CN213048005U - Mechanism capable of realizing accurate gait adjustment - Google Patents
Mechanism capable of realizing accurate gait adjustment Download PDFInfo
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- CN213048005U CN213048005U CN202020902041.0U CN202020902041U CN213048005U CN 213048005 U CN213048005 U CN 213048005U CN 202020902041 U CN202020902041 U CN 202020902041U CN 213048005 U CN213048005 U CN 213048005U
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Abstract
The utility model discloses a mechanism capable of realizing precise gait adjustment, which comprises a frame, a track generating mechanism and a track adjusting mechanism with an adjustable connecting rod, wherein the track generating mechanism comprises a crank and a connecting rod, one end of the crank is hinged with the frame, and the other end is hinged with the connecting rod; the middle part of an adjustable connecting rod of the track adjusting mechanism is hinged with the connecting rod, the hinged point of the adjustable connecting rod and the 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 utility model discloses a combination of crank rocker and the orbit adjustment mechanism who has adjustable connecting rod has realized accurate human gait orbit motion, has 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 governing method is simple, and the stable performance satisfies the user use of different heights.
Description
The technical field is as follows:
the utility model relates to a gait training equipment specifically is a mechanism and trainer that can realize accurate gait and adjust.
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 invention content is as follows:
for overcoming prior art's defect, the utility model aims to provide a can realize mechanism 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 connecting rod, one end of the crank is hinged with the rack, and the other end of the crank is hinged with the connecting rod;
the middle part of an adjustable connecting rod of the track adjusting mechanism is hinged with the connecting rod, the hinged point of the adjustable connecting rod and the 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.
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 connecting rod and a rocker, the 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 connecting rod, one end of the rocker is hinged to a point B of the connecting rod, the other end of the rocker is hinged to the frame, a point C of the 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, further, the movable and rotatable connection formed between the head end of the adjustable connecting rod and the frame is specifically: a slide block is rotatably hinged on the machine frame, and a free moving pair is formed between the slide block and the adjustable connecting rod; the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait track, and the gait track specifically comprises the following steps: a support block is arranged at the tail end of the adjustable connecting rod and serves as a track output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod and used for amplifying or reducing the gait track; the controllable sliding pair is specifically as follows: the distance between the support block and the track input point is a controllable variable S2, the distance between the track input point and the slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or wherein K is close to a constant.
Preferably, further, the implementation manner of the controllable variable S2 is: the lower half section of the adjustable connecting rod is provided with a linear sliding table, the supporting block is driven by a motor, the speed of the motor is controlled by a controller, so that a controllable sliding pair is formed between the supporting block and the linear sliding table, and pedals forming a revolute pair are 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 middle part of an adjustable connecting rod of the track adjusting mechanism is hinged with the connecting rod, the hinged point of the adjustable connecting rod and the 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 transmission mechanism is arranged on the base and used for driving the crank to do full-circle motion, and specifically comprises a motor arranged on the base and a driving chain wheel driven by the motor, wherein the shaft of the driven chain wheel is fixedly connected to the shaft of the crank, 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, and one to three motors are arranged.
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 connecting rod and a rocker, the 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 connecting rod, one end of the rocker is hinged to a point B of the connecting rod, the other end of the rocker is hinged to the frame, a point C of the 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, further, the movable and rotatable connection formed between the head end of the adjustable connecting rod and the frame is specifically: a slide block is rotatably hinged on the machine frame, and a free moving pair is formed between the slide block and the adjustable connecting rod; the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait track, and the gait track specifically comprises the following steps: a support block is arranged at the tail end of the adjustable connecting rod and serves as a track output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod and used for amplifying or reducing the gait track; the controllable sliding pair is specifically as follows: the distance between the support block and the track input point is a controllable variable S2, the distance between the track input point and the slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or wherein K is close to a constant.
Preferably, further, the implementation manner of the controllable variable S2 is: the lower half section of the adjustable connecting rod is provided with a linear sliding table, the supporting block is driven by a motor, the speed of the motor is controlled by a controller, so that a controllable sliding pair is formed between the supporting block and the linear sliding table, and a pedal forming a revolute pair is arranged 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 the track input point of the connecting rod and is positioned in the groove, and the contour curve of the groove is the envelope curve of the roller.
Preferably, handrails are arranged on the machine frame symmetrically arranged on two sides of the supporting device, the handrails are fixed handrails or training handrails linked with gait track points, and the handrails are provided with binding bands to further provide a weight reduction function for a 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 first schematic diagram of the track generation mechanism and the track adjustment mechanism of the present invention disposed on a rack;
fig. 2 is a second schematic diagram of the track generation mechanism and the track adjustment mechanism of the present invention disposed on the frame;
fig. 3 is a schematic view of the training device of the present invention;
FIG. 4 is a schematic view of the upper and lower limbs linkage training device of the present invention;
fig. 5 is a schematic structural view of the track adjusting mechanism of the present invention;
fig. 6 is a schematic diagram of an output trajectory of the present invention.
Reference numbers in the figures: 1 frame, 2 cranks, 3 connecting rods, 4 adjustable connecting rods, 5 rockers, 6 supporting blocks, 7 linear sliding tables, 8 pedals, 9 bases, 10 driving chain wheels, 11 driven chain wheels, 12 chains, 13 rollers, 14 supporting plates, 15 binding bands and 16 handrails.
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.
Embodiment 1, a mechanism that can realize accurate gait is adjusted, includes frame 1, orbit generation mechanism and has the orbit adjustment mechanism of adjustable connecting rod, and wherein, orbit generation mechanism includes crank 2 and connecting rod 3, and the one end of crank 2 articulates with frame 1, and the other end articulates with connecting rod 3 and constitutes the revolute pair.
The middle part of an adjustable connecting rod 4 of the track adjusting mechanism is hinged with the connecting rod 3 to form a revolute pair, the hinged point of the adjustable connecting rod 4 and the connecting rod 3 is a gait track input point, the head end of the adjustable connecting rod 4 is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod 4 can adjustably enlarge or reduce the gait track.
More specifically, the track generation mechanism is composed of a crank and rocker mechanism arranged on the rack, the crank and rocker mechanism comprises a crank 2, a connecting rod 3 and a rocker 5, the connecting rod 3 is provided with three hinged points positioned on three vertexes of a triangle, one end of the crank 2 is hinged with the rack 1, the other end of the crank 2 is hinged with a point A of the connecting rod, one end of the rocker 5 is hinged with a point B of the connecting rod, the other end of the rocker is hinged with the rack, a point C of the connecting rod is a gait track input point, and the connecting rod is hinged with the middle part of the adjustable connecting rod 4 at the.
Specifically, the movable and rotatable connection formed between the head end of the adjustable connecting rod 4 and the frame is specifically as follows: a slide block is rotatably hinged on the frame 1, and a free moving pair is formed between the slide block and the adjustable connecting rod; the specific structure that the tail end of the adjustable connecting rod 4 can be used for adjustably enlarging or reducing the gait track is as follows: a supporting block 6 is arranged at the tail end of the adjustable connecting rod 4 and serves as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod 4 and used for amplifying or reducing the gait track; the controllable sliding pair is specifically as follows: the distance between the support block 6 and the track input point is a controllable variable S2, the distance between the track input point and the slider is a free variable S1, S2+ S1/S1 is K, where K is a constant, or where K is close to a constant. The implementation manner of the controllable variable S2 is as follows: the lower half section of adjustable connecting rod 4 sets up sharp slip table 7, and supporting shoe 6 is by motor drive, the speed through controller control motor make supporting shoe 6 with constitute controllable removal between the sharp slip table 7 vice, install on supporting shoe 6 rather than constitute revolute pair's pedal 8, during the training, the supporting shoe is in human ankle department with pedal articulated axis.
the middle part of an adjustable connecting rod 4 of the track adjusting mechanism is hinged with the connecting rod 3, the hinged point of the adjustable connecting rod 4 and the connecting rod 3 is a gait track input point, the head end of the adjustable connecting rod 4 is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod 4 can adjustably enlarge or reduce the gait track;
the transmission mechanism comprises a motor arranged on the base and a driving chain wheel 10 driven by the motor, the shaft of the driven chain wheel 11 is fixedly connected to the shaft of the crank 2, and the driving chain wheel 10 and the driven chain wheel 11 transmit the output rotation of the motor shaft to the shaft of the crank 12 through the transmission of a chain 12; of course, the transmission mechanism may be a belt transmission or a gear transmission to drive the crank to rotate.
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 14 and a roller 13, the supporting plate 14 is installed on the base 9, a groove is hollowed in the supporting plate, the roller 13 is arranged at the track input point of the connecting rod 3 and is located in the groove, the contour curve of the groove is the envelope curve of the roller, and the groove and the roller actually form a cam mechanism.
The frame of strutting arrangement's bilateral symmetry is provided with handrail 16, and the handrail is fixed handrail or the training handrail of linking with gait track point, is provided with bandage 15 on the handrail, further provides the weight reduction function for the user.
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 (10)
1. A mechanism capable of realizing accurate gait adjustment comprises a rack (1), 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 (2) and a connecting rod (3), one end of the crank (2) is hinged with the rack (1), and the other end of the crank is hinged with the connecting rod (3);
the middle part of an adjustable connecting rod (4) of the track adjusting mechanism is hinged with the connecting rod (3), the hinged point of the adjustable connecting rod (4) and the connecting rod (3) is a gait track input point, the head end of the adjustable connecting rod (4) is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod (4) can adjustably enlarge or reduce the gait track.
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 (2), a connecting rod (3) and a rocker (5), the connecting rod (3) has three hinge points on three vertexes of a triangle, one end of the crank (2) is hinged to the frame (1), the other end of the crank (2) is hinged to a point a of the connecting rod, one end of the rocker (5) is hinged to a point B of the connecting rod, the other end of the rocker is hinged to the frame, a point C of the connecting rod is a gait trajectory input point, and the connecting rod is hinged to the middle part of the adjustable connecting rod (4) at the point C.
3. Mechanism for achieving accurate gait adjustment according to claim 1, characterized in that the head end of the adjustable linkage (4) forms a movable and rotatable connection with the frame, in particular: a slide block is rotatably hinged on the machine frame (1), and a free moving pair is formed between the slide block and the adjustable connecting rod; the tail end of the adjustable connecting rod (4) can be used for adjustably enlarging or reducing the gait track, and the adjustable connecting rod comprises the following specific steps: a supporting block (6) is arranged at the tail end of the adjustable connecting rod (4) and serves as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod (4) and used for amplifying or reducing the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block (6) and the track input point is a controllable variable S2, the distance between the track input point and the slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or is close to the constant.
4. The mechanism of claim 3, wherein the controlled variable S2 is implemented by: the lower half section of adjustable connecting rod (4) sets up sharp slip table (7), supporting shoe (6) are by motor drive, the speed through controller control motor makes supporting shoe (6) with constitute controllable sliding pair between sharp slip table (7) install on supporting shoe (6) rather than constituting pedal (8) of revolute pair.
5. A mechanism 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 (9) and a rack (1) symmetrically arranged on two sides of the base, the track generating mechanism comprises a crank (2) and a connecting rod (3), one end of the crank (2) is hinged with the rack (1), and the other end of the crank is hinged with the connecting rod (3);
the middle part of an adjustable connecting rod (4) of the track adjusting mechanism is hinged with the connecting rod (3), the hinged point of the adjustable connecting rod (4) and the connecting rod (3) is a gait track input point, the head end of the adjustable connecting rod (4) is movably and rotatably connected with the rack, and the tail end of the adjustable connecting rod (4) can adjustably enlarge or reduce the gait track;
the transmission mechanism is arranged on the base and used for driving the crank.
6. The mechanism capable of realizing precise gait adjustment according to claim 5, 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 (2), a connecting rod (3) and a rocker (5), the connecting rod (3) has three hinge points on three vertexes of a triangle, one end of the crank (2) is hinged to the frame (1), the other end of the crank (2) is hinged to the point A of the connecting rod, one end of the rocker (5) is hinged to the point B of the connecting rod, the other end of the rocker is hinged to the frame, the point C of the connecting rod is a gait trajectory input point, and the connecting rod is hinged to the middle part of the adjustable connecting rod (4) at the point C.
7. Mechanism for achieving accurate gait adjustment according to claim 5, characterized in that the head end of the adjustable linkage (4) forms a movable and rotatable connection with the frame, in particular: a slide block is rotatably hinged on the machine frame (1), and a free moving pair is formed between the slide block and the adjustable connecting rod; the tail end of the adjustable connecting rod (4) can be used for adjustably enlarging or reducing the gait track, and the adjustable connecting rod comprises the following specific steps: a supporting block (6) is arranged at the tail end of the adjustable connecting rod (4) and serves as a track output point, and a controllable moving pair is formed between the supporting block and the adjustable connecting rod (4) and used for amplifying or reducing the gait track; the controllable sliding pair is specifically as follows: the distance between the supporting block (6) and the track input point is a controllable variable S2, the distance between the track input point and the slider is a free variable S1, and S2+ S1/S1 is K, wherein K is a constant or is close to the constant.
8. The mechanism of claim 7, wherein the controlled variable S2 is implemented by: the lower half section of adjustable connecting rod (4) sets up sharp slip table (7), supporting shoe (6) are by motor drive, the speed through controller control motor makes supporting shoe (6) with constitute controllable sliding pair between sharp slip table (7), installation and its pedal (8) that constitute the revolute pair on supporting shoe (6).
9. Mechanism for achieving a fine gait adjustment according to any one of claims 5 to 8, characterized in that the adjustment mechanism further comprises a gravitational influence elimination mechanism, which comprises a support plate (12) and a roller (13), wherein the support plate (12) is mounted on the base (9) and has a groove hollowed in it, the roller (13) is arranged at the locus input point of the connecting rod (3) and is in the groove, and the profile curve of the groove is the envelope curve of the roller.
10. The mechanism capable of realizing precise gait adjustment according to claim 5, characterized in that handrails (14) are arranged on the machine frame symmetrically arranged on both sides of the supporting device, the handrails are fixed handrails or training handrails linked with gait track points, and the handrails are provided with binding bands (15) to further provide a weight reduction function for the user.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020902041.0U CN213048005U (en) | 2020-05-25 | 2020-05-25 | Mechanism capable of realizing accurate gait adjustment |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020902041.0U CN213048005U (en) | 2020-05-25 | 2020-05-25 | Mechanism capable of realizing accurate gait adjustment |
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| CN213048005U true CN213048005U (en) | 2021-04-27 |
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| CN202020902041.0U Active CN213048005U (en) | 2020-05-25 | 2020-05-25 | Mechanism capable of realizing accurate gait adjustment |
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- 2020-05-25 CN CN202020902041.0U patent/CN213048005U/en active Active
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