CN208959240U - A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton - Google Patents
A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton Download PDFInfo
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- CN208959240U CN208959240U CN201821701126.1U CN201821701126U CN208959240U CN 208959240 U CN208959240 U CN 208959240U CN 201821701126 U CN201821701126 U CN 201821701126U CN 208959240 U CN208959240 U CN 208959240U
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Abstract
The utility model relates to rehabilitation exoskeleton robot fields, and in particular to a kind of bi-directional drive ankle joint rehabilitation training ectoskeleton.The utility model has structure simple, bio-imitability is high, it is easy to the characteristics of driving, the advantages that movement effects are good, wearer can be effectively helped to carry out ankle joint rehabilitation training, it can be easy to be mounted on wearer's lower limb foot and shank position by foot set and shank set, the first driving device of two sides is covered by shank and the second driving device carries out bi-directional drive, there is provided foot plantar flexion and dorsiflex two kinds of activities for wearer in the process of walking, it substantially reduces wearer's Calf muscle strength consumption in the process of walking and helps wearer's rehabilitation training, restore ankle-joint walking function as early as possible, first driving device and the second driving device progress bi-directional drive ankle joint rehabilitation training exoskeleton mechanism bio-imitability are higher simultaneously, optimize human walking procedure, biddability is good between wearer and orthoses robot.
Description
Technical field
The utility model relates to rehabilitation exoskeleton robot fields, and in particular to a kind of bi-directional drive ankle joint rehabilitation training
Ectoskeleton.
Background technique
Apoplexy, traffic accident, brain paralysis etc. can cause human body lower limbs walking ability to be lost, wearable lower limb exoskeleton machine
The appearance of people can help patient to carry out rehabilitation training, restore walking ability as early as possible.Lower limb integrated mechanical ectoskeleton at this stage
Equipment research is in the majority, and structure is complicated for such ectoskeleton, and it is inconvenient that patient dresses, and comfort is not high, and because weight
Reason increases lower limb injury and lower limb muscles energy consumption in rehabilitation course.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of structure is simple, bio-imitability is high, and be easy to drive is two-way
Drive ankle joint rehabilitation training ectoskeleton.
In order to solve the above-mentioned technical problem, the technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton, including foot set, for controlling ankle dorsal flexion movement
First driving device, the second driving device that the plantar flexion for controlling ankle-joint moves are matched small with wearer's shank position
Leg set, the first driving device is identical as the second driving device structure, and the first driving device and the second driving device
It is separately positioned on shank set two sides；
The shank set includes protheca and rear enclosure, is set in the rear enclosure before described, the rear enclosure lower end and foot
Portion's set is hinged；
Described first driving device one end and protheca are hinged, and the other end and foot set are hinged；
Second driving device one end and rear enclosure are hinged, and the other end and foot set are hinged.
Preferably, the installation end of the first driving device is provided with the first articulation piece, is arranged on first articulation piece
There is first through hole, the first body cradle is provided on the protheca, is provided with the first pin hole on first body cradle, described first
It is connected between pin hole and the first through hole by the first pin shaft；
The installation end of second driving device is provided with the second articulation piece, and it is logical that second is provided on second articulation piece
Hole is provided with the second body cradle in the rear enclosure, the second pin hole, second pin hole and institute is provided on second body cradle
It states and is connected between the second through-hole by the second pin shaft.
Preferably, the first driving device includes first motor, the first ball screw, and the first motor setting is the
On one motor cabinet, first articulation piece is connect with first motor seat, and the first motor output shaft is threaded through first electricity
On base, the first motor output shaft is connect with the first ball screw by first shaft coupling, and first ball screw is certainly
By being provided with the first rotating cylinder on end, it is provided with the matched screw thread of the first ball screw in first rotating cylinder, described first
Motor drives the rotation of the first ball screw, is subjected to displacement between the first ball screw and the first rotating cylinder.
Preferably, the foot set includes foot cuff, bandage fixing piece and bottom plate, and bandage fixing piece and bottom plate are connected,
Foot cuff is fixed on bandage fixing piece.
Preferably, the first hole is arranged in the rear enclosure lower end, and the foot, which is put on, is provided with mounting rack, sets on the mounting rack
It is equipped with the second hole, is connected between first hole and the second hole by first rotating shaft, the mounting rack and rear enclosure constitute sagittal plane
Revolute, the revolute is located at wearer's ankle-joint position.
Preferably, first rotating cylinder free end is provided with the first connection sheet, is provided with third in first connection sheet
Hole, foot set are provided with the first connection frame on front end, are provided with the 4th hole on first connection frame, the third hole with
It is connected between 4th hole by the second shaft；
Second rotating cylinder free end is provided with the second connection sheet, and the 5th hole is provided in second connection sheet, described
Foot set is provided with the second connection frame on rear end, and the 6th hole, six hole the 5th Kong Yu are provided on second connection frame
Between connected by third shaft.
Preferably, the first driving device further includes first sleeve, and the first sleeve is connect with first motor seat, institute
It states the first ball screw to be threaded through in the first sleeve, the first sleeve end is provided with the first guide pad, the first guiding
The first pilot hole is provided on block, first rotating cylinder is threaded through on first pilot hole.
Preferably, the protheca includes gaiter and shank interstage sleeve, on front side of the shank interstage sleeve and wearer's shank
Match；Elasticity layer is set on the protheca and rear enclosure inner sidewall, is provided with heater strip in the elastic layer；The protheca and
Heat release hole is provided in rear enclosure.
Preferably, the mounting rack bottom is provided with adjusting rod, and the adjusting rod is threaded through in the groove of the foot set,
The foot, which is put on, is provided with multiple circular holes through the groove, is provided with adjusting pin on the circular hole.
Preferably, it is provided with leg cuff on the protheca, leg cuff fixing piece, the leg cuff are provided in the rear enclosure
It is fixed on the leg cuff fixing piece.
The utility model has the beneficial effects that
The advantages that the utility model has structure simple, and bio-imitability is high, is easy to the characteristics of driving, and movement effects are good, can
It is effective that wearer is helped to carry out ankle joint rehabilitation training, it can be easy to be mounted on wearer's lower limb foot by foot set and shank set
Portion and shank position cover the first driving device of two sides by shank and the second driving device carry out bi-directional drive, walking
It provides foot plantar flexion and dorsiflex two kinds of activities for wearer in the process, substantially reduces wearer's Calf muscle in the process of walking
Strength consumption helps wearer's rehabilitation training, restores ankle-joint walking function, while first driving device and the second driving as early as possible
Device progress bi-directional drive ankle joint rehabilitation training exoskeleton mechanism bio-imitability is higher, optimizes human walking procedure, wearer
Biddability is good between orthoses robot.
Detailed description of the invention
Fig. 1 is a kind of bi-directional drive ankle joint rehabilitation training ectoskeleton structural schematic diagram of the utility model.
Fig. 2 is the first driving device structural schematic diagram of the utility model.
Figure label explanation: 1, bottom plate；12, foot cuff；13, the second connection frame；14, the first connection frame；2, rear enclosure；
21, protheca；22, leg cuff；23, first rotating shaft；3, mounting rack；4, first sleeve；41, the first rotating cylinder；42, the first articulation piece；
43, the first body cradle；44, the first pin shaft；45, first motor；46, the first retarder；47, the first ball screw；5, second set
Cylinder；51, the second rotating cylinder；52, the second articulation piece；53, the second body cradle；54, the second pin shaft；
Specific embodiment
The utility model is described in further detail in the following with reference to the drawings and specific embodiments, so that those skilled in the art
The utility model may be better understood and can be practiced, but illustrated embodiment is not as the restriction to the utility model.
Referring to Fig.1, shown in Fig. 2, a kind of bi-directional drive ankle joint rehabilitation training ectoskeleton, including foot set, for controlling
The first driving device of ankle dorsal flexion movement, the second driving device that the plantar flexion for controlling ankle-joint moves, with wearer
The matched shank set in shank position, the first driving device is identical as the second driving device structure, and the first driving dress
It sets and is separately positioned on shank set two sides with the second driving device；
The shank set includes protheca 21 and rear enclosure 2, and the protheca 21 is arranged in the rear enclosure 2, under the rear enclosure 2
End and foot set are hinged；
Described first driving device one end and protheca 21 are hinged, and the other end and foot set are hinged；
Second driving device one end and rear enclosure 2 are hinged, and the other end and foot set are hinged.
The first driving device and the second driving device are using series connection flexible drive device, using series connection flexible drive dress
It sets, light weight, output energy are big, have very high energy density, can further decrease wearer's muscles of leg in the process of walking
The consumption of meat strength,.
The installation end of the first driving device is provided with the first articulation piece 42, and is provided on first articulation piece 42
One through-hole is provided with the first body cradle 43 on the protheca 21, is provided with the first pin hole on first body cradle 43, and described
It is connected between one pin hole and the first through hole by the first pin shaft 44；
The installation end of second driving device is provided with the second articulation piece 52, and is provided on second articulation piece 52
Two through-holes are provided with the second body cradle 53 in the rear enclosure 2, are provided with the second pin hole on second body cradle 53, and described
It is connected between two pin holes and second through-hole by the second pin shaft 54.
The first driving device includes first motor 45, the first ball screw 47, and the setting of first motor 45 is the
On one 45, motor, first articulation piece 42 is connect with first motor 45, and 45 output shaft of first motor is threaded through institute
It states on first motor 45,45 output shaft of first motor is connect with the first ball screw 47 by first shaft coupling, described
It is provided with the first rotating cylinder 41 on first ball screw, 47 free end, first ball screw is provided in first rotating cylinder 41
47 matched screw threads, the first motor 45 drive the rotation of the first ball screw 47, the first ball screw 47 and the first rotating cylinder 41
Between be subjected to displacement；
Second driving device includes the second motor, the second ball screw, and second motor is arranged in the second motor
On seat, second articulation piece 52 is connect with the second motor cabinet, and second motor output shaft is threaded through second motor cabinet
On, second motor output shaft is connect with the second ball screw by second shaft coupling, second ball screw free end
On be provided with the second rotating cylinder 51, be provided with the matched screw thread of the second ball screw in second rotating cylinder 51, described second
Motor drives the rotation of the second ball screw, is subjected to displacement between the second ball screw and the second rotating cylinder 51.
More preferably scheme is that the first motor 45 and the first speed reducer are drivingly connected to the present embodiment, second motor
Subtract drive connection with second.
The first hole is arranged in 2 lower end of rear enclosure, and the foot, which is put on, is provided with mounting rack 3, is provided on the mounting rack 3
Second hole is connected between first hole and the second hole by first rotating shaft 23, and the mounting rack 3 constitutes sagittal plane with rear enclosure 2
Revolute, the revolute is located at wearer's ankle-joint position.
The revolute is located at wearer's ankle-joint position, and shape and Mass Distribution design are more nearly model of human ankle
Feature, may make the vola of exoskeleton ankle joint in walking have compliant characteristic.
First rotating cylinder, 41 free end is provided with the first connection sheet, and third hole, institute are provided in first connection sheet
State and be provided with the first connection frame 14 on foot set front end, be provided with the 4th hole on first connection frame 14, the third hole with
It is connected between 4th hole by the second shaft；
Second rotating cylinder, 51 free end is provided with the second connection sheet, and the 5th hole, institute are provided in second connection sheet
State and be provided with the second connection frame 13 on foot set rear end, be provided with the 6th hole on second connection frame 13, the 5th hole with
It is connected between 6th hole by third shaft.
The first driving device further includes first sleeve 4, and the first sleeve 4 is connect with first motor 45, described
First ball screw 47 is threaded through in the first sleeve 4, and 4 end of first sleeve is provided with the first guide pad, and first leads
The first pilot hole is provided on block, first rotating cylinder 41 is threaded through on first pilot hole；
Second driving device further includes second sleeve 5, and the second sleeve 5 is connect with the second motor cabinet, and described
Two ball screws are threaded through in the second sleeve 5, and 5 end of second sleeve is provided with the second guide pad, the second guide pad
On be provided with the second pilot hole, second rotating cylinder 51 is threaded through on second pilot hole.
