CN208741429U - A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track - Google Patents
A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track Download PDFInfo
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- CN208741429U CN208741429U CN201820542051.0U CN201820542051U CN208741429U CN 208741429 U CN208741429 U CN 208741429U CN 201820542051 U CN201820542051 U CN 201820542051U CN 208741429 U CN208741429 U CN 208741429U
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- actuating arm
- traveling wheel
- fixed side
- side panel
- wheel
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Abstract
The utility model discloses a kind of horizontal movement units based on track and three-dimensional to hold walking mechanism tightly, including movable motor, the movable motor is connected with driving wheel, the both ends of the driving wheel are connected separately with left actuating arm and right actuating arm, one end of the left actuating arm and right actuating arm is connected separately with running gear one, running gear one includes two traveling wheels positioned at guide rail two sides, the running gear one is connected with running gear two by upper plate, and running gear two includes two change gears positioned at guide rail two sides；It is further provided with that side holds out against wheel and bottom surface holds out against wheel；The walking unit of the utility model can actively walk or patient is followed to walk, and when along track travel, and side pressure bearing up pulley and bottom surface contact roller can be such that walking unit is tightly pressed against on guide rail, shaking when preventing walking unit from walking.
Description
Technical field
The utility model relates to robots and technique of medical rehabilitation field, it particularly relates to a kind of water based on track
It translates moving cell and three-dimensional holds walking mechanism tightly.
Background technique
Have a large amount of cerebral apoplexy disease and patient with nervous system disease in older population, have in this kind of patient it is most with
Hemiplegia symptom, Walking are demands most basic in hemiplegia patient treatment.In addition, because wound, unexpected injury disable
Number is more and more, they often have neurologic impairment or limb injury, and this kind of patient is except operative treatment, drug therapy
Also need rehabilitation training of correctly walking.Body weight support treadmill training is a kind of method for being applied to lower limb rehabilitation training in recent years, i.e.,
Shed patient part be self-possessed and keep its own balance under the premise of, pass through manual or automaticization equipment, help patient carry out
Gait training restores walking ability.
Current loss of weight equipment mainly realizes the reduction of patient load by using the mode that rope pulls up, drawstring it is upper
End is connected with mobile mechanism, follows movement to realize, but current mobile mechanism has that structure is complicated, can not achieve reliable
It follows, may there is the problems such as shaking, secondary injury is caused to patient during following.
Utility model content
For above-mentioned technical problem in the related technology, the utility model proposes a kind of horizontal movement units based on track
And three-dimensional holds walking mechanism tightly, can overcome the above-mentioned deficiency of the prior art.
To realize the above-mentioned technical purpose, the technical solution of the utility model is achieved in that
A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track, including movable motor, the walking
Motor is connected with driving wheel, and the both ends of the driving wheel are connected separately with left actuating arm and right actuating arm, the left actuating arm and
One end of right actuating arm is connected separately with running gear one；The running gear one includes two walkings positioned at guide rail two sides
Wheel, the both ends of one of traveling wheel are connected separately with left traveling wheel fixed side panel and the fixed inner panel of traveling wheel, another walking
The both ends of wheel are connected separately with the fixed inner panel of traveling wheel and right traveling wheel fixed side panel, and the running gear one is connected by upper plate
It is connected to running gear two；The running gear two includes two change gears positioned at guide rail two sides, the both ends of one of change gear
It is connected separately with left change gear fixed side panel and the fixed inner panel of change gear, the both ends of another change gear are connected separately with the fixed inner panel of change gear
With right change gear fixed side panel；Left traveling wheel fixed side panel, right traveling wheel fixed side panel, left change gear fixed side panel and the right extension
It is fixedly connected to bottom surface contact roller and side compression wheel seat on wheel fixed side panel, is fixedly connected with side on the side compression wheel seat
Contact roller；The left traveling wheel fixed side panel and right traveling wheel fixed side panel are respectively connected with press spring base, in the press spring base
Equipped with compressed spring.
