.It is equipped on the first waist pedestal 4 symmetrical
Four set of first regulating device 5, first regulating device include top connection 501, adjusting rod 502 and lower contact 503, adjusting rod
Respectively with top connection 501 and lower contact 503 with positive and negative threaded connection, top connection 501 and the first waist pedestal 4 are solid at 502 both ends
Even.
As shown in Figure 4 and Figure 5, the rehabilitation executing agency 2 is that two structures are identical symmetrical about human body sagittal plane
One-sided parallel mechanism, Liang Ge one-sided parallels mechanism is fixedly connected by bolt 12 in 9 junction of the second waist pedestal.Institute
The one-sided parallel mechanism stated includes the second waist pedestal 9, the first thigh attachment device 10 and the identical kinematic chain of three structures, the
The kinematic chain that one thigh attachment device 10 is triangularly arranged by three is connect with the second waist pedestal 9：Second waist
The rest part in addition to connecting lug containing motor of portion's pedestal 9 is identical as above-mentioned first waist, 4 structures of pedestal, is adjusted with above-mentioned first
5 lower contact 503 of regulating device is fixedly connected；First thigh attachment device 10 is two semi-circular members, is connected by bolt 12
It is connected into loop configuration, which is provided with three the second regulating devices, the top connection of the first thigh attachment device and the second regulating device
It is fixedly linked, the structure of second regulating device is identical as the first regulating device 5；Every kinematic chain of rehabilitation executing agency
Including motor 6, upper connecting rod 7 and lower link 8, wherein motor 6 connects lug by motor and the second waist pedestal 9 is connected,
The output shaft of motor 6 is connect by revolute pair A with one end of upper connecting rod 7, and the other end of upper connecting rod 7 is by revolute pair B under
One end of connecting rod 8 connects, and the other end of lower link 8 is connect by revolute pair C with the first thigh attachment device 10.
In order to avoid kinematic chain internal intervention, revolute pair A, revolute pair B, revolute pair C in any one kinematic chain
Distance to rotation center O is sequentially reduced, while the upper connecting rod 7 and lower link 8 is arc-shaped rod piece, and corresponding
Upper and lower connecting rod central angle is identical；In order to avoid the interference between kinematic chain, the revolute pair B to rotation center O of the second kinematic chain 14
Distance be more than third kinematic chain 15 revolute pair B to rotation center O distance；Meanwhile first kinematic chain 13 and third movement
The identical and opposite human body coronal-plane of 15 structure size of chain is arranged symmetrically on the second waist pedestal 9, the first kinematic chain 13 and third
The revolute pair A of kinematic chain 15 forms the plane parallel with human body sagittal plane, and the axis of the revolute pair A of the second kinematic chain 14 is located at people
In body coronal-plane, while it need to ensure that all revolute pair axis meet at a point O.First waist pedestal 4 and the second waist pedestal 9 are logical
The connection of the first regulating device 5 is crossed, human body waist is worn on, rotation adjusting rod 502 can adjust the first waist pedestal 4 and the second waist
The distance between portion's pedestal 9.
As shown in fig. 6, the leg adjusting part 3 is the second thigh attachment device 11 and above-mentioned second regulating device,
Second thigh attachment device 11 is fixedly connected with the lower contact of above-mentioned second regulating device, the second thigh attachment device 11
It is identical as 10 structure of the first thigh attachment device, rotation adjusting rod can adjust between the first and second thigh attachment devices away from
From.
Application method：As shown in Figure 10, the first adjusting buckle 16 and the second adjusting buckle 18 are first unlocked, velcro 17 is torn, it will
Suspender belt is worn on human body, is stained with velcro 17 successively, fastens the second adjusting buckle 18.As shown in figure 11, the first thigh is connected and is filled
10 adjustings are set to initial position, i.e. the anchor ring of the first thigh attachment device 10 is parallel to the ground and human leg does not rotate,
Human body is in natural upright state at this time；It then will be in the first and second waist pedestals, the first and second thigh attachment devices
Connection bolt 12 remove；Human body stands on the underface of loss of weight hanger, and two first adjusting buckle, 16 place suspender belts are passed through and are subtracted
After stretching ring above weight hanger, two the first adjusting buckles 16 are fastened, the suspender belt of loss of weight hanger is worn on human body at this time, according to need
Effectively to mitigate pressure of the body for leg；Then wearable mechanism is clothed to waist and the leg of human body, in the first He
Second thigh attachment device junction can adjust width by increasing and decreasing gasket；In first and second waist pedestal two parts junctions
Increase and decrease gasket, the first and second waist base interiors increase liner, while using regulating device, can adjust rehabilitation executing agency
2 and human hip rotation center registration；All connection bolts 12 are loaded onto, the first waist pedestal 4 and the second thigh are connected
Connection device 11 is fixedly linked with human body waist and left and right two thighs respectively.Under the driving of motor 6, human leg can do
Around the three-degree-of-freedom motion of hip joint center rotating, to carry out rehabilitation training.
Embodiment 2
As shown in Figure 7, Figure 8 and Figure 9, rehabilitation executing agency 2 connects waist adjusting part 1 and leg adjusting part 3.
The waist adjusting part 1 includes the first waist pedestal 4 and four set of first regulating device 5, wherein the first waist base
Seat 4 is two components, and in-between oval shaped portion junction is connected by bolt 12, and both ends straight portion is equipped with bolt
Hole.The first waist pedestal 4 arch section be equipped with symmetrical four sets first regulating device 5, the structure of the first regulating device and
The first regulating device 5 in embodiment 1 is identical, and wherein top connection 501 is fixedly linked with the first waist pedestal 4.
The rehabilitation executing agency 2 includes that two structures are identical about the symmetrical one-sided parallel machine of human body sagittal plane
Structure, Liang Ge one-sided parallels mechanism are fixedly connected by bolt in the second waist pedestal junction.The one-sided parallel machine
The component and connection type of structure are same as Example 1, are a difference in that the second waist pedestal 9 is two and connects lug containing motor
Oval component and one-sided parallel mechanism three kinematic chains in revolute pair B to rotation center distance relationship and kinematic chain
Position：In order to avoid the interference between kinematic chain, the distance of revolute pair B to the rotation center O of the second kinematic chain 14 are more than
The distance of the revolute pair B to rotation center O of third kinematic chain 15, and both more than the revolute pair B of the first kinematic chain 13 to rotation
Turn the distance of center O；First kinematic chain 13 and the in the arrangement orientation of first kinematic chain 13 and third kinematic chain 15 and embodiment 1
The arrangement orientation of two kinematic chains 14 is identical, on the second waist pedestal the second kinematic chain 14 be arranged in first and third kinematic chain it
Between angularly orientation at.
The component of the leg adjusting part 3 and the 3 structure phase of leg adjusting part of connection method and embodiment 1
Together.It is a difference in that the second regulating device is all located on the semicircular structure of 11 front side of the second thigh attachment device.
Application method：As shown in figure 12, the first thigh attachment device 10 is adjusted first and arrives initial position, i.e. the first thigh
The anchor ring of attachment device 10 is parallel with the second waist pedestal 9.Human leg does not rotate, and is parallel to bed surface, at this time human body
In natural state of couching；Then by the first and second waist pedestals, two the first thigh attachment devices 10 and two second
The connection bolt 12 of thigh attachment device 11 all removes, and human body is lain on the back on bed, and said mechanism is clothed to the waist of human body
The leg and；Width can be adjusted in the first and second thigh attachment device junctions by increasing and decreasing gasket；In the first and second waists
Pedestal two parts junction increases and decreases gasket, and the first and second waist base interiors increase liner, while using regulating device, can be with
Adjust the registration of rehabilitation executing agency 2 and human hip rotation center；Load onto the first and second waist pedestal or so semi-ring and
First and second thigh attachment device or so semi-ring connects bolt, and the both ends straight portion bolt of the first waist pedestal is consolidated
Due to bed body, the waist for carrying out human body is fixed.Under the driving of motor, human leg can do three around hip joint center rotating
Degree of freedom moves, to carry out rehabilitation training.
Claims (2)
1. a kind of parallel hip joint healing robot of adjusting center, it is characterised in that：It includes waist adjusting part, rehabilitation execution
Mechanism and leg adjusting part, rehabilitation executing agency connect waist adjusting part and leg adjusting part；The waist is adjusted
Component includes the first waist pedestal and four set of first regulating device, wherein the first waist pedestal is two semi-circular components, is connected
The place of connecing is connected to ellipsoidal structure by bolt, and symmetrical four the first regulating devices are equipped on the first waist pedestal；It is described
First regulating device includes top connection, adjusting rod and lower contact, wherein the both ends of adjusting rod are logical with top connection and lower contact respectively
Positive and negative threaded connection is crossed, top connection is fixedly linked with the first waist pedestal；
The rehabilitation executing agency includes that two structures are identical about the symmetrical one-sided parallel mechanism of human body sagittal plane, two
One-sided parallel mechanism is fixedly connected by bolt in the second waist pedestal junction；The one-sided parallel mechanism includes the
Two waist pedestals, the first thigh attachment device and the identical kinematic chain of three structures, the first thigh attachment device are in by three
The kinematic chain of triangular arrangement is connect with the second waist pedestal, the second waist pedestal except containing motor connect lug in addition to its
Remaining part point is identical as above-mentioned first waist base construction, is fixedly connected with above-mentioned first regulating device lower contact；First thigh
Attachment device is two semicircular structures, is connected by bolt and circularizes structure, which is provided with three the second regulating devices,
The top connection of first thigh attachment device and the second regulating device is fixedly linked, the structure of second regulating device with it is above-mentioned
First regulating device is identical；Every kinematic chain of rehabilitation executing agency includes motor, upper connecting rod and lower link, wherein motor
Lug is connected by motor and the second waist pedestal is connected, and the output shaft of motor is connected by one end of revolute pair A and upper connecting rod
It connects, the other end of upper connecting rod is connected by one end of revolute pair B and lower link, and the other end of lower link passes through revolute pair C and the
One thigh attachment device connects；
In order to avoid kinematic chain internal intervention, revolute pair A, revolute pair B, revolute pair C to rotation in any one kinematic chain
The distance for turning center is sequentially reduced, and the upper connecting rod and lower link are arc-shaped rod piece, and corresponding upper and lower connecting rod is justified
Heart angle is identical；In order to avoid the interference between kinematic chain, the distance of revolute pair B to the rotation center of the second kinematic chain is more than third
Distances of the revolute pair B of kinematic chain to rotation center；Meanwhile first kinematic chain and third kinematic chain structure size it is identical and opposite
Human coronary face is arranged symmetrically on the second waist pedestal, and the revolute pair A of the first kinematic chain and third kinematic chain is formed and human body
The axis of the parallel plane of sagittal plane, the revolute pair A of the second kinematic chain is located in human coronary face, while need to ensure all turn
Dynamic secondary axis meets at a point O；First waist pedestal and the second waist pedestal are connected by the first regulating device, are worn on human lumbar
Portion, rotation adjusting rod can adjust the distance between the first waist pedestal and the second waist pedestal；
The leg adjusting part is the second thigh attachment device and above-mentioned second regulating device, the second thigh attachment device with
The lower contact of above-mentioned second regulating device is fixedly connected, and rotation adjusting rod can be adjusted between the first and second thigh attachment devices
Distance.
2. the parallel hip joint healing robot of a kind of adjusting center according to claim 1, it is characterised in that：The waist
Adjusting part includes the first waist pedestal and four set of first regulating device, wherein the first waist pedestal is two components, among it
Oval shaped portion junction is connected by bolt, and both ends straight portion is equipped with bolt hole for connecting by bolt with bed body
It connects；Symmetrical four set of first regulating device is equipped on the arch section of the first waist pedestal；
The rehabilitation executing agency includes that two structures are identical about the symmetrical one-sided parallel mechanism of human body sagittal plane, two
One-sided parallel mechanism is fixedly connected by bolt in the second waist pedestal junction；Second waist pedestal is two containing electricity
Machine connects the oval component of lug, in three kinematic chains of one-sided parallel mechanism revolute pair B to rotation center distance relationship with
The position of kinematic chain：In order to avoid the interference between kinematic chain, the distance of the revolute pair B of the second kinematic chain to rotation center
More than third kinematic chain revolute pair B to rotation center distance, and both be more than the first kinematic chain revolute pair B to rotate
The distance at center；The arrangement orientation of first kinematic chain and third kinematic chain and the first kinematic chain in the first position and the second movement
The arrangement orientation of chain is identical, and the second kinematic chain is arranged between first and third kinematic chain angularly on the second waist pedestal
At orientation；
Second regulating device is all located on the semicircular structure on front side of the second thigh attachment device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149457.4U CN207755512U (en) | 2017-09-08 | 2017-09-08 | A kind of parallel hip joint healing robot of adjusting center |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721149457.4U CN207755512U (en) | 2017-09-08 | 2017-09-08 | A kind of parallel hip joint healing robot of adjusting center |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207755512U true CN207755512U (en) | 2018-08-24 |
Family
ID=63178453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721149457.4U Withdrawn - After Issue CN207755512U (en) | 2017-09-08 | 2017-09-08 | A kind of parallel hip joint healing robot of adjusting center |
Country Status (1)
| Country | Link |
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| CN (1) | CN207755512U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN109806035A (en) * | 2019-04-01 | 2019-05-28 | 上海理工大学 | A kind of energy accumulated assisted mechanism of adjustable mechanical for hip joint prosthesis |
-
2017
- 2017-09-08 CN CN201721149457.4U patent/CN207755512U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107595545A (en) * | 2017-09-08 | 2018-01-19 | 燕山大学 | A kind of parallel hip joint healing robot of adjusting center |
| CN107595545B (en) * | 2017-09-08 | 2024-04-26 | 燕山大学 | Center-adjustable parallel hip joint rehabilitation robot |
| CN109806035A (en) * | 2019-04-01 | 2019-05-28 | 上海理工大学 | A kind of energy accumulated assisted mechanism of adjustable mechanical for hip joint prosthesis |
| CN109806035B (en) * | 2019-04-01 | 2020-04-17 | 上海理工大学 | Adjustable mechanical energy storage boosting mechanism for hip joint prosthesis |
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