CN209302121U - A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform - Google Patents
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform Download PDFInfo
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- CN209302121U CN209302121U CN201822114907.7U CN201822114907U CN209302121U CN 209302121 U CN209302121 U CN 209302121U CN 201822114907 U CN201822114907 U CN 201822114907U CN 209302121 U CN209302121 U CN 209302121U
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Abstract
A kind of the utility model discloses a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, including pedestal, Stewart platform, pedal and handrail；On the base, pedal is fixed on Stewart platform for handrail and Stewart stage+module.The effect of the utility model structural stability is strong, and kinematic accuracy is high, and balance training can be promoted according to the function of needing to design the balance training of varying strength and have both foot massages of people by being able to achieve the movement in three-dimensional space six-freedom degree direction.
Description
Technical field
The utility model relates to rehabilitation trainer field, in particular to a kind of one kind based on Stewart platform is multi-functional
Balance rehabilitation training machine.
Background technique
The research of balanced ability of human body is a research field extremely important and with practical significance.Due to human body
Balanced capacity be people's body an important function, the body of people can be made to keep various postures, guarantee the normal of body
Movement.Various movements in life require effective equilibrium function, and the balanced capacity of a people has obstacle to be mainly manifested in
It stands or walks and is unstable, be easy to fall down, daily life can not take care of oneself, quality of life meeting degradation, while can also give family
Bring burden.The healing robot development in China relatively slowly and is concentrated mainly on colleges and universities' research, with robot technology and
The continuous development of medical science of recovery therapy, the occupation rate of market of American-European and Japan and other countries healing robots at home is in rise year by year
Gesture.Although the medical science of recovery therapy development in China is taken seriously, development, which is still in infancy, is currently not met by people's
It needs, so being badly in need of designing a stable structure, balance training mode and balance rehabilitation training machine vdiverse in function now to expire
The needs of sufficient people.
Conventional balanced rehabilitation machines only have that the simple mechanical structure scope of application is not extensive and function is less, are now badly in need of a kind of peace
Full reliably working mode mostly can be from the multifunctional balanced rehabilitation trainer of main regulation.
Herein, the technical requirements of balance training rehabilitation machines are simply proposed for:
In order to have the component for guaranteeing human-body safety on security facility
In order to prevent user during use working face position change when occur sliding personal safety is caused
Injury, working surface should have certain antiskid function
In order to make the training effect of training airplane significantly and meet to the training requirement of different patients or the same patient not
With training requirement when Restoration stage, it should make movement mechanism that there is the free movement in six-freedom degree direction in three-dimensional space, and
And there should be the design of multiple-working mode to meet the training requirement of different people also.
According to above-mentioned technology will the equipment should have the component for guaranteeing human-body safety, general component has handle and handrail
Two kinds of components.The high structural instability of grip structure flexibility ratio, structural-load-carrying capacity be not strong.Armrest is stable and bearing capacity compared with
By force.Since the balanced capacity of user is damaged platform during the motion if the stronger grip structure of using flexible is in platform
Both hands, which are easy to happen, during training controls unstable phenomenon, for the people that a balanced capacity is damaged extremely
It is easy to happen accident, and causes actual bodily harm.Because the not strong reason training airplane of the bearing capacity of its structure will also result in damage.
If existing balance rehabilitation training owner training direction is single or training motion profile variation can not
Control and the simple training airplane of structure, are unable to reach the requirement of trainer.
