CN213031759U - Mechanism capable of realizing accurate gait adjustment and training device - Google Patents
Mechanism capable of realizing accurate gait adjustment and training device Download PDFInfo
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- CN213031759U CN213031759U CN202020886704.4U CN202020886704U CN213031759U CN 213031759 U CN213031759 U CN 213031759U CN 202020886704 U CN202020886704 U CN 202020886704U CN 213031759 U CN213031759 U CN 213031759U
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Abstract
The utility model discloses a mechanism capable of realizing accurate gait adjustment, which comprises a frame, a track generation mechanism and a track adjustment mechanism with an adjustable connecting rod, wherein the track generation mechanism comprises a crank and a connecting rod I, one end of the crank is hinged with the frame, and the other end is hinged with the connecting rod I; the track adjusting mechanism comprises an adjustable connecting rod, a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod is hinged with the first connecting rod, the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait track; the device obtains the accurate gait track of the human body through simple mechanism combination and complex optimization calculation, the enlarging size of the gait track is adjustable, and the device has simple structure and convenient use.
Description
The technical field is as follows:
the utility model relates to a can realize mechanism and trainer that accurate gait was adjusted, the device calculate through simple mechanism combination and complicated optimization, reachs human accurate gait orbit, and the size of gait orbit is adjustable, the device simple structure, convenient to use.
Background art:
at present, limb training becomes a research hotspot, and many training devices widely applied in the market only provide simple curved or straight tracks, including elliptical machines and some foot-driven devices, and are characterized by low fitting degree of motion tracks and human gait tracks, single training mode and failure of users to achieve good training effect.
The single degree of freedom trainer has a simple structure, but the movement form is single, gait track training modes with various sizes cannot be provided, and the size of the gait track cannot be accurately adjusted. Although it is popular, it is difficult to satisfy the individual and precise training requirements of different users.
The research on the universal upper and lower limb training devices in the market mainly aims at training a user in a certain training stage, and a complete training period can be completed only by the intervention of several devices in different training periods.
The open-chain exoskeleton type rehabilitation training device is expensive, cumbersome to wear, inconvenient to use and poor in embodiment effect.
Therefore, it is important to develop a mechanism and a training device that can achieve precise gait adjustment, which is inexpensive and convenient to use.
The utility model has the following contents:
for overcoming prior art's defect, the utility model aims to provide a can realize mechanism and trainer that accurate gait was adjusted, the device calculates through simple mechanism combination and complicated optimization, reachs human accurate gait orbit, and the enlarged size of gait orbit is adjustable, the device simple structure, convenient to use, safe and reliable.
The utility model provides a technical problem adopt following technical scheme:
a mechanism capable of realizing accurate gait adjustment comprises a rack, a track generation mechanism and a track adjustment mechanism with an adjustable connecting rod, wherein the track generation mechanism comprises a crank and a first connecting rod, one end of the crank is hinged with the rack, and the other end of the crank is hinged with the first connecting rod;
the track adjusting mechanism comprises an adjustable connecting rod, a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod is hinged with the first connecting rod, the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait track;
the parallelogram mechanism is composed of a rocker II, a connecting rod III and a connecting rod IV, and the parallelogram mechanism is hinged with the adjustable connecting rod.
Preferably, the trajectory generation mechanism is composed of a crank and rocker mechanism mounted on the frame, the crank and rocker mechanism includes a crank, a first connecting rod and a first rocker, the first connecting rod has three hinge points located at three vertexes of a triangle, one end of the crank is hinged to the frame, the other end of the crank is hinged to a point a of the first connecting rod, one end of the first rocker is hinged to a point B of the first connecting rod, the other end of the first rocker is hinged to the frame, a point C of the first connecting rod is a gait trajectory input point, and the connecting rod is hinged to the middle of the adjustable connecting rod at the point C.
