CN208864732U - A kind of recovery set for lower limbs - Google Patents
A kind of recovery set for lower limbs Download PDFInfo
- Publication number
- CN208864732U CN208864732U CN201721069615.5U CN201721069615U CN208864732U CN 208864732 U CN208864732 U CN 208864732U CN 201721069615 U CN201721069615 U CN 201721069615U CN 208864732 U CN208864732 U CN 208864732U
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- China
- Prior art keywords
- connector
- lower limbs
- recovery set
- servobcylinder
- shaft
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Abstract
The utility model relates to rehabilitation equipment fields, disclose a kind of recovery set for lower limbs, including the first connector, the second connector, third connector, the 4th connector and driving part, first connector and the second connector are rotatablely connected, third connector is fixedly connected with the second connector, and be rotatablely connected with the 4th connector, driving part is for driving the second connector to rotate relative to the first connector.The utility model controls knee joint by single driving device and effectively operates, and alleviates the weight of healing robot, reduces costs.
Description
Technical field
The utility model relates to rehabilitation equipment fields, more particularly, to a kind of lower limb rehabilitation device.
Background technique
Recovery set for lower limbs is the emerging technology rapidly developed in recent years, is robot technology in the new of medical domain
Using.Lower limb rehabilitation device can be fixed on the person, the gait for imitating normal person be driven by driving device, to drive patient
Walking is carried out, lower limb is made to have the patient of dyskinesia to obtain rehabilitation.Currently, existing recovery set for lower limbs is most in the market
Number is designed using both legs formula, is had on every leg and is driven at hip joint and knee joint two, therefore a recovery set for lower limbs at least needs
Four driving devices, such recovery set for lower limbs is with high costs, and ordinary consumer is difficult to undertake, and device is more heavy, patient
Routine use is inconvenient.Therefore, a kind of convalescence device that can solve the above problem is needed.
Utility model content
For overcome the deficiencies in the prior art, the utility model provides a kind of recovery set for lower limbs, for solving existing health
Apparatus for coating heaviness and problem with high costs.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of recovery set for lower limbs, including the first connector, the second connector, third connector, the 4th connector and drive
Dynamic component, the first connector and the second connector are rotatablely connected, and third connector is fixedly connected with the second connector, and with the 4th
Connector rotation connection, driving part is for driving the second connector to rotate relative to the first connector.
Mode as a further improvement of the foregoing solution, driving part include servoBcylinder,
The cylinder body of servoBcylinder and the first connector are rotatablely connected, and the drive shaft of servoBcylinder and the second connector are rotatablely connected；
Alternatively, the cylinder body of servoBcylinder and the second connector are rotatablely connected, the drive shaft of servoBcylinder and the first connector are rotated
Connection.
Mode as a further improvement of the foregoing solution is fixedly connected with control shell on the first connector, controls shell
Inside is fixedly connected with connecting shaft, and servoBcylinder is contained in control shell, and the cylinder body and connecting shaft of servoBcylinder are rotatablely connected.
Mode as a further improvement of the foregoing solution is fixedly connected with hinged seat, the drive of servoBcylinder on the second connector
Moving axis and hinged seat are rotatablely connected.
Mode as a further improvement of the foregoing solution, the second connector are equipped with slot, and one end of third connector is inserted
It connects in slot.
Mode as a further improvement of the foregoing solution, the 4th connector are equipped with shaft hole, and third connector is equipped with
First rotating shaft, first rotating shaft are plugged in shaft hole.
Mode as a further improvement of the foregoing solution is additionally provided with the arc groove concentric with shaft hole on the 4th connector,
Third connector is equipped with second shaft parallel with first rotating shaft, and the second shaft is plugged in arc groove and can slide along slot.
Mode as a further improvement of the foregoing solution, third connector include elastic rod.
Mode as a further improvement of the foregoing solution, the first connector and the second connector include tube structure.
The side wall of mode as a further improvement of the foregoing solution, tube structure is equipped with several through-holes.
The beneficial effects of the utility model are:
The utility model controls knee joint by single driving device and effectively operates, and alleviates the weight of healing robot,
It reduces costs.
In the preferred embodiment of the utility model, thigh interconnecting piece and shank interconnecting piece are by connecting framework and lightweight
Carbon fiber composition, can further mitigate weight.
In the preferred embodiment of the utility model, third connector uses elastic rod, can provide an ankle-joint
Passive freedom degree.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of the utility model one embodiment；
Fig. 2 is the front view of the utility model one embodiment；
Fig. 3 is the decomposition diagram of the utility model third connector and the 4th connector connecting portion；
Fig. 4 is the structural schematic diagram of the utility model control enclosure interior.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as up, down, left, right, before and after used in utility model are only relative to each composition portion of the utility model in attached drawing
For the mutual alignment relation divided.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the present invention.Term " and or " used herein includes the arbitrary of one or more relevant listed items
Combination.