Utility model content
In order to solve the above technical problems, the purpose of the utility model is to provide a kind of, one kind based on Stewart platform is more
Function balance rehabilitation trainer, specific technical solution are as follows:
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, including pedestal, Stewart platform, step on
Plate and handrail；
The Stewart platform is by lower platform, upper mounting plate, electric cylinders, flexural pivot, Hooke's hinge, upper adapter and lower adapter group
At；
The Hooke's hinge is made of central block, Hooke hinged shaft, bearing, end ring, Building U, around central block on four faces
Have a counterbore, be connected respectively with four Hooke hinged shafts, each Hooke hinged shaft again respectively with four bearing fits, often
A bearing cooperates with two Building U respectively, finally adds end ring in one end of two Building U respectively；
Round and rectangular deep gouge is had on the upper mounting plate and lower platform, is equipped with bolt hole in deep gouge；
The upper adapter lower surface is placed in the round deep gouge of upper mounting plate, is fixed on upper adapter by bolt
On platform；
The lower adapter lower surface is placed in the rectangular deep gouge of lower platform, is fixed on down lower adapter by bolt
On platform；
The position that the upper surface of the upper adapter and lower adapter is located at geometric center is equipped with through-hole, and around through-hole
Equipped with bolt hole；
Four bolts hole on one of Building U surface on bolt hole and Hooke's hinge on the lower adapter pass through spiral shell
It tethers and connects, and the cylindrical projection on Building U surface and the through-hole of adapter are in mating connection；
Four bolts hole on another described Building U are bolted to connection with four bolts hole in electric cylinders, and Building U
Cylindrical projection and electric cylinders lower end through-hole it is in mating connection；
The upper end of the electric cylinders is provided with threaded hole and the threaded rod of flexural pivot end is in mating connection；
The upper end of the flexural pivot is bolted with upper adapter upper end；
The two sides of the pedestal upper surface are respectively equipped with a counterbore, and for being fixedly connected with handrail, centre is equipped with circle
Counterbore；
The lower platform is placed in the circular counter bore of pedestal, and fixation is bolted；
The pedal should be equipped with circular counter bore, and pedal is fixed on upper mounting plate.
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, preferred embodiment is described
Pedal is square, and the small rotary table of protrusion is provided among upper end, and protrusion is surrounded by the skid resistance strip of grid, and lower end is equipped with circle
Mounting base is placed on upper mounting plate, is bolted by counterbore mounting base.
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, preferred embodiment is described
Protrusion is in small truncated cone-shaped.
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, preferred embodiment is described
Handrail is in L sector, and dog-ear is set as 75 °.
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, preferred embodiment is described
Handrail to pedestal upper end level is 110cm.
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, preferred embodiment is described
Base thickness is 36mm.
A kind of a kind of working principle of multifunctional balanced rehabilitation trainer based on Stewart platform: the master of this rehabilitation machines
If converting linear motion for the rotation of motor by electric cylinders.Work is that electric cylinders are flexible to drive what is be connected with upper mounting plate to step on
Plate realizes the movement in multiple degrees of freedom direction in space.
Its course of work is so that pedal is realized the rotation of three-dimensional space by controlling the variation of the stroke of each electric cylinders
Meet the training requirement of user with mobile.
Requirement different designs multiple modes of the equipment according to different users to training strength, the difference of each mode
It is that the movement of pedal with rotation angle difference and by the calculating of kinematics of mechanism, finishes the program of each mode to control
The movement of pedal.User need to only select different training modes according to the actual conditions of itself when in use.
The utility model has the beneficial effects that six free free movements of three-dimensional space may be implemented in the platform, due to it
The complexity of movement, variability can be such that the training effect of user is obviously improved.The promotion of the training effect is mainly
Multivariant flexible motion due to platform is to make training effect be promoted；The platform can according to the needs of users, thing
It first designs platform and thinks position to be achieved, the flexible length for reaching requirement position electric cylinders is found out by the calculating of inverse kinematic
Degree, and then program to control motor and control the flexible to make pedal reach required position of electric cylinders.For different rails
Mark is programmed the planning achieved that training track after being calculated, user can design platform to training requirement difference
Rotation amplitude variation increases and then improves training difficulty, and multiple ranks are arranged to meet the needs of user.
Detailed description of the invention
Fig. 1 is a kind of a kind of multifunctional balanced rehabilitation trainer structural schematic diagram based on Stewart platform；
Fig. 2 is Stewart platform structure schematic diagram；
Fig. 3 is Hooke's hinge structural schematic diagram；
Fig. 4 is pedal structure schematic diagram.
In figure, 1- pedestal, 2-Stewart platform, 3- pedal, 4- handrail, lower platform, 6- upper mounting plate, 7- electric cylinders, 8- ball
Adapter, 12- central block, 13- Hooke hinged shaft, 14- bearing, 15- bearing rib under hinge, 9- Hooke's hinge, the upper adapter of 10-, 11-
Circle, 16-U, 17- protrusion, the skid resistance strip of 18- grid.
Specific embodiment
A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as shown in Figs 1-4, including pedestal 1,
Stewart platform 2, pedal 3 and handrail 4；
The Stewart platform is by lower platform 5, upper mounting plate 6, electric cylinders 7, flexural pivot 8, Hooke's hinge 9, upper adapter 10 and lower turn
Joint chair 11 forms；
The Hooke's hinge 9 is made of central block 12, Hooke hinged shaft 13, bearing 14, end ring 15, Building U 16, central block 12
Surrounding has a counterbore on four faces, is connected respectively with four Hooke hinged shafts 13, each Hooke hinged shaft 13 is distinguished again
With four bearing fits, each bearing 14 cooperates with two Building U respectively, finally adds bearing rib in one end of two Building U respectively
Circle；
Round and rectangular deep gouge is had on the upper mounting plate 6 and lower platform 7, is equipped with bolt hole in deep gouge；
10 lower surface of upper adapter is placed in the round deep gouge of upper mounting plate 6, is fixed upper adapter by bolt
On upper mounting plate 6；
11 lower surface of lower adapter is placed in the rectangular deep gouge of lower platform 7, is consolidated lower adapter 11 by bolt
It is scheduled on lower platform；
The position that the upper surface of the upper adapter 10 and lower adapter 11 is located at geometric center is equipped with through-hole, and through-hole
Surrounding is equipped with bolt hole；
Four bolts for wherein giving 16 upper surface of a Building U on bolt hole and Hooke's hinge 9 on the lower adapter 11
Hole is bolted, and the through-hole on 11 surface of lower adapter and the cylindrical projection on Building U 16 are in mating connection；
Four bolts hole there are four opening on another described upper Building U 16 on bolt hole and electric cylinders 7 are bolted company
It connects, and the cylindrical projection of another Building U 16 and the through-hole of 7 lower end of electric cylinders are in mating connection；
The upper end of the electric cylinders 7 is provided with threaded hole and the threaded rod of 8 end of flexural pivot is in mating connection；
The upper end of the flexural pivot 8 is bolted with upper 10 upper end of adapter；
The two sides of the upper surface of the pedestal 1 have a circular counter bore, intermediate for being fixedly connected with handrail 4
Equipped with circular counter bore；
The lower platform 5 is placed in the circular counter bore of pedestal 1, and fixation is bolted；
The pedal 3 should be equipped with circular counter bore, and pedal is fixed on upper mounting plate 6.
The pedal 3 is square, and protrusion 17 is provided among upper end, and protrusion is surrounded by the skid resistance strip 18 of grid, under
End is equipped with circular counter bore mounting base, and mounting base is placed on upper mounting plate 6, is bolted.
Described raised 17 be in small truncated cone-shaped.
The handrail 4 is in L sector, and dog-ear is set as 75 °.
The handrail 4 to 1 upper end level of pedestal is 110cm.
The pedestal 1 is with a thickness of 36mm.
A kind of a kind of working principle of multifunctional balanced rehabilitation trainer based on Stewart platform: the master of this rehabilitation machines
If converting linear motion for the rotation of motor by electric cylinders.Work is that electric cylinders are flexible to drive what is be connected with upper mounting plate to step on
Plate realizes the movement on multiple degrees of freedom direction in space.
Its course of work is so that pedal is realized the rotation of three-dimensional space by controlling the variation of the stroke of each electric cylinders
Meet the training requirement of user with mobile.
Requirement different designs multiple modes of the equipment according to different users to training strength, the difference of each mode
It is that the movement of pedal is different with rotation angle and finishes the program of each mode by the calculating of kinematics of mechanism to control
The movement of pedal.User need to only select different training modes according to the actual conditions of itself when in use.
Claims (6)
1. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform, it is characterised in that: including pedestal,
Stewart platform, pedal and handrail；
The Stewart platform is made of lower platform, upper mounting plate, electric cylinders, flexural pivot, Hooke's hinge, upper adapter and lower adapter；
The Hooke's hinge is made of central block, Hooke hinged shaft, bearing, end ring, Building U, around central block on four faces respectively
Be provided with a counterbore, be connected respectively with four Hooke hinged shafts, each Hooke hinged shaft again respectively with four bearing fits, each axis
It holds and cooperates respectively with corresponding two Building U, finally add end ring in one end of two Building U respectively；
Round and rectangular deep gouge is had on the upper mounting plate and lower platform, is equipped with bolt hole in deep gouge；
The upper adapter lower surface is placed in the round deep gouge of upper mounting plate, and upper adapter is fixed on upper mounting plate by bolt
On；
The lower adapter lower surface is placed in the rectangular deep gouge of lower platform, and lower adapter is fixed on lower platform by bolt
On；
The position that the upper surface of the upper adapter and lower adapter is located at geometric center is equipped with through-hole, and is equipped with around through-hole
Bolt hole；
Four bolts hole on one of Building U surface on bolt hole and Hooke's hinge on the lower adapter are connected by bolt
It connects, and the cylindrical projection on Building U surface and the through-hole of adapter are in mating connection；
It opens on another described Building U and is bolted to connection there are four bolt hole with four bolts hole in electric cylinders, and Building U
Cylindrical projection and the through-hole of electric cylinders lower end are in mating connection；
The upper end of the electric cylinders is provided with threaded hole and the threaded rod of flexural pivot end is in mating connection；
The upper end of the flexural pivot is bolted with upper adapter upper end；
The two sides of the pedestal upper surface are respectively equipped with a counterbore, and for being fixedly connected with handrail, centre is equipped with circular counter bore；
The lower platform is placed in the circular counter bore of pedestal, and fixation is bolted；
The pedal is equipped with circular counter bore, and pedal is fixed on upper mounting plate.
2. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as described in claim 1, feature exist
In: the pedal is square, and protrusion is provided among upper end, and protrusion is surrounded by the skid resistance strip of grid, and lower end is equipped with circle
Mounting base is bolted in the circular counter bore of mounting base placement upper mounting plate.
3. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as claimed in claim 2, feature exist
In: the protrusion is in small truncated cone-shaped.
4. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as described in claim 1, feature exist
In: the handrail is in L sector, and dog-ear is set as 75 °.
5. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as described in claim 1, feature exist
In: the handrail to pedestal upper end level is 110cm.
6. a kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform as described in claim 1, feature exist
In: the base thickness is 36mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822114907.7U CN209302121U (en) | 2018-12-17 | 2018-12-17 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822114907.7U CN209302121U (en) | 2018-12-17 | 2018-12-17 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209302121U true CN209302121U (en) | 2019-08-27 |
Family
ID=67677194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822114907.7U Expired - Fee Related CN209302121U (en) | 2018-12-17 | 2018-12-17 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209302121U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
-
2018
- 2018-12-17 CN CN201822114907.7U patent/CN209302121U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109395333A (en) * | 2018-12-17 | 2019-03-01 | 沈阳建筑大学 | A kind of a kind of multifunctional balanced rehabilitation trainer based on Stewart platform |
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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: 20190827 Termination date: 20201217 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |