CN208910866U - Family type lower limb exoskeleton recovery exercising robot - Google Patents

Family type lower limb exoskeleton recovery exercising robot Download PDF

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Publication number
CN208910866U
CN208910866U CN201720574967.XU CN201720574967U CN208910866U CN 208910866 U CN208910866 U CN 208910866U CN 201720574967 U CN201720574967 U CN 201720574967U CN 208910866 U CN208910866 U CN 208910866U
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CN
China
Prior art keywords
bar
thigh
fixed
screw
hip
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Expired - Fee Related
Application number
CN201720574967.XU
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Chinese (zh)
Inventor
赵凯琳
项忠霞
李力力
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Tianjin University
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Tianjin University
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Publication of CN208910866U publication Critical patent/CN208910866U/en
Expired - Fee Related legal-status Critical Current
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Abstract

The utility model discloses a kind of family type lower limb exoskeleton recovery exercising robots, main includes that adjustable two nested structure of height adjustable distance that is fixed on the rack is identical and ectoskeleton training aids symmetrically arranged on the left and the right, ectoskeleton training aids includes hip fixed link, hip joint part, leg portion, knee joint part and lower leg portion, wherein the length of thigh and shank is adjustable, hip joint and knee joint are under the drive of mutually independent driving device, so that two sets of ectoskeleton training aids are independent of each other, both coordination can be carried out between them, individual rehabilitation training can also be carried out to unilateral limbs, increase the adaptability and practicability of the utility model.The utility model robot architecture is simple, and cost is relatively low, easy to use, small in size, and suitable user, which is in, carries out rehabilitation training;And user's personalization rehabilitation training demand can be met according to the body dimensional parameters regulating mechanism size of user and relative position, rehabilitation efficacy is good.

Description

Family type lower limb exoskeleton recovery exercising robot
Technical field
The utility model relates to a kind of robots in rehabilitation medical instrument field, and in particular to a kind of family type lower limb dermoskeleton Bone recovery exercising robot.
Background technique
There are a considerable amount of people to cause lower limb disorder, and number due to disease and traffic accident etc. every year Ever-increasing situation is presented.It takes care of since the routine life of most of patient requires special messenger, is brought to family and society Heavy burden.Therefore, the independent ambulation ability for trying to improve and restore patient is primary goal that rehabilitation is made great efforts.
Clinical medicine proves that scientific and reasonable rehabilitation training is able to maintain that and improves range of motion, the useless property flesh of prevention Atrophy and anchylosis, and proprioceptor can be effectively stimulated, affected limb promote logical.Traditional rehabilitation Therapist and the many-to-one training method of patient are mostly used greatly, not only low efficiency is at high cost, but also seriously in short supply in medical resource In the case where, this therapeutic modality is difficult to meet the rehabilitation demands of all patients.Therefore, the appearance of lower limb rehabilitation robot is The patient of lower limb disorder provides a kind of completely new treatment means.For this purpose, the research work of the developed countries such as America and Europe, Japan Person and medical institutions take the lead in expanding the research to lower limb rehabilitation robot technology, study at present it is more mature have Lokomat, Haptic Walker, LOPES and ALEX etc..
Although existing lower limb exoskeleton recovery exercising robot has many advantages, but there is also defect and deficiencies. The system of lower limb rehabilitation robot is huge, and structure is complicated, and donning process is cumbersome, expensive, is generally only applicable to large hospital And recovery centre, it is difficult to it is applied in general family, so not can guarantee the rehabilitation training time of patient.In addition rehabilitation machine The non-adjustable or adjustable range of some sizes of people is limited, easily causes the discomfort of limbs of patient, influences rehabilitation training effect.
Utility model content
The utility model be intended to current lower limb exoskeleton recovery exercising robot there are aiming at the problem that, design a structure Simply, cost is relatively low, easy to use, and volume is moderate, is suitable for home use, can be according to the body dimensional parameters tune of user Mechanism size and relative position are saved, the lower limb exoskeleton recovery exercising robot of user's individual demand is met.
In order to solve the above-mentioned technical problem, the utility model proposes a kind of family type lower limb exoskeleton rehabilitation training machine People, including rack, supporting back board and connecting plate, the supporting back board are arranged on the rack the side in portion, in the supporting back board Equipped with two vertical sliding slots, the connecting plate is equipped with the guide rail of two with sliding slot cooperation, is equipped with height on two guide rails Consistent screw rod, is equipped with two exhausting holes along the trend of two guide rails in the supporting back board, and the height of two exhausting holes corresponds; Two screw rods are fixed with closing handle respectively after the through-hole of two sustained heights;It is equipped with before the connecting plate horizontal sliding Slot is equipped with the one-to-one bolt hole in position in the two side walls of the horizontal concrete chute;Pass through bolt in the horizontal concrete chute Two sets of ectoskeleton training aids are fixed with, the structure of two sets of ectoskeleton training aids is identical and is symmetrically arranged;The ectoskeleton instruction Practice device include the hip fixed link of square, it is hip joint fixed plate, the first thigh bar of thigh support frame, the second thigh bar, first small Leg bar and the second shank bar;One straight-bar of the hip fixed link is inlaid in the horizontal concrete chute, and the hip joint is fixed Plate is fixed on the end of another straight-bar of the hip fixed link;One end of the thigh support frame and the hip joint fixed plate Hingedly, the other end of the thigh support frame sequentially with first thigh bar, the second thigh bar, the first shank bar and Two shank bar two ends are connected, wherein are hinged between second thigh bar and the first shank bar;First shank Bar is equipped with small leg support;A driver rack is respectively and fixedly provided in the hip fixed link and first thigh bar, it is described Between thigh support frame and the driver rack being fixed in the hip fixed link, the small leg support and it is fixed on described first A driving device is respectively connected between driver rack on thigh bar;The driving device includes motor, on the motor Equipped with fixed plate, the output shaft of the motor is equipped with driving pulley, is fixed with an axle sleeve, the axle sleeve in the fixed plate Interior to support a nut by needle bearing, the shape of the nut is multi-diameter shaft, the major diameter shaft part of the multi-diameter shaft with it is described Needle bearing cooperation, is fixed with passive belt wheel on the minor diameter shaft part of the multi-diameter shaft, the passive belt wheel by synchronous belt with The driving pulley rotates synchronously;Ball-screw is equipped in the nut;It is arranged in the thigh support frame and hip fixed link On driver rack between driving device in the axle sleeve fix on the driver rack, one end of the ball-screw The other end for free end, the ball-screw is hinged by feed screw nut and the thigh support frame;It is arranged in the shank branch The axle sleeve in the driving device between driver rack on frame and the first thigh bar is fixed on the driver rack, described One end of ball-screw is free end, and the other end of the ball-screw is hinged by feed screw nut and the small leg support.
In the utility model, between first thigh bar and second thigh bar, the first shank bar and second Connection between shank bar is all made of set rod-type grafting.
Sliding slot in supporting back board described in the utility model is oat tail groove structure.
Equipped with a plurality of bandage in the utility model.
Compared with prior art, the utility model has the beneficial effects that
The utility model solves the problems, such as that current lower limb exoskeleton rehabilitation robot exists, for user's demand, if A family type lower limb exoskeleton recovery exercising robot is counted.The robot architecture is simple, and cost is relatively low, easy to use, body Product is small, and suitable user, which is in, carries out rehabilitation training;And can according to the body dimensional parameters regulating mechanism size of user and Relative position, meets user's personalization rehabilitation training demand, and rehabilitation efficacy is good.
Detailed description of the invention
Fig. 1 is the stereoscopic schematic diagram of the utility model family type lower limb exoskeleton recovery exercising robot;
Fig. 2 is the back view of recovery exercising robot shown in Fig. 1;
Fig. 3 is the structural schematic diagram of ectoskeleton training aids in the utility model;
Fig. 4 is set rod-type grafting schematic diagram between first thigh bar and second thigh bar shown in Fig. 3;
Fig. 5 is driving device structure schematic diagram in the utility model.
In figure:
1- rack 2- bolt 3- ectoskeleton training aids 4- connecting plate
5- closing handle 6- supporting back board 30- hip fixed link 31- hip joint fixed plate,
32- hip joint connector 33- thigh support frame 34- axle sleeve 35- motor
The driven synchronous pulley 39- ball-screw of 36- synchronous belt 37- driving pulley 38-
310- connection bolt 311- small leg support 312- the first shank bar 313- driver rack
314- rotary axle box 315- sleeve nut 316- driven pulley 317- motor
318- synchronous belt 319- driving pulley 320- ball-screw 321- feed screw nut
322- the first thigh bar 323- connection bolt 324- driver rack the second thigh bar of 325-
326- connection bolt 327- knee joint connector 328- the second shank bar 329- connection bolt
330- end cap 331- needle bearing 332- nut 333- fixed plate.
Specific embodiment
Technical solutions of the utility model are described in further detail in the following with reference to the drawings and specific embodiments, it is described Specific embodiment is only explained the utility model, is not intended to limit the utility model.
The utility model proposes a kind of family type lower limb exoskeleton recovery exercising robot, as shown in Figure 1, 2, including machine The side on 1 top of rack is arranged in frame 1, supporting back board 6 and connecting plate 4, the supporting back board 6, and the supporting back board 6 is equipped with Two vertical sliding slots, the connecting plate 4 are equipped with the guide rail of two with sliding slot cooperation, and it is consistent to be equipped with height on two guide rails Screw rod, as shown in Fig. 2, in the supporting back board 6 along the trend of two guide rails be equipped with two exhausting holes 7, the height of two exhausting holes 7 It corresponds;Two screw rods are fixed with closing handle 5 respectively after the through-hole 7 of two sustained heights.According to different users Height, two screw rods can be inserted in the through-hole 7 of different height, thus by the height placement of the ectoskeleton training aids 3 In a suitable height.
It is equipped with horizontal concrete chute before the connecting plate 4, is equipped with position one by one in the two side walls of the horizontal concrete chute Corresponding bolt hole;It has been bolted two sets of ectoskeleton training aids in the horizontal concrete chute, two sets of ectoskeleton training aids Structure is identical and is symmetrically arranged.
In the utility model, as shown in figure 3, the ectoskeleton training aids includes the hip fixed link 30 of square, hip pass Save fixed plate 31,33 first thigh bar 322 of thigh support frame, the second thigh bar 325, the first shank bar 312 and the second shank bar 328。
One straight-bar of the hip fixed link 30 is inlaid in the horizontal concrete chute, and the hip joint fixed plate 31 passes through Hinged shaft (hip joint connector 32) is fixed on the end of another straight-bar of the hip fixed link 30;The thigh support frame 33 One end and the hip joint fixed plate 31 are hinged, the other end of the thigh support frame 33 sequentially with first thigh bar 322, Second thigh bar 325, the first shank bar 312 are connected with 328 two ends of the second shank bar, wherein described It is hingedly, to be cut with scissors as shown in Figure 3 using hinged shaft (knee joint connector 327) between two thigh bars 325 and the first shank bar 312 It connects, the connection between first thigh bar 322 and second thigh bar 325 is using set rod-type grafting, as shown in figure 4, institute Stating the first thigh bar 322 can move in second thigh bar 325, and the ophthalmically acceptable connection bolt 326 in suitable hole is then selected to lock Fixed, similarly, the adjusting of connection and length between the first shank bar 312 and the second shank bar 328 is also in this way, such as Shown in Fig. 3, connection bolt 329 is used after suitable eyelet is selected between the first shank bar 312 and the second shank bar 328 Fixation.
The first shank bar 312 is equipped with small leg support 311.
A driver rack, the thigh are respectively and fixedly provided on the hip fixed link 30 and first thigh bar 322 Between bracket 33 and the driver rack 313 being fixed in the hip fixed link 30, the small leg support 311 and it is fixed on institute It states and is respectively connected with a driving device between the driver rack 324 on the first thigh bar 322.
As shown in figure 5, the driving device includes motor 317, the motor 317 is equipped with fixed plate 333, the motor 317 output shaft is equipped with driving pulley 319, and an axle sleeve 314 is fixed in the fixed plate 333, is led in the axle sleeve 314 It crosses needle bearing 331 and supports a nut 332, the axle sleeve 314 is equipped with end cap 330, and the shape of the nut 332 is multi-diameter shaft, The major diameter shaft part of the multi-diameter shaft and the needle bearing 311 cooperate, be fixed on the minor diameter shaft part of the multi-diameter shaft by Movable belt pulley 316, the passive belt wheel 316 are rotated synchronously by synchronous belt 318 and the driving pulley 319;In the nut 332 It is equipped with ball-screw 320;Drive between driver rack 313 in the thigh support frame 33 and hip fixed link 30 is set The axle sleeve 314 in dynamic device is fixed on the driver rack 313, after one end of the ball-screw 320 passes through nut 332 The other end for free end, the ball-screw 320 is hinged by feed screw nut 321 and the thigh support frame 33.The active Belt wheel 319 is connect with the motor 317, and the driven pulley 316 is connect by connecting shaft with the nut 332 of threads of lead screw pair, The motor 31 drives the flexible of the ball-screw 320 by driving the rotation of the nut 332, and then drives hip solid Hip joint rotation between fixed pole 30 and the first thigh bar 322.
As shown in figure 3, between the driver rack 324 being arranged in the small leg support 311 and the first thigh bar 322 The axle sleeve 34 in driving device is fixed on the driver rack 324, and one end of the ball-screw 39 is free end, described The other end of ball-screw 39 is hinged by feed screw nut 310 and the small leg support 311, and driving principle and hip above-mentioned close The driving principle for saving rotation is identical, so that the knee joint between the second thigh bar 325 and the first shank bar 312 be driven to rotate.
In the utility model, the height of the adjustable ectoskeleton training aids 3, and by adjust bolt 2 with connect The distance between two sets of ectoskeleton training aids 3 can be adjusted and are locked in by the difference of horizontal concrete chute side bolt hole site on plate 3 One suitably apart from upper, to realize the adjusting of height and width.Also, due in the utility model the first thigh bar with It using connection after grafting and is fixed between second thigh bar and between the first shank bar and the second shank bar, passes through and select fixed point Difference the adjustable of leg portion and lower leg portion length may be implemented.To sum up, the utility model, which is adapted to different building shape, makes The personalized rehabilitation training demand of user.
In addition, the sliding slot in the supporting back board 6 is oat tail groove structure, and connecting plate 4 can also pass through in the utility model Joinery and its construction is connect with supporting back board 6, easy to disassemble, and can make 4 uniform stressed of connecting plate.
In the utility model, realizes the movable driving device of hip joint and realize that the driving device of knee articulation has solely The vertical function of adjusting, so that the utility model has the characteristics that the degree of modularity is high, structure is adjustable.Moreover, two sets of dermoskeletons Bone training aids is independent of each other, and can both carry out coordination between them, can also carry out individual rehabilitation instruction to unilateral limbs Practice, increases the adaptability and practicability of the utility model.
Equipped with a plurality of bandage in the utility model, for the position of user and recovery exercising robot to be fixed.
In use, first according to the body sizes of user, adjust two sets of bone training aids mounting height and Width distance between the ectoskeleton training aids of the left and right sides is adjusted then according to the length of the lower limb thigh and calf limb section of user The length of leg portion and lower leg portion, to make joint of robot rotation axis and specific user joint rotation axis one It causes, additonal pressure caused by avoiding exoskeleton system due to mismatching with human body size, to reach better rehabilitation Training effect.
In addition, user is when in use, gait rule can be conveniently realized in step by the rotary motion of control motor Adjustment on width, cadence.
Although the utility model is described above in conjunction with attached drawing, the utility model is not limited to above-mentioned Specific embodiment, the above mentioned embodiment is only schematical, rather than restrictive, the ordinary skill of this field Personnel are under the enlightenment of the utility model, in the case where not departing from the utility model aims, can also make many variations, this It belongs within the protection of the utility model a bit.

Claims (4)

1. a kind of family type lower limb exoskeleton recovery exercising robot, including rack (1), supporting back board (6) and connecting plate (4), It is characterized in that, supporting back board (6) setting is in the side on rack (1) top, the supporting back board (6) is equipped with two and erects Straight sliding slot, the connecting plate (4) are equipped with the guide rail of two with sliding slot cooperation, the consistent spiral shell of height are equipped on two guide rails Bar is equipped with two exhausting holes (7) along the trend of two guide rails on the supporting back board (6), and the height one of two exhausting holes (7) is a pair of It answers;Two screw rods are fixed with closing handle (5) respectively after the through-hole (7) of two sustained heights;Before the connecting plate (4) Face is equipped with horizontal concrete chute, is equipped with the one-to-one bolt hole in position in the two side walls of the horizontal concrete chute;It is described horizontal sliding Two sets of ectoskeleton training aids are bolted in slot, the structure of two sets of ectoskeleton training aids is identical and is symmetrically arranged;
The ectoskeleton training aids includes the hip fixed link (30), hip joint fixed plate (31), thigh support frame (33) of square First thigh bar (322), the second thigh bar (325), the first shank bar (312) and the second shank bar (328);
One straight-bar of the hip fixed link (30) is inlaid in the horizontal concrete chute, and the hip joint fixed plate (31) is fixed In the end of another straight-bar of the hip fixed link (30);One end of the thigh support frame (33) is fixed with the hip joint Plate (31) hingedly, the other end of the thigh support frame (33) sequentially with first thigh bar (322), second thigh bar (325), the first shank bar (312) is connected with the second shank bar (328) two ends, wherein second thigh bar It (325) is hinged between the first shank bar (312);
The first shank bar (312) is equipped with small leg support (311);
A driver rack, the thigh are respectively and fixedly provided on the hip fixed link (30) and first thigh bar (322) Between bracket (33) and the driver rack (313) being fixed on the hip fixed link (30), the small leg support (311) with A driving device is respectively connected between the driver rack (324) being fixed on first thigh bar (322);
The driving device includes motor (317), and the motor (317) is equipped with fixed plate (333), the motor (317) Output shaft is equipped with driving pulley (319), is fixed with a rotary axle box (314), the rotation axis on the fixed plate (333) It covers by needle bearing (331) bearing one nut (332) in (314), the shape of the nut (332) is multi-diameter shaft, the rank The major diameter shaft part of terraced axis and the needle bearing (331) cooperate, and are fixed with passive belt on the minor diameter shaft part of the multi-diameter shaft It takes turns (316), the passive belt wheel (316) is rotated synchronously by synchronous belt (318) and the driving pulley (319);The nut (332) ball-screw is equipped in;
It is arranged in the driving device between the driver rack (313) on the thigh support frame (33) and hip fixed link (30) The rotary axle box (314) fix on the driver rack (313), the ball-screw being arranged in the driving device is denoted as One ball-screw (320), one end of first ball-screw (320) are free end, the first ball screw (320) it is another One end is hinged by feed screw nut (321) and the thigh support frame (33);
Driving device between the driver rack (324) in the small leg support (311) and the first thigh bar (322) is set In axle sleeve (34) fix on the driver rack (324), the ball-screw being arranged in the driving device is denoted as the second rolling One end of lead screw (39), second ball-screw (39) is free end, and the other end of second ball-screw (39) passes through One connection bolt (310) and the small leg support (311) are hinged.
2. a kind of family type lower limb exoskeleton recovery exercising robot according to claim 1, which is characterized in that described first Between thigh bar (322) and second thigh bar (325), between the first shank bar (312) and the second shank bar (328) Connection be all made of set rod-type grafting.
3. a kind of family type lower limb exoskeleton recovery exercising robot according to claim 1, which is characterized in that the support Sliding slot on backboard (6) is oat tail groove structure.
4. a kind of family type lower limb exoskeleton recovery exercising robot according to claim 1, which is characterized in that equipped with more Bar bandage.
CN201720574967.XU 2017-05-22 2017-05-22 Family type lower limb exoskeleton recovery exercising robot Expired - Fee Related CN208910866U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201720574967.XU CN208910866U (en) 2017-05-22 2017-05-22 Family type lower limb exoskeleton recovery exercising robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201720574967.XU CN208910866U (en) 2017-05-22 2017-05-22 Family type lower limb exoskeleton recovery exercising robot

Publications (1)

Publication Number Publication Date
CN208910866U true CN208910866U (en) 2019-05-31

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ID=66691181

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201720574967.XU Expired - Fee Related CN208910866U (en) 2017-05-22 2017-05-22 Family type lower limb exoskeleton recovery exercising robot

Country Status (1)

Country Link
CN (1) CN208910866U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112891857A (en) * 2021-01-25 2021-06-04 卢宪基 Equipment is tempered to orthopedics patient's postoperative shank

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112891857A (en) * 2021-01-25 2021-06-04 卢宪基 Equipment is tempered to orthopedics patient's postoperative shank

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20190531

Termination date: 20210522

CF01 Termination of patent right due to non-payment of annual fee