Preferably, the track adjusting mechanism is composed of a rocker II, a connecting rod III, a connecting rod IV, a connecting rod V and an adjustable connecting rod;
the head end of the second rocker is hinged with the rack, the middle part of the second rocker is hinged with the head end of the second connecting rod, the tail end of the second rocker is hinged with the fourth connecting rod, the tail end of the second connecting rod is hinged with the first connecting rod at the gait track input point of the first connecting rod, the head end of the third connecting rod is hinged with the first connecting rod at the gait track input point of the first connecting rod, and the tail end of the third connecting rod is hinged with the fourth connecting; the second rocker is parallel to the third connecting rod, the second connecting rod is parallel to the fourth connecting rod, and the second rocker, the second connecting rod, the third connecting rod and the fourth connecting rod form a parallelogram structure;
the middle part of the adjustable connecting rod is hinged with the first connecting rod at a gait track input point of the first connecting rod, the head end of the adjustable connecting rod is rotatably and movably connected with the rack or the rocker at the hinged part of the rocker II and the rack, and the tail end of the adjustable connecting rod is provided with a supporting block;
five one ends of connecting rod and connecting rod four or connecting rod three are articulated, and the other end is articulated with the supporting shoe, the head end and the frame or the rocker of adjustable connecting rod form portable and rotatable formula and are connected specifically: a first sliding block is rotatably hinged on the rack or the rocker, and a free moving pair is formed between the first sliding block and the adjustable connecting rod; a support block at the tail end of the adjustable connecting rod is used as a track output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod to enlarge or reduce the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block and the track input point is a controllable variable S2, the distance between the track input point and the first slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or is close to the constant.
Preferably, further, the implementation manner of the controllable variable S2 is:
the lower half section of the fifth connecting rod is provided with a linear sliding table, the linear sliding table is provided with a second sliding block hinged with the supporting block, the second sliding block is driven by a motor, the speed of the motor is controlled by a controller, so that a controllable moving pair is formed between the supporting block and the adjustable connecting rod, and a pedal forming a rotating pair is mounted on the supporting block.
Preferably, the track adjusting mechanism further comprises a connecting rod six, the head end of the connecting rod six is hinged to a third sliding block, the middle of the connecting rod six is hinged to a fourth sliding block, the third sliding block is mounted on a second rocker to form a moving pair with the second rocker, the fourth sliding block is mounted on a third connecting rod to form a moving pair with the third connecting rod, the sixth connecting rod is parallel to the second connecting rod, and the distance between the sixth connecting rod and the second connecting rod can be adjusted and fixed to amplify the gait tracks output by the supporting block in different proportions;
the tail end of the connecting rod six is hinged with the supporting block, and a pedal forming a revolute pair with the supporting block is mounted on the supporting block.
A training device capable of realizing accurate gait adjustment comprises a supporting device, a track generating mechanism, a track adjusting mechanism with an adjustable connecting rod and a transmission mechanism, wherein the supporting device comprises a base and a rack symmetrically arranged on two sides of the base;
the track adjusting mechanism comprises an adjustable connecting rod, a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod is hinged with the first connecting rod, the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait track;
the parallelogram mechanism is composed of a rocker II, a connecting rod III and a connecting rod IV, and the parallelogram mechanism is hinged with the adjustable connecting rod.
The transmission mechanism comprises a motor arranged on the base and a driving chain wheel driven by the motor, the driven chain wheel is fixedly connected to the shaft of the crank, and the driving chain wheel and the driven chain wheel transmit the output rotation of the motor shaft to the shaft of the crank through chain transmission.
Preferably, the trajectory generation mechanism is composed of a crank and rocker mechanism mounted on the frame, the crank and rocker mechanism includes a crank, a first connecting rod and a first rocker, the first connecting rod has three hinge points located at three vertexes of a triangle, one end of the crank is hinged to the frame, the other end of the crank is hinged to a point a of the first connecting rod, one end of the first rocker is hinged to a point B of the first connecting rod, the other end of the first rocker is hinged to the frame, a point C of the first connecting rod is a gait trajectory input point, and the connecting rod is hinged to the middle of the adjustable connecting rod at the point C.
Preferably, the track adjusting mechanism is composed of a rocker II, a connecting rod III, a connecting rod IV, a connecting rod V and an adjustable connecting rod;
the head end of the second rocker is hinged with the rack, the middle part of the second rocker is hinged with the head end of the second connecting rod, the tail end of the second rocker is hinged with the fourth connecting rod, the tail end of the second connecting rod is hinged with the first connecting rod at the gait track input point of the first connecting rod, the head end of the third connecting rod is hinged with the first connecting rod at the gait track input point of the first connecting rod, and the tail end of the third connecting rod is hinged with the fourth connecting; the second rocker is parallel to the third connecting rod, the second connecting rod is parallel to the fourth connecting rod, and the second rocker, the second connecting rod, the third connecting rod and the fourth connecting rod form a parallelogram structure;
the middle part of the adjustable connecting rod is hinged with the first connecting rod at a gait track input point of the first connecting rod, the head end of the adjustable connecting rod is rotatably and movably connected with the rack or the rocker at the hinged part of the rocker II and the rack, and the tail end of the adjustable connecting rod is provided with a supporting block;
one end of the connecting rod five is hinged with the connecting rod four or the connecting rod three, the other end is hinged with the supporting block,
the head end of the adjustable connecting rod and the frame or the rocker form movable and rotatable connection, and the movable and rotatable connection is specifically as follows: a first sliding block is rotatably hinged on the rack or the rocker, and a free moving pair is formed between the first sliding block and the adjustable connecting rod; a support block at the tail end of the adjustable connecting rod is used as a track output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod to enlarge or reduce the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block and the track input point is a controllable variable S2, the distance between the track input point and the first slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or is close to the constant.
Preferably, further, the implementation manner of the controllable variable S2 is:
the lower half section of the fifth connecting rod is provided with a linear sliding table, the linear sliding table is provided with a second sliding block hinged with the supporting block, the second sliding block is driven by a motor, the speed of the motor is controlled by a controller, so that a controllable moving pair is formed between the supporting block and the adjustable connecting rod, and a pedal forming a rotating pair is mounted on the supporting block.
Preferably, the training device further comprises a gravity influence eliminating mechanism, the gravity influence eliminating mechanism comprises a supporting plate and a roller, the supporting plate is mounted on the base and is provided with a hollow groove, the roller is arranged at a track input point of the first connecting rod and is positioned in the groove, and the contour curve of the groove is the envelope curve of the roller.
Be provided with the handrail in strutting arrangement's the both sides symmetrical arrangement's the frame, the handrail is fixed handrail or the training handrail of linking with gait track point, be provided with the bandage on the handrail, further provide the weight reduction function for the user.
Compared with the prior art, the beneficial effects of the utility model are embodied in:
the utility model discloses a crank rocker and the combination that has the orbit adjustment mechanism of adjustable connecting rod have realized accurate human gait orbit motion, have changed circumference, oval or the training mode of the human gait motion orbit of class, the accurate gait orbit of foot when according with the people walking, and the size of gait orbit is adjustable, and the degree of freedom is few during the motion, and the governing method is simple, the stable performance, convenient to use, the security is high to can satisfy the user use of different heights.
And a weight reduction mechanism is adopted, so that the driving load is greatly reduced, the power consumption is saved, and the manufacturing cost and the use cost of equipment are reduced.
The utility model discloses integrated the high advantage of low limbs ectoskeleton formula orbit recurrence degree and the terminal towed closed chain mechanism safe and reliable's of ankle joint advantage, can realize the demand of accurate gait training, improved user's training effect greatly.
In the training, if the K value is properly adjusted, the shape of the track can be correspondingly changed, so that the individual training requirement is met.
Description of the drawings:
fig. 1 is a schematic diagram of a first trajectory generation mechanism and a first trajectory adjustment mechanism of the present invention;
fig. 2 is a schematic diagram of a second trajectory generation mechanism and a second trajectory adjustment mechanism of the present invention;
fig. 3 is a schematic diagram of a third trajectory generation mechanism and a third trajectory adjustment mechanism of the present invention;
fig. 4 is a fourth schematic diagram of the track generation mechanism and the track adjustment mechanism of the present invention;
fig. 5 is a partial structural diagram of the first embodiment of the present invention;
fig. 6 is a schematic view of a partial structure of the present invention;
fig. 7 is a schematic view of the lower limb training device of the present invention;
fig. 8 is a schematic view of a second lower limb training device of the present invention;
FIG. 9 is a first schematic view of the upper and lower limbs linkage training device of the present invention;
FIG. 10 is a second schematic view of the upper and lower limbs linkage training device of the present invention;
fig. 11 is a first schematic structural diagram of the track adjusting mechanism of the present invention;
fig. 12 is a schematic structural diagram of a track adjusting mechanism of the present invention;
fig. 13 is a schematic diagram of an output trajectory of the present invention.
Reference numbers in the figures: 1 crank, 2 connecting rods I, 3 frames, 4 adjustable connecting rods, 5 rocking rods II, 6 connecting rods II, 7 connecting rods III, 8 connecting rods IV, 9 rocking rods I, 10, connecting rods V, 11 supporting blocks, 12 first sliding blocks, 13 linear sliding tables, 14 second sliding blocks, 15 pedals, 16 connecting rods VI, 17 third sliding blocks, 18 fourth sliding blocks, 19 bases, 20 driving chain wheels, 21 driven chain wheels, 22 chains, 23 supporting plates, 24 rollers, 25 handrails and 26 binding belts.
The present invention will be further described with reference to the following detailed description and accompanying drawings.
The specific implementation mode is as follows:
to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are combined to clearly and completely describe the technical solution in the embodiments of the present invention, and obviously, the described embodiments are some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
the parallelogram mechanism is composed of a rocker II 5, a connecting rod II 6, a connecting rod III 7 and a connecting rod IV 8, and the parallelogram mechanism is hinged with the adjustable connecting rod.
The track generation mechanism is composed of a crank and rocker mechanism installed on the rack, the crank and rocker mechanism comprises a crank 1, a connecting rod I2 and a rocker I9, the connecting rod I2 is provided with three hinged points located on three vertexes of a triangle, one end of the crank 1 is hinged with the rack, the other end of the crank is hinged with a point A of the connecting rod I2, one end of the rocker I9 is hinged with a point B of the connecting rod I, the other end of the rocker I is hinged with the rack 3, a point C of the connecting rod I is a gait track input point, and the connecting rod is hinged with the middle of the adjustable connecting rod 4 at the point C.
The track adjusting mechanism is composed of a rocker II 5, a connecting rod II 6, a connecting rod III 7, a connecting rod IV 8, a connecting rod V10 and an adjustable connecting rod 4;
the head end of the rocker II 5 is hinged with the rack 3, the middle part of the rocker II is hinged with the head end of the connecting rod II 6, the tail end of the rocker is hinged with the connecting rod IV 8, the tail end of the connecting rod II 6 is hinged with the connecting rod I at the gait track input point of the connecting rod I2, the head end of the connecting rod III 7 is hinged with the connecting rod I2 at the gait track input point of the connecting rod I2, and the tail end of the connecting rod III 7 is hinged with the connecting rod IV 8; the rocker II 5 is parallel to the connecting rod III 7, the connecting rod II 6 is parallel to the connecting rod IV 8, and the rocker II 5, the connecting rod II 6, the connecting rod III 7 and the connecting rod IV 8 form a parallelogram structure;
the middle part of the adjustable connecting rod 4 is hinged with the first connecting rod 2 at the gait track input point of the first connecting rod 2, the head end of the adjustable connecting rod is rotatably and movably connected with the rack or the rocker at the hinged part of the rocker II and the rack, and the tail end of the adjustable connecting rod 4 is provided with a supporting block 11;
one end of the five connecting rod 10 is hinged with the four connecting rod 8 or the three connecting rod 7, the other end is hinged with the supporting block 11,
the movable and rotatable connection formed by the head end of the adjustable connecting rod 4 and the frame or the rocker is specifically as follows: a first sliding block 12 is rotatably hinged on the frame 3 or the rocker, and a free moving pair is formed between the first sliding block 12 and the adjustable connecting rod; a supporting block 11 on the tail end of the adjustable connecting rod 4 is used as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod 4 to enlarge or reduce the gait track; the controllable sliding pair is specifically as follows: the distance between the support block 11 and the track input point is a controlled variable S2, the distance between the track input point and the first slider 12 is a free variable S1, S2+ S1/S1 is K, where K is a constant, or where K is close to a constant.
The controllable variable S2 is implemented as follows:
the lower half section of the five connecting rods 10 is provided with a linear sliding table 13, the linear sliding table is provided with a second sliding block 14 hinged with the supporting block 11, the second sliding block is driven by a motor, the speed of the motor is controlled by a controller to enable a controllable moving pair to be formed between the supporting block 11 and the adjustable connecting rods, pedals 15 forming revolute pairs are mounted on the supporting block 11, and during training, the height of the ankle of a human body is positioned on the hinging axis of the pedals and the supporting block.
The track adjusting mechanism further comprises a connecting rod six (16), the head end of the connecting rod six (16) is hinged to a third sliding block (17), the middle of the connecting rod six (16) is hinged to a fourth sliding block (18), the third sliding block (17) is installed on a second rocker (5) to form a moving pair with the second rocker, the fourth sliding block (18) is installed on a third connecting rod (7) to form a moving pair with the third connecting rod, the six connecting rod (16) and the second connecting rod (6) are parallel, and the distance between the six connecting rod (16) and the second connecting rod (6) can be adjusted and fixed to amplify the gait tracks output by the supporting blocks;
the tail end of the connecting rod six (17) is hinged with the supporting block (11), and a pedal (15) forming a revolute pair with the supporting block (11) is installed on the supporting block (11).
the track adjusting mechanism comprises an adjustable connecting rod 4, a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod 4 is hinged with the first connecting rod 2, the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod 4 is movably and rotatably connected with the rack 3, and the tail end of the adjustable connecting rod 4 can adjustably enlarge or reduce the gait track;
the parallelogram mechanism is composed of a rocker II 5, a connecting rod II 6, a connecting rod III 7 and a connecting rod IV 8, and the parallelogram mechanism is hinged with the adjustable connecting rod.
The transmission mechanism comprises a motor arranged on the base and a driving chain wheel 20 driven by the motor, a shaft of a driven chain wheel 21 is fixedly connected to a shaft of the crank 2, the driving chain wheel 20 and the driven chain wheel 21 transmit the output rotation of the motor shaft to the shaft of the crank 2 through a chain 22, and the crank is driven to rotate in a whole circle.
The track generation mechanism and the track adjustment mechanism are as described above and will not be described in detail.
The training device further comprises a gravity influence eliminating mechanism, the gravity influence eliminating mechanism comprises a supporting plate 23 and a roller 24, the supporting plate 23 is installed on the base 19, a groove is hollowed in the supporting plate, the roller 24 is arranged at the track input point of the first connecting rod 2 and is located in the groove, and the contour curve of the groove is the envelope curve of the roller.
It should be noted that the detailed description of the present invention is not included in the prior art, or can be obtained directly from the market, and those skilled in the art can obtain the detailed description without creative efforts, and the detailed connection method has a very wide application in the field or daily life, and is not described in detail herein.
Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction. Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (11)
1. A mechanism capable of realizing accurate gait adjustment comprises a rack, a track generation mechanism and a track adjustment mechanism with an adjustable connecting rod, and is characterized in that the track generation mechanism comprises a crank (1) and a connecting rod I (2), one end of the crank (1) is hinged with the rack (3), and the other end of the crank is hinged with the connecting rod I (2);
the track adjusting mechanism comprises an adjustable connecting rod (4), a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod (4) is hinged with the first connecting rod (2), the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod (4) is movably and rotatably connected with the rack (3), and the tail end of the adjustable connecting rod (4) can adjustably enlarge or reduce the gait track;
the parallelogram mechanism is composed of a rocker II (5), a connecting rod II (6), a connecting rod III (7) and a connecting rod IV (8), and the parallelogram mechanism is hinged with the adjustable connecting rod.
2. The mechanism capable of realizing precise gait adjustment according to claim 1, characterized in that the trajectory generation mechanism is composed of a crank and rocker mechanism mounted on the frame, the crank and rocker mechanism comprises a crank (1), a first connecting rod (2) and a first rocker (9), the first connecting rod (2) has three hinge points on three vertexes of a triangle, one end of the crank (1) is hinged with the frame, the other end is hinged with a point a of the first connecting rod (2), one end of the first rocker (9) is hinged with a point B of the first connecting rod, the other end of the first rocker is hinged with the frame (3), a point C of the first connecting rod is a gait trajectory input point, and the connecting rod is hinged with the middle part of the adjustable connecting rod (4) at the point C.
3. The mechanism capable of realizing precise gait adjustment according to claim 1, characterized in that the track adjusting mechanism is composed of a rocker two (5), a connecting rod two (6), a connecting rod three (7), a connecting rod four (8), a connecting rod five (10) and an adjustable connecting rod (4);
the head end of the rocker II (5) is hinged with the rack (3), the middle part of the rocker II is hinged with the head end of the connecting rod II (6), the tail end of the rocker is hinged with the connecting rod IV (8), the tail end of the connecting rod II (6) is hinged with the connecting rod I at the gait track input point of the connecting rod I (2), the head end of the connecting rod III (7) is hinged with the connecting rod I (2) at the gait track input point of the connecting rod I (2), and the tail end of the connecting rod III (7) is hinged with the connecting rod IV (8); the rocker II (5) is parallel to the connecting rod III (7), the connecting rod II (6) is parallel to the connecting rod IV (8), and the rocker II (5), the connecting rod II (6), the connecting rod III (7) and the connecting rod IV (8) form a parallelogram structure;
the middle part of the adjustable connecting rod (4) is hinged with the first connecting rod (2) at a gait track input point of the first connecting rod (2), the head end of the adjustable connecting rod is rotatably and movably connected with the rack or the rocker at the hinged part of the rocker II and the rack, and the tail end of the adjustable connecting rod (4) is provided with a supporting block (11);
one end of a fifth connecting rod (10) is hinged with a fourth connecting rod (8) or a third connecting rod (7), the other end of the fifth connecting rod is hinged with a supporting block (11), and the head end of the adjustable connecting rod (4) and the frame or the second rocker (5) form a movable and rotatable connection which is specifically as follows: a first sliding block (12) is rotatably hinged on the rack (3) or the rocker II (5), and a free moving pair is formed between the first sliding block (12) and the adjustable connecting rod; a supporting block (11) at the tail end of the adjustable connecting rod (4) is used as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod (4) to enlarge or reduce the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block (11) and the track input point is a controllable variable S2, the distance between the track input point and the first slider (12) is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant, or wherein K is close to a constant.
4. The mechanism of claim 3, wherein the controlled variable S2 is implemented by:
the lower half section of connecting rod five (10) sets up sharp slip table (13), sharp slip table be provided with supporting shoe (11) articulated second slider (14), the second slider is by motor drive, makes to constitute controllable sliding pair between supporting shoe (11) and the adjustable connecting rod through the speed of controller control motor install on supporting shoe (11) rather than constituting revolute pair's pedal (15).
5. The mechanism capable of realizing accurate gait adjustment according to claim 1 or the above, characterized in that the trajectory adjustment mechanism further comprises a link six (16), the head end of the link six (16) is hinged with a third slider (17), the middle part of the link six (16) is hinged with a fourth slider (18), the third slider (17) is mounted on a rocker two (5) to form a moving pair with the rocker two, the fourth slider (18) is mounted on a link three (7) to form a moving pair with the link three, the link six (16) and the link two (6) are parallel and the distance between the link six (16) and the link two is adjustable and fixed to amplify the gait trajectory of the supporting block output in different proportions;
the tail end of the connecting rod six (16) is hinged with the supporting block (11), and a pedal (15) forming a revolute pair with the supporting block (11) is installed on the supporting block (11).
6. The training device capable of realizing accurate gait adjustment is characterized by comprising a supporting device, a track generating mechanism, a track adjusting mechanism with an adjustable connecting rod and a transmission mechanism, wherein the supporting device comprises a base (19) and a rack (3) symmetrically arranged on two sides of the base, the track generating mechanism comprises a crank (1) and a connecting rod I (2), one end of the crank (1) is hinged with the rack (3), and the other end of the crank is hinged with the connecting rod I (2);
the track adjusting mechanism comprises an adjustable connecting rod (4), a parallelogram mechanism and a plurality of connecting rods, the middle part of the adjustable connecting rod (4) is hinged with the first connecting rod (2), the hinged point of the adjustable connecting rod and the first connecting rod is a gait track input point, the head end of the adjustable connecting rod (4) is movably and rotatably connected with the rack (3), and the tail end of the adjustable connecting rod (4) can adjustably enlarge or reduce the gait track;
the parallelogram mechanism consists of a rocker II (5), a connecting rod II (6), a connecting rod III (7) and a connecting rod IV (8), and is hinged with the adjustable connecting rod;
the transmission mechanism is arranged on the base and used for driving the crank to rotate in a whole circle.
7. The training device capable of realizing precise gait adjustment according to claim 6, characterized in that the trajectory generation mechanism is composed of a crank and rocker mechanism mounted on the frame, the crank and rocker mechanism comprises a crank (1), a first connecting rod (2) and a first rocker (9), the first connecting rod (2) has three hinge points on three vertexes of a triangle, one end of the crank (1) is hinged with the frame, the other end of the crank is hinged with the point A of the first connecting rod (2), one end of the first rocker (9) is hinged with the point B of the first connecting rod, the other end of the first rocker is hinged with the frame (3), the point C of the first connecting rod is a gait trajectory input point, and the connecting rod is hinged with the middle part of the adjustable connecting rod (4) at the point C.
8. The training device capable of realizing precise gait adjustment according to claim 6, characterized in that the track adjusting mechanism is composed of a rocker two (5), a connecting rod two (6), a connecting rod three (7), a connecting rod four (8), a connecting rod five (10) and an adjustable connecting rod (4);
the head end of the rocker II (5) is hinged with the rack (3), the middle part of the rocker II is hinged with the head end of the connecting rod II (6), the tail end of the rocker is hinged with the connecting rod IV (8), the tail end of the connecting rod II (6) is hinged with the connecting rod I at the gait track input point of the connecting rod I (2), the head end of the connecting rod III (7) is hinged with the connecting rod I (2) at the gait track input point of the connecting rod I (2), and the tail end of the connecting rod III (7) is hinged with the connecting rod IV (8); the rocker II (5) is parallel to the connecting rod III (7), the connecting rod II (6) is parallel to the connecting rod IV (8), and the rocker II (5), the connecting rod II (6), the connecting rod III (7) and the connecting rod IV (8) form a parallelogram structure;
the middle part of the adjustable connecting rod (4) is hinged with the first connecting rod (2) at a gait track input point of the first connecting rod (2), the head end of the adjustable connecting rod is rotatably and movably connected with the rack or the rocker at the hinged part of the rocker II and the rack, and the tail end of the adjustable connecting rod (4) is provided with a supporting block (11);
one end of the connecting rod five (10) is hinged with the connecting rod four (8) or the connecting rod three (7), the other end is hinged with the supporting block (11),
the head end of the adjustable connecting rod (4) is movably and rotatably connected with the frame or the rocker: a first sliding block (12) is rotatably hinged on the frame (3) or the rocker, and a free moving pair is formed between the first sliding block (12) and the adjustable connecting rod; a supporting block (11) at the tail end of the adjustable connecting rod (4) is used as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod (4) to enlarge or reduce the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block (11) and the track input point is a controllable variable S2, the distance between the track input point and the first slider (12) is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant, or wherein K is close to a constant.
9. An exercise device capable of achieving precise gait adjustment according to claim 8, wherein the controllable variable S2 is implemented by:
the lower half section of connecting rod five (10) sets up sharp slip table (13), sharp slip table be provided with supporting shoe (11) articulated second slider (14), the second slider is by motor drive, makes to constitute controllable sliding pair between supporting shoe (11) and the adjustable connecting rod through the speed of controller control motor install on supporting shoe (11) rather than constituting revolute pair's pedal (15).
10. An exercise device for achieving precise gait adjustment according to any one of claims 6 to 9, characterized in that the exercise device further comprises a gravity influence elimination mechanism, the gravity influence elimination mechanism comprises a support plate (23) and a roller (24), the support plate (23) is mounted on the base (19) and is hollowed with a groove, the roller (24) is arranged at the track input point of the first connecting rod (2) and is arranged in the groove, and the contour curve of the groove is the envelope curve of the roller.
11. The training device capable of realizing precise gait adjustment according to claim 6, characterized in that the two sides of the support device are symmetrically arranged, the frame is provided with handrails (25), the handrails are fixed handrails or training handrails linked with gait track points, and the handrails are provided with binding bands (26) to further provide a weight reduction function for the user.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111569359A (en) * | 2020-05-25 | 2020-08-25 | 合肥工业大学 | Mechanism capable of realizing accurate gait adjustment and training device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111569359A (en) * | 2020-05-25 | 2020-08-25 | 合肥工业大学 | Mechanism capable of realizing accurate gait adjustment and training device |
| CN111569359B (en) * | 2020-05-25 | 2024-04-09 | 合肥工业大学 | Mechanism capable of realizing accurate gait adjustment and training device |
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