The protheca 21 includes gaiter and shank interstage sleeve, is matched on front side of the shank interstage sleeve and wearer's shank；Institute
It states and elasticity layer is set on 2 inner sidewall of protheca 21 and rear enclosure, be provided with heater strip in the elastic layer；The protheca 21 and
Heat release hole is provided in rear enclosure 2.
3 bottom of mounting rack is provided with adjusting rod, and the adjusting rod is threaded through in the groove of the foot set, the foot
Portion, which is put on, is provided with multiple circular holes through the groove, adjusting pin is provided on the circular hole, by adjusting circular hole and tune
The relative position of knothole, is fixed using adjusting pin, is suitable for the ankle-joint height of different crowd, easy to operate, the scope of application is more
Extensively.
The foot set includes foot cuff 12, bandage fixing piece and bottom plate 1, and bandage fixing piece and bottom plate 1 are connected, foot
Cuff 12 is fixed on bandage fixing piece.
It is provided with leg cuff 22 on the protheca 21,22 fixing piece of leg cuff, the leg cuff are provided in the rear enclosure 2
22 are fixed on 22 fixing piece of leg cuff.
Foot puts on the leg cuff 22 in the foot cuff 12 and protheca 21 of use, and wearer may make to wear/unload very
It is convenient, it can not only make to enhance walking ability in wearer's walking process, but also wearer can be made to reduce Calf muscle power
Amount consumption.
The shank set link with foot set by joint pin, formation relative rotary motion, when wearing, before opening leg covers
Set 21 is fastened protheca 21 and rear enclosure 2 by leg cuff 22 when wearer's lower limb are completed to dress, will by foot cuff 12
Foot set is fastened with wearer's foot, completes wearing.
In the process of walking, foot forms the two kinds of activities of plantar flexion and dorsiflex around ankle-joint and shank to wearer, when wearing
When wearer carries out plantar flexion movement, the second motor in the second driving device of posterior calf is rotated, and is passed through the second retarder and is slowed down
And the movement of the second ball screw is driven, the second driving device of shank is extended, provides power-assisted for the movement of wearer's plantar flexion；Work as wearer
When carrying out dorsiflex campaign, the first motor 45 in the first driving device of On Anterior Region On The Leg is rotated, and is slowed down by the first retarder 46
And the movement of the first ball screw 47 is driven, the first driving device of On Anterior Region On The Leg is extended, provides power-assisted for wearer's dorsiflex campaign.
Embodiment described above is only preferred embodiments for fully illustrating the utility model, the utility model
Protection scope it is without being limited thereto.Those skilled in the art made equivalent substitute or change on the basis of the utility model
It changes, both is within the protection scope of the present invention.The protection scope of the utility model is subject to claims.
Claims (10)
1. a kind of bi-directional drive ankle joint rehabilitation training ectoskeleton, which is characterized in that including foot set, for controlling ankle-joint back
The first driving device for bending movement, the second driving device that the plantar flexion for controlling ankle-joint moves, with wearer's shank position
Matched shank set, the first driving device is identical as the second driving device structure, and the first driving device and second
Driving device is separately positioned on shank set two sides；
The shank set includes protheca and rear enclosure, is set in the rear enclosure before described, the rear enclosure lower end and foot set
Hingedly；
Described first driving device one end and protheca are hinged, and the other end and foot set are hinged；
Second driving device one end and rear enclosure are hinged, and the other end and foot set are hinged.
2. bi-directional drive ankle joint rehabilitation training ectoskeleton as described in claim 1, which is characterized in that the first driving dress
The installation end set is provided with the first articulation piece, and first through hole is provided on first articulation piece, and is provided on the protheca
One body cradle is provided with the first pin hole on first body cradle, by the between first pin hole and the first through hole
The connection of one pin shaft.
3. bi-directional drive ankle joint rehabilitation training ectoskeleton as claimed in claim 2, which is characterized in that the first driving dress
It sets including first motor, the first ball screw, the first motor is arranged on first motor seat, first articulation piece and the
The connection of one motor cabinet, the first motor output shaft is threaded through on the first motor seat, the first motor output shaft and the
One ball screw is connected by first shaft coupling, is provided with the first rotating cylinder on first ball screw free end, and described first
The matched screw thread of the first ball screw is provided in rotating cylinder, the first motor drives the first ball screw to rotate, and first
It is subjected to displacement between ball screw and the first rotating cylinder.
4. bi-directional drive ankle joint rehabilitation training ectoskeleton as described in claim 1, which is characterized in that the foot set includes
Foot cuff, bandage fixing piece and bottom plate, bandage fixing piece and bottom plate are connected, and foot cuff is fixed on bandage fixing piece.
5. bi-directional drive ankle joint rehabilitation training ectoskeleton as described in claim 1, which is characterized in that the rear enclosure lower end is set
The first hole is set, the foot, which is put on, is provided with mounting rack, and the second hole, first hole and the second hole are provided on the mounting rack
Between connected by first rotating shaft, the mounting rack and rear enclosure constitute the revolute of sagittal plane, and the revolute is located at wearer
Ankle-joint position.
6. bi-directional drive ankle joint rehabilitation training ectoskeleton as claimed in claim 3, which is characterized in that first rotating cylinder is certainly
First connection sheet is provided with by end, third hole is provided in first connection sheet, the foot set is provided with first on front end
Connection frame is provided with the 4th hole on first connection frame, is connected between the third hole and the 4th hole by the second shaft；
Second rotating cylinder free end is provided with the second connection sheet, and the 5th hole, the foot are provided in second connection sheet
Set is provided with the second connection frame on rear end, is provided with the 6th hole on second connection frame, between six hole the 5th Kong Yu
It is connected by third shaft.
7. bi-directional drive ankle joint rehabilitation training ectoskeleton as claimed in claim 3, which is characterized in that the first driving dress
Setting further includes first sleeve, and the first sleeve is connect with first motor seat, and first ball screw is threaded through described first
In sleeve, the first sleeve end is provided with the first guide pad, is provided with the first pilot hole on the first guide pad, and described first
Rotating cylinder is threaded through on first pilot hole.
8. bi-directional drive ankle joint rehabilitation training ectoskeleton as described in claim 1, which is characterized in that the protheca includes tying up
It is matched on front side of leg set and shank interstage sleeve, the shank interstage sleeve and wearer's shank；It is set on the protheca and rear enclosure inner sidewall
It is equipped with elastic layer, is provided with heater strip in the elastic layer；Heat release hole is provided in the protheca and rear enclosure.
9. bi-directional drive ankle joint rehabilitation training ectoskeleton as claimed in claim 5, which is characterized in that the mounting rack bottom
Be provided with adjusting rod, the adjusting rod is threaded through in the groove of the foot set, the foot put on be provided with it is multiple through institute
The circular hole of groove is stated, is provided with adjusting pin on the circular hole.
10. bi-directional drive ankle joint rehabilitation training ectoskeleton as described in claim 1, which is characterized in that set on the protheca
It is equipped with leg cuff, leg cuff fixing piece is provided in the rear enclosure, the leg cuff is fixed on the leg cuff fixing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821701126.1U CN208959240U (en) | 2018-10-19 | 2018-10-19 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821701126.1U CN208959240U (en) | 2018-10-19 | 2018-10-19 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
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| Publication Number | Publication Date |
|---|---|
| CN208959240U true CN208959240U (en) | 2019-06-11 |
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ID=66758284
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821701126.1U Active CN208959240U (en) | 2018-10-19 | 2018-10-19 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091816A (en) * | 2018-10-19 | 2018-12-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
-
2018
- 2018-10-19 CN CN201821701126.1U patent/CN208959240U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109091816A (en) * | 2018-10-19 | 2018-12-28 | 江苏集萃微纳自动化系统与装备技术研究所有限公司 | A kind of bi-directional drive ankle joint rehabilitation training ectoskeleton |
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| CP02 | Change in the address of a patent holder |
Address after: 215100 South 3rd and 4th Floors of Huanxiu Lake Building, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee after: Jiangsu Ji Ju micro automation system and equipment Technology Research Institute Co., Ltd. Address before: 215100 F003 workstation, 3rd floor, 58 South Tiancheng Road, Xiangcheng High-speed Railway New Town, Suzhou City, Jiangsu Province Patentee before: Jiangsu Ji Ju micro automation system and equipment Technology Research Institute Co., Ltd. |
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