Further, the motor shaft of the movable motor passes through the wheel axis connection of retarder and the driving wheel.
Further, actuating arm connection is connected between the other end of the left actuating arm and the other end of right actuating arm
Plate.
Further, the traveling wheel group includes two traveling wheels, and the both ends of one of traveling wheel are connected separately with
The fixed inner panel of left traveling wheel fixed side panel and traveling wheel, the both ends of another traveling wheel be connected separately with the fixed inner panel of traveling wheel and
Right traveling wheel fixed side panel.
Further, the gear changing group includes two change gears, and the both ends of one of change gear are connected separately with left change gear
Fixed side panel and the fixed inner panel of change gear, the both ends of another change gear are connected separately with the fixed inner panel of change gear and right change gear affixed side
Plate.
Further, the left traveling wheel fixed side panel is fixedly connected with the left actuating arm, the right traveling wheel
Fixed side panel is fixedly connected with the right actuating arm.
Further, the running gear one and running gear two rotate axle bearing by head rotation axis and head
Seat is connect with the upper plate.
The utility model has the beneficial effects that the walking unit of the utility model actively can walk or follow patient's row
It walks, and when along track travel, side pressure bearing up pulley and bottom surface contact roller can be such that walking unit is tightly pressed against on guide rail, prevent from going
Walk shaking when unit walking.
Detailed description of the invention
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
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only the utility model
Some embodiments for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other attached drawings.
Fig. 1 is a kind of horizontal movement unit and three-dimensional holding row based on track according to the utility model embodiment
Walk the structural schematic diagram that mechanism has rail sections；
Fig. 2 is a kind of horizontal movement unit and three-dimensional holding row based on track according to the utility model embodiment
Walk the structural schematic diagram of mechanism；
Fig. 3 is the main view of the utility model；
In figure: 1, movable motor；2, retarder；3, driving wheel；4, actuating arm connecting plate；5, left actuating arm；6, right driving
Arm；7, left traveling wheel fixed side panel；8, right traveling wheel fixed side panel；9, traveling wheel；10, side pressure bearing up pulley；11, press spring base；12, bottom
Face pressure bearing up pulley；13, side compression wheel seat；14, the fixed inner panel of traveling wheel；15, the fixed inner panel of change gear；16, change gear；17, left change gear is solid
Determine side plate；18, right change gear fixed side panel；19, upper plate；20, guide rail；21, head rotation axis；22, head rotates bearing housing.
Specific embodiment
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's every other embodiment obtained, all belongs to
In the range of the utility model protection.
As shown in Figure 1-3, a kind of horizontal movement unit and three based on track according to the utility model embodiment
To walking mechanism, including movable motor 1 is held tightly, the movable motor 1 is connected with driving wheel 3, the both ends point of the driving wheel 3
It is not connected with left actuating arm 5 and right actuating arm 6, one end of the left actuating arm 5 and right actuating arm 6 is connected separately with running gear
One；The running gear one includes two traveling wheels 9 positioned at 20 two sides of guide rail, the both ends difference of one of traveling wheel 9
It is connected with left traveling wheel fixed side panel 7 and the fixed inner panel 14 of traveling wheel, the both ends of another traveling wheel 9 are connected separately with traveling wheel
Fixed inner panel 14 and right traveling wheel fixed side panel 8, the running gear one are connected with running gear two by upper plate 19；It is described
Running gear two include two change gears 16 positioned at 20 two sides of guide rail, the both ends of one of change gear 16 are connected separately with left extension
Fixed side panel 17 and the fixed inner panel 15 of change gear are taken turns, the both ends of another change gear 16 are connected separately with the fixed inner panel 15 of change gear and right extension
Take turns fixed side panel 18；Left traveling wheel fixed side panel 7, right traveling wheel fixed side panel 8, left change gear fixed side panel 17 and the right extension
It is fixedly connected to bottom surface contact roller 12 and side compression wheel seat 13 on wheel fixed side panel 18, is fixed on the side compression wheel seat 13
It is connected with side pressure bearing up pulley 10；The left traveling wheel fixed side panel 7 and right traveling wheel fixed side panel 8 are respectively connected with press spring base 11,
Compressed spring is equipped in the press spring base 11.
In one embodiment, the motor shaft of the movable motor 1 passes through the wheel shaft of retarder 2 and the driving wheel 3
Connection.
In one embodiment, drive is connected between the other end of the left actuating arm 5 and the other end of right actuating arm 6
Swing arm connecting plate 4.
In one embodiment, the left traveling wheel fixed side panel 7 is fixedly connected with the left actuating arm 5, described
Right traveling wheel fixed side panel 8 be fixedly connected with the right actuating arm 6.
In one embodiment, the running gear one and running gear two pass through head rotation axis 21 and head
Rotation bearing housing 22 is connect with the upper plate 19.
In order to facilitate the above-mentioned technical proposal for understanding the utility model, below by way of practical new to this in specifically used mode
The above-mentioned technical proposal of type is described in detail.
According to a kind of horizontal movement unit and three-dimensional holding walking mechanism based on track described in the utility model, including
Movable motor 1, movable motor 1 drive driving wheel 3 to rotate, and driving wheel 3 is mounted on left actuating arm 5 and right actuating arm 6, left driving
Arm 5 and right actuating arm 6 are connected by actuating arm connecting plate 4, and left actuating arm 5 and right actuating arm 6 are separately fixed at left traveling wheel and consolidate
Determine on side plate 7 and right traveling wheel fixed side panel 8, between the fixed inner panel 14 of left traveling wheel fixed side panel 7 and traveling wheel, right traveling wheel
It is fixedly connected to traveling wheel 9 between fixed side panel 8 and the fixed inner panel 14 of traveling wheel, running gear one passes through head rotation axis 21
And head rotation bearing housing 22 and running gear two connect, running gear two includes two change gears 16, one of change gear 16
It is fixed on left change gear fixed side panel 17 and the fixed inner panel 15 of change gear, another change gear 16 is fixed on the fixed inner panel 15 of change gear and the right side
On change gear fixed side panel 18, left traveling wheel fixed side panel 7, right traveling wheel fixed side panel 8, left change gear fixed side panel 17 and right change gear
Bottom surface contact roller 12 is fixed with by wheel shaft on fixed side panel 18, side pressure bearing up pulley 10 is fixed on side compression wheel seat 13 by wheel shaft
On.
The horizontal movement unit of the utility model can make whole system walk along guide rail, and when walking, which has, actively to be walked and follow
Walking both of which；Horizontal movement unit is provided with displacement sensor, this sensor can detecte the movement of patient, works as patient
When mobile, this sensor provides signal, and machine will follow walking.Horizontal movement unit is driven by motor, and drives driving wheel edge
Guide rail walking, driving wheel are furnished with hold-down mechanism, driving wheel can be effectively prevent to skid.Horizontal movement unit is disposed with side and holds out against
Wheel, bottom surface hold out against wheel, change gear, and wheel position is adjustable, are limited so as to realize from four direction, to guarantee entire row
It is reliable to walk unit, no shaking.
When specifically used, traveling wheel 9 is located in guide rail in the following, left traveling wheel fixed side panel 7 and right traveling wheel affixed side
Plate 8 is connect by the axis of 6 front end of left actuating arm 5 and right actuating arm with press spring base 11, is had compressed spring inside press spring base 11, is passed through
The pressure of spring can make driving wheel 3 be tightly pressed against guide rail in the following, preventing from skidding in entire running gear walking process；Bottom surface
Contact roller 12 is fixed on left traveling wheel fixed side panel 7, right traveling wheel fixed side panel 8, left 17 and of change gear fixed side panel by wheel shaft
On right change gear fixed side panel 18, the position of axis can be with up and down adjustment, to realize that secondary row travelling wheels 9 compress running gear；Level is moved
Motivation structure is equipped with 4 side pressure bearings up pulley 10, the position at left and right sides of I-rail is adjusted for adjusting running gear, side compression
Wheel shaft uses eccentric shaft, it is therefore intended that and the side pressure bearing up pulley 10 of the adjustable left and right sides is tightly pressed against the inside two sides in I-rail,
Shake equipment will not；The head shaft that device is connect with upper plate, can make actively walk and following walking direction of travel with
Orbit transfer can be adapted for guide rail of various shapes.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (5)
1. a kind of horizontal movement unit and three-dimensional based on track holds walking mechanism tightly, which is characterized in that including movable motor
(1), the movable motor (1) is connected with driving wheel (3), and the both ends of the driving wheel (3) are connected separately with left actuating arm (5)
With right actuating arm (6), one end of the left actuating arm (5) and right actuating arm (6) is connected separately with running gear one；The row
Walking apparatus one includes two traveling wheels (9) positioned at guide rail (20) two sides, and the both ends of one of traveling wheel (9) are connected separately with
Left traveling wheel fixed side panel (7) and traveling wheel are fixed inner panel (14), and the both ends of another traveling wheel (9) are connected separately with traveling wheel
Fixed inner panel (14) and right traveling wheel fixed side panel (8), the running gear one are connected with running gear by upper plate (19)
Two；The running gear two includes two change gears (16) positioned at guide rail (20) two sides, the both ends of one of change gear (16)
It is connected separately with left change gear fixed side panel (17) and change gear is fixed inner panel (15), the both ends of another change gear (16) are connected separately with
Change gear fixed inner panel (15) and right change gear fixed side panel (18)；The left traveling wheel fixed side panel (7), right traveling wheel affixed side
Bottom surface contact roller (12) and side are fixedly connected on plate (8), left change gear fixed side panel (17) and right change gear fixed side panel (18)
It compresses wheel seat (13), is fixedly connected with side pressure bearing up pulley (10) on the side compression wheel seat (13)；The left traveling wheel is fixed
Side plate (7) and right traveling wheel fixed side panel (8) are respectively connected with press spring base (11), and compression bullet is equipped in the press spring base (11)
Spring.
2. a kind of horizontal movement unit and three-dimensional based on track according to claim 1 holds walking mechanism, feature tightly
It is, the motor shaft of the movable motor (1) passes through the wheel axis connection of retarder (2) and the driving wheel (3).
3. a kind of horizontal movement unit and three-dimensional based on track according to claim 1 holds walking mechanism, feature tightly
It is, is connected with actuating arm connecting plate (4) between the other end of the left actuating arm (5) and the other end of right actuating arm (6).
4. a kind of horizontal movement unit and three-dimensional based on track according to claim 1 holds walking mechanism, feature tightly
It is, the left traveling wheel fixed side panel (7) is fixedly connected with the left actuating arm (5), the right traveling wheel affixed side
Plate (8) is fixedly connected with the right actuating arm (6).
5. a kind of horizontal movement unit and three-dimensional based on track according to claim 1 holds walking mechanism, feature tightly
Be, the running gear one and running gear two by head rotation axis (21) and head rotation bearing housing (22) with
Upper plate (19) connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820542051.0U CN208741429U (en) | 2018-04-17 | 2018-04-17 | A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820542051.0U CN208741429U (en) | 2018-04-17 | 2018-04-17 | A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208741429U true CN208741429U (en) | 2019-04-16 |
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ID=66050655
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820542051.0U Active CN208741429U (en) | 2018-04-17 | 2018-04-17 | A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track |
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| Country | Link |
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| CN (1) | CN208741429U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108542706A (en) * | 2018-04-17 | 2018-09-18 | 河北冀德远健医疗器械科技有限公司 | A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track |
-
2018
- 2018-04-17 CN CN201820542051.0U patent/CN208741429U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108542706A (en) * | 2018-04-17 | 2018-09-18 | 河北冀德远健医疗器械科技有限公司 | A kind of horizontal movement unit and three-dimensional holding walking mechanism based on track |
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