Referring to Fig.1, Fig. 2 respectively illustrates the stereoscopic schematic diagram and front view of the utility model one embodiment.As schemed
Show, recovery set for lower limbs include the first connector 100, the second connector 200, third connector 300, the 4th connector 400 with
Driving part 500.
For connecting with the thigh of human body, the second connector 200 is used to connect with the shank of human body first connector 100,
4th connector 400 with the sole of human body for connecting, and third connector 300 is then for connecting the second connector 200 and the 4th
Connector 400.In order to adapt to the varicose of human body lower limbs, the first connector 100 and the rotation connection of the second connector 200 are to simulate knee
Joint, third connector 300 and the rotation connection of the 4th connector 400 are to simulate ankle-joint.
First connector 100 and the second connector 200 are preferably all hollow tubular structure, with accommodate respectively thigh with it is small
Leg.Further, the first connector 100 and the second connector 200 are made of connecting framework and light weight grade carbon fiber, are being guaranteed
It can be with the weight of alleviator, wherein the connecting framework of the two is the physiological property according to human leg under the premise of structural strength
Design, streamlined on the whole, light weight grade carbon fiber then passes through fastening screw and is separately fixed on the connecting framework of the two.This
Outside, the 4th connector 400 is also designed according to the physiological property of human foot, and two sides inner surface and bottom surface can be complete with patient's sole
U.S. fitting.
In addition, being provided with the through-hole of multiple arcs on the side wall of the first connector 100 and the second connector 200.Arc
Through-hole both can be used as the weight of the further alleviator of lightening hole, while be also used as heat release hole, can make the first connector
100 and the second air inside and outside connector 200 keep circulation, avoid patient from causing skin problem because sultry.
First connector 100 can be rotated mutually with the second connector 200.Specifically, the lower end setting of the first connector 100
There is the first connection pedestal 110, is provided with the first articulated section 120 on the first connection pedestal 110, the upper end of the second connector 200 is set
Be equipped with the second connection pedestal 210, be provided with the second articulated section 220 on the second connection pedestal 210, wherein the first articulated section 210 with
Second articulated section 220 is carried out by connector (such as shaft) hingedly, to make the first connector 100 and the second connector 200
It can mutually rotate.
Second connector 200 is fixedly connected with third connector 300, a preferred implementation side being fixedly connected as the two
Case, the second connector 200 are equipped with third and connect pedestal 230, and third connects pedestal 230 and is equipped with unshowned slot, third
The slot is inserted on the top of connector 300, and third connector 300 is fixedly connected in slot.Except above-mentioned detachable
It is connected except scheme, third connector 300 and the second connector 200 are also possible to be integrally formed connection likes.
Third connector 300 can be rotated mutually with the 4th connector 400.Specifically, referring to Fig. 3, it is practical new to show this
The decomposition diagram of type third connector and the 4th connector connecting portion, as shown, the other end of third connector 300 has
Have a lateral extensions 310, the two sides of lateral extensions 310 are extended with longitudinally connected portion 320, the longitudinally connected portions 320 of two sides it
Between be provided along its length first rotating shaft 330.It is provided with connection pedestal 410 on 4th connector 400, connects on pedestal 410
Equipped with shaft hole 411, first rotating shaft 330 passes through shaft hole 411, so that third connector 300 and the 4th connector 400 be made to rotate
Connection.
Preferably, the utility model is additionally provided with rotational angle between limitation third connector 300 and the 4th connector 400
Position limiting structure, specifically, third connector 300 are equipped with second shaft 340 parallel with first rotating shaft 330, connect pedestal 410
On be equipped with curved portion 420, curved portion 420 be equipped with the arc groove 421 concentric with shaft hole 411, the second shaft 340 pass through arc
Shape slot 421 can simultaneously be slided along slot, limit the rotational angle between third connector 300 and the 4th connector 400.
In addition, the third connector 300 in the utility model preferably uses elastic rod, it is curved that elasticity can occur for elastic rod
Song is rotated to can be considered relative to the 4th connector 400, that is, for patient provide an ankle-joint it is passive from
By spending, in addition, elastic rod can absorb impact force by elastic bending when patient tramples bottom surface, keep patient's walking more easypro
It is suitable.
Driving part 500 is rotated as the second connector of power source drive 200 relative to the first connector 100, the present embodiment
In driving part 500 preferably use servoBcylinder, convenient for accurate control rotational angle.ServoBcylinder is linear motion output mechanism,
Including cylinder body with can the flexible drive shaft of opposing cylinder, the utility model do not limit the installation site of servoBcylinder, need to only guarantee cylinder
Body and drive shaft are connected on the component that two need to relatively rotate.
In the present embodiment cylinder body preferably with the first connector 100 be rotatablely connected, drive shaft preferably with 200 turns of the second connector
Dynamic connection, specifically, side is fixedly connected with shell connection pedestal 130 on the first connector 100, and shell connects pedestal 130
Side is fixedly connected with control shell 600.Shell connect 130 shape of pedestal on wedge shaped piece, outer surface be in cleanliness, respectively with
First connector 100, control 600 outer surface of shell fit closely, and pass through bolt and the first connector 100 and control shell
600 are fixedly connected.It is fixedly connected with a unshowned connecting shaft in control shell 600, it specifically, can be in 600 liang of shell of control
Connecting shaft pedestal is arranged in side inner surface, and connecting shaft is fixed on connecting shaft pedestal.
The side of second connector 200, which is provided with, is drivingly connected pedestal 240, is drivingly connected to be provided on pedestal 240 and not show
Hinged seat out.The lower end for controlling shell 600 is equipped with notch, and the connecting shaft in the cylinder body and control shell 600 of servoBcylinder rotates
Connection, the drive shaft of servoBcylinder connect after passing through the notch on control shell 600 with the hinged seat rotation being drivingly connected on pedestal 240
It connects.When patient needs to stand, the drive shaft of servoBcylinder is stretched out, and opposite first connector 100 of the second connector 200 stretches；When
When patient needs to walk, the drive shaft of servoBcylinder is retracted, and opposite first connector 100 of the second connector of driving 200 lifts dynamic
Make, driving patient's shank to lift makes patient walk.
It is of course also possible to be that the cylinder body of servoBcylinder and the second connector 200 are rotatablely connected, the drive shaft of servoBcylinder and first
Connector 100 is rotatablely connected.
Further, referring to Fig. 4, the structural schematic diagram of the utility model control enclosure interior is shown, as shown, control
Battery supply, control mainboard and feed circuit etc. are also accommodated in shell 600 processed, for providing power for driving device and controlling
Driving device work.Further, the rear side for controlling shell 600 is provided with bar radiating hole 610, can be realized good heat dissipation
Effect.
It is to be illustrated to the preferable implementation of the utility model, but the invention is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent variations without departing from the spirit of the present invention
Or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of recovery set for lower limbs, which is characterized in that connect including the first connector, the second connector, third connector, the 4th
Fitting and driving part, first connector and the second connector are rotatablely connected, and the third connector and described second connects
Fitting is fixedly connected, and is rotatablely connected with the 4th connector, and the driving part is for driving the second connector phase
First connector is rotated.
2. recovery set for lower limbs according to claim 1, which is characterized in that the driving part includes servoBcylinder,
The cylinder body of the servoBcylinder and first connector are rotatablely connected, and the drive shaft of the servoBcylinder is connect with described second
Part rotation connection；
Alternatively, the cylinder body of the servoBcylinder and second connector are rotatablely connected, the drive shaft of the servoBcylinder and described the
A connection piece rotation connection.
3. recovery set for lower limbs according to claim 2, which is characterized in that be fixedly connected with control on first connector
Shell processed, the control enclosure interior are fixedly connected with connecting shaft, and the servoBcylinder is contained in the control shell, described to watch
The cylinder body and the connecting shaft for taking cylinder are rotatablely connected.
4. recovery set for lower limbs according to claim 2, which is characterized in that be fixedly connected on second connector hinged
Joint chair, the drive shaft of the servoBcylinder and the hinged seat are rotatablely connected.
5. recovery set for lower limbs according to any one of claim 1 to 4, which is characterized in that on second connector
Equipped with slot, one end of the third connector is plugged in the slot.
6. recovery set for lower limbs according to any one of claim 1 to 4, which is characterized in that on the 4th connector
Equipped with shaft hole, the third connector is equipped with first rotating shaft, and the first rotating shaft is plugged in the shaft hole.
7. recovery set for lower limbs according to claim 6, which is characterized in that be additionally provided on the 4th connector with it is described
The concentric arc groove of shaft hole, the third connector be equipped with second shaft parallel with the first rotating shaft, described second
Shaft is plugged in the arc groove and can slide along slot.
8. recovery set for lower limbs according to any one of claim 1 to 4, which is characterized in that the third connector packet
Include elastic rod.
9. recovery set for lower limbs according to any one of claim 1 to 4, which is characterized in that first connector with
Second connector includes tube structure.
10. recovery set for lower limbs according to claim 9, which is characterized in that if the side wall of the tube structure is equipped with
Dry through-hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069615.5U CN208864732U (en) | 2017-08-24 | 2017-08-24 | A kind of recovery set for lower limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721069615.5U CN208864732U (en) | 2017-08-24 | 2017-08-24 | A kind of recovery set for lower limbs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208864732U true CN208864732U (en) | 2019-05-17 |
Family
ID=66460411
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721069615.5U Expired - Fee Related CN208864732U (en) | 2017-08-24 | 2017-08-24 | A kind of recovery set for lower limbs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208864732U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807190A (en) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
-
2017
- 2017-08-24 CN CN201721069615.5U patent/CN208864732U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112807190A (en) * | 2020-12-28 | 2021-05-18 | 四川大学华西医院 | Recovered intelligent auxiliary system of using of spinal cord injury |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190517 Termination date: 20200824 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |