CN103845185A - Household small-size lower limb rehabilitation training robot - Google Patents
Household small-size lower limb rehabilitation training robot Download PDFInfo
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- CN103845185A CN103845185A CN201410073019.9A CN201410073019A CN103845185A CN 103845185 A CN103845185 A CN 103845185A CN 201410073019 A CN201410073019 A CN 201410073019A CN 103845185 A CN103845185 A CN 103845185A
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Abstract
The invention discloses a household small-size lower limb rehabilitation training robot, which comprises a base, wherein a man-machine interaction system, a motive power system and a tail end executing mechanism are fixedly arranged on the base, a hanging support mechanism is also arranged on the base, the motive power system comprises a motor seat, a motor is arranged on the motor seat, the output motive power is transmitted to the tail end executing mechanism through a small chain wheel, a chain, a large chain wheel and a center shaft, the tail end executing mechanism comprises two pedals and a guide rail fixedly arranged on the base, two sets of crank slide block mechanisms are arranged between the guide rail and the center shaft, two cranks are in 180-degree arrangement, one ends of the cranks arranged in the crank slide block mechanisms are fixedly connected with a center shaft, the other ends of the cranks are sequentially hinged to a connecting rod and a slide block, the length of the cranks is adjustable, the pedals are hinged to the connecting rod, and an electromagnetic device is arranged on the pedals. The household small-size lower limb rehabilitation training robot more conforms to the normal gait tracks and drives a patient to do rehabilitation, in addition, the track regulation can be carried out according to different body heights, the structure is simple, the cost is low, the occupied space is small, the household small-size lower limb rehabilitation training robot is suitable for being used in families, and various training modes such as passive and active training can be realized.
Description
Technical field
The invention belongs to the robot in a kind of rehabilitation medical instrument and exercising apparatus field, be specifically related to a kind of household small-size lower limb rehabilitation exercising machine people who more meets normal gait track.
Background technology
According to investigations, there are a considerable amount of people in China every year because the reason such as disease, vehicle accident causes lower limb disorder.Clinical practice shows, no matter is the motor dysfunction that disease or limb injury cause, and good lower limb rehabilitation training can improve lower limb exercise ability and promote function of nervous system to repair, and reduces complication rate.For this reason, the developed country such as American-European, Japanese has all developed multiple lower limb rehabilitation robot.But it is large, expensive to take up room, be difficult to meet the daily family demand of ordinary people; And family takes exercise and become more and more popular, family also grows with each passing day to the demand of exercising apparatus, but present exercising apparatus mainly concentrates on treadmill, indoor bicycle etc.
By existing relevant literature search is found, China Patent No. 200620140778.3 discloses a kind of wheel chair type robot for walking training, comprises wheelchair system, lower limb exoskeleton system, Damper Braces system and controller.This robot realizes the training of lower limb by controlling the rotation of each joint motor on ectoskeleton.This robot controls four motors simultaneously, the higher and difficult realization of cost.
China Patent No. 200910075068.5 discloses a kind of lower limb rehabilitation medical robot used for paralytic patient, comprises base, rehabilitation leg training device and computer control system.The exoskeleton mechanism that this robot is suspended on outside by control reaches training objectives.Its less stable, algorithm complexity etc., and then cause cost high, be not suitable for extensive use.
China Patent No. 201110050479.6 discloses a kind of riding type robot for lower limb rehabilitation, comprises riding type seat, driving mechanism, exoskeleton mechanism and support.This robot, by driven by servomotor, drives foot motion, makes patient's and then motion of whole lower limb.Elliptical orbit is walked with foot by this robot, and people's normal gait track is class ellipse, and difference is larger.
Summary of the invention
The present invention is directed to prior art above shortcomings, a kind of lower limb rehabilitation exercising machine people of the household small-size that more meets normal gait track is provided, use the present invention to design according to the rehabilitation of reconditioning person's build size and medical science is theoretical, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet the needs that medical institutions, family etc. take exercise the daily lower limb rehabilitation of reconditioning person and family.
The lower limb rehabilitation exercising machine people's of a kind of household small-size of the present invention technical scheme is: this robot comprises base, on described base, be fixed with man-machine interactive system, dynamical system and end effector mechanism, it is characterized in that, on described base, be also provided with suspension strut mechanism, described dynamical system comprises the motor cabinet fixing with base, on described motor cabinet, is provided with motor, and the outputting power of described motor is successively by passing to end effector mechanism after minor sprocket, chain, hinge wheel and central shaft, described end effector mechanism comprises two pedals and is fixed on the guide rail on base, between described guide rail and described central shaft, be provided with two cover slider-crank mechanisms, described slider-crank mechanism comprises crank, one end of described crank and described central shaft are connected, the other end of described crank is hinged with connecting rod and slide block successively, hinged place between described crank and described connecting rod is provided with crank length adjustment structure, described slide block and described guide rail are slidably matched, described pedal is hinged on described connecting rod, described pedal is provided with calutron, two cranks in two cover slider-crank mechanisms are 180 ° of layouts, described end effector mechanism also include a pair of and pedal supporting with the footwear at the bottom of magnetic shoe, described suspension strut mechanism comprises the support frame fixing with base, the rope that is provided with adjustable length of described support frame, and the bottom of described rope is provided with spring damper, and described spring damper is provided with suspender belt.
Compared with prior art, the invention has the beneficial effects as follows:
Because the pedal in the present invention is driven by two slider-crank mechanisms, in use procedure, the movement locus of pedal meets normal gait track more, and design according to the rehabilitation of reconditioning person's build size and medical science is theoretical, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet the needs that medical institutions, family etc. take exercise the daily lower limb rehabilitation of reconditioning person and family.
Brief description of the drawings
Fig. 1 is household small-size lower limb rehabilitation exercising machine people structural representation of the present invention;
Fig. 2 is man-machine interactive system pie graph in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people;
Fig. 3 is the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people medium power system structure schematic diagram;
Fig. 4 is end effector mechanism schematic diagram in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people;
Fig. 5 is slide block mechanism schematic diagram in end effector mechanism shown in Fig. 4;
Fig. 6 is suspension strut structural scheme of mechanism in the lower limb rehabilitation of household small-size shown in Fig. 1 exercising machine people.
In figure: 10-man-machine interactive system, 11-bracing frame, 12-display, 20-dynamical system, 21-motor cabinet, 22-minor sprocket, 23-chain, 24-central shaft, 25-hinge wheel, 26-motor, 30-base, 40-end effector mechanism, 41-crank, 42-regulating block, 43-connecting rod, 44-pillar, 45-guide rail, 46-slide block mechanism, 461-connecting plate, 462-cylindrical roller, 47-pedal, 50-suspension strut mechanism, 51-support frame, 52-rope, 53-spring damper, 54-suspender belt.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, technical solution of the present invention is described in further detail.
As shown in Figure 1, the lower limb rehabilitation exercising machine people of a kind of household small-size of the present invention, comprises base 30, is fixed with man-machine interactive system 10, dynamical system 20, end effector mechanism 40 and suspension strut mechanism 50 on described base 30.
As shown in Figure 2, described man-machine interactive system comprises display 12, described display 12 is fixing with described base 30 by a bracing frame 11, can adjust according to reconditioning person's individual height the high and low position of display 12, display 12 is used for adjusting kinematic parameter, and can show the information such as gait track, walking speed, training time, and this man-machine interactive system is connected with dynamical system 20, its structure, annexation and control all belong to the transformation of the way general knowledge of the art, do not repeat them here.
As shown in Figure 3, described dynamical system 20 comprises the motor cabinet fixing with base 30, on described motor cabinet 21, be provided with motor 26, the outputting power of described motor 26 is successively by passing to end effector mechanism 40 after minor sprocket 22, chain 23, hinge wheel 25 and central shaft 24.
As shown in Figure 4, described end effector mechanism 40 comprises two pedals 47 and is fixed on the guide rail 45 on base 30, described guide rail 45 is connected on base 30 by pillar 44, between described guide rail 45 and described central shaft 24, be provided with two cover slider-crank mechanisms, described slider-crank mechanism comprises crank 41, one end of described crank 41 and described central shaft 24 are connected, the other end of described crank 41 is hinged with connecting rod 43 and slide block 46 successively, hinged place between described crank 41 and described connecting rod 43 is provided with crank length adjustment structure, described crank length adjustment structure by be arranged on chute on crank 41 and and described crank 41 and described connecting rod 43 between the regulating block 42 that is integrated of hinge seat form, described regulating block 42 can slide in the chute of crank 41, between described regulating block 42 and described chute, be provided with locking device.
As shown in Figure 5, described slide block 46 is slidably matched with described guide rail 45, described slide block 46 comprises two connecting plates 461 and two cylindrical rollers 462 being arranged between two connecting plates 461 form, described two connecting plates 461 are arranged on described connecting rod 43 and described guide rail 45 both sides, one end of described connecting plate 461 and described connecting rod 43 are hinged, described guide rail 45 passes the space between two cylindrical rollers 462, two cylindrical rollers 462 can rotate around rotating shaft separately, rotating shaft is arranged on connecting plate 461, when connecting rod 43 moves, connecting plate 461 drives cylindrical roller 262 to roll along the surface of guide rail 45, two cylindrical rollers 462 roll and coordinate with described guide rail 45, and then slide block 46 is slided along guide rail 45.Described pedal 47 is hinged on described connecting rod 43, and described pedal 47 is provided with calutron, described end effector mechanism 40 also include a pair of and pedal 47 supporting with the footwear at the bottom of magnetic shoe (not shown in FIG.); Two cranks in two cover slider-crank mechanisms are 180 ° of layouts, and when motor 26 is worked, described motor 26 drives described minor sprocket 22 to rotate, drive hinge wheel 25 to rotate by chain 23, and then central shaft 24 is rotated, finally drive the crank 41 that is connected in central shaft 24 to rotate, as shown in Figure 4.
As shown in Figure 6, described suspension strut mechanism 50 comprises the support frame 51 fixing with base 30, the rope that is provided with adjustable length 52 of described support frame 51, the bottom of described rope 52 is provided with spring damper 53, described spring damper 53 is provided with suspender belt 54, described suspender belt 54 can reconditioning person to hang in robot, make its bi-pedal on pedal, carry out rehabilitation, described spring damper 53 can compensate the vertical direction displacement of the reconditioning person after hanging, thereby plays the effect of damping.
To sum up, that the present invention is simple and reasonable, compact in design takes up room is less, cost is little, simple to operate, can, according to s own situation adjustment, use so be applicable to individual family and ordinary people.
The present invention is further illustrated by the following examples.First according to reconditioning person's gait size, the locking device at regulating block 42 places in release end actuator 40, the position of slidable adjustment piece 42 in crank 41 chutes, makes regulating block 42 reach precalculated position, then, closes locking device.With it the suspender belt in suspension strut mechanism 50 54 person that is through reconditioning, regulate the length of rope 52, allow reconditioning person be suspended from robot by suspension strut mechanism 50, and make to be installed with the footwear supporting with robot footrest 47 (sole of these footwear is the material that Magnet can attract), the sole contact feet pedal 47 of these footwear, certain body weight can be born by the person's that makes reconditioning foot.Open pedal 47 place's calutrons, reconditioning person foot is connected on pedal 47.The parameters such as training leg speed, time are set by man-machine interaction mechanism 10, turn on the power switch, power is flowed to end effector mechanism 40 by dynamical system 20, and final pedal 47 rotates and drives reconditioning person foot to carry out rehabilitation training by similar normal gait walking around connecting rod.Run into emergency; as the track movable scope of person that exceeds reconditioning; pedal 47 exceeds to the pulling force of reconditioning person foot the captivation that calutron provides; reconditioning person foot and pedal 47 depart from; reach protection reconditioning person's object or nurse personnel, reconditioning person can press scram button, makes device be forced to quit work.The present invention adopts the slider-crank mechanism simulation people normal gait being made up of crank 41, connecting rod 43, guide rail 45 and slide block mechanism 46, thereby drives reconditioning person foot motion, reaches rehabilitation training.
Although invention has been described by reference to the accompanying drawings above; but the present invention is not limited to above-mentioned detailed description of the invention; above-mentioned detailed description of the invention is only schematic; instead of restrictive; those of ordinary skill in the art is under enlightenment of the present invention; in the situation that not departing from aim of the present invention, can also make a lot of distortion, within these all belong to protection of the present invention.
Claims (4)
1. the lower limb rehabilitation exercising machine people of a household small-size, comprise base (30), on described base (30), be fixed with man-machine interactive system (10), dynamical system (20) and end effector mechanism (40), it is characterized in that, on described base, be also provided with suspension strut mechanism (50);
Described dynamical system (20) comprises the motor cabinet fixing with base (30), on described motor cabinet (21), be provided with motor (26), the outputting power of described motor (26) is successively by passing to end effector mechanism (40) after minor sprocket (22), chain (23), hinge wheel (25) and central shaft (24);
Described end effector mechanism (40) comprises two pedals (47) and is fixed on the guide rail (45) on base (30), between described guide rail (45) and described central shaft (24), be provided with two cover slider-crank mechanisms, described slider-crank mechanism comprises crank (41), one end of described crank (41) and described central shaft (24) are connected, the other end of described crank (41) is hinged with connecting rod (43) and slide block (46) successively, hinged place between described crank (41) and described connecting rod (43) is provided with crank length adjustment structure, described slide block (46) is slidably matched with described guide rail (45), described pedal (47) is hinged on described connecting rod (43), described pedal (47) is provided with calutron, two cranks in two cover slider-crank mechanisms are 180 ° of layouts, described end effector mechanism (40) also include a pair of and pedal (47) supporting with the footwear at the bottom of magnetic shoe,
Described suspension strut mechanism (50) comprises the support frame (51) fixing with base (30), the rope that is provided with adjustable length (52) of described support frame (51), the bottom of described rope (52) is provided with spring damper (53), and described spring damper (53) is provided with suspender belt (54).
2. the lower limb rehabilitation exercising machine people of household small-size according to claim 1, it is characterized in that, described crank length adjustment structure by be arranged on chute on crank (41) and and described crank (41) and described connecting rod (43) between the regulating block (42) that is integrated of hinge seat form, between described regulating block (42) and described chute, be provided with locking device.
3. the lower limb rehabilitation exercising machine people of household small-size according to claim 1, it is characterized in that, described slide block (46) comprises two connecting plates (461) and is arranged on two cylindrical rollers (462) formation between two connecting plates (461), described two connecting plates (461) are arranged on described connecting rod (43) and described guide rail (45) both sides, one end of described connecting plate (461) and described connecting rod (43) are hinged, described guide rail (45) passes the space between two cylindrical rollers (462), and two cylindrical rollers (462) roll and coordinate with described guide rail.
4. the lower limb rehabilitation exercising machine people of household small-size according to claim 1, is characterized in that, described man-machine interactive system comprises display (12), and described display (12) is fixing by a bracing frame (11) and described base (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073019.9A CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410073019.9A CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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| CN103845185A true CN103845185A (en) | 2014-06-11 |
| CN103845185B CN103845185B (en) | 2016-05-25 |
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| CN201410073019.9A Expired - Fee Related CN103845185B (en) | 2014-02-28 | 2014-02-28 | A kind of lower limb rehabilitation exercising machine people of household small-size |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105456002A (en) * | 2016-01-07 | 2016-04-06 | 天津大学 | Rehabilitation training robot capable of achieving normal gait pattern |
| CN106420266A (en) * | 2016-12-01 | 2017-02-22 | 长春工业大学 | Flywheel type limb rehabilitation training robot |
| CN108815715A (en) * | 2018-04-10 | 2018-11-16 | 泰州职业技术学院 | A kind of hot physical therapy bracket of lower limb |
| CN110279556A (en) * | 2019-06-21 | 2019-09-27 | 天津大学 | Adjustable elliptical orbit lower limb recovery wheelchair |
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| US20080242516A1 (en) * | 2007-03-28 | 2008-10-02 | Zhi Lu | Elliptical mechanism |
| CN201907622U (en) * | 2010-09-17 | 2011-07-27 | 和硕联合科技股份有限公司 | Electromagnetic pedal plate and riding vehicle body thereof |
| CN202128671U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer |
| CN202715012U (en) * | 2012-08-13 | 2013-02-06 | 昆山市工业技术研究院有限责任公司 | Walking recovery machine |
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2014
- 2014-02-28 CN CN201410073019.9A patent/CN103845185B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3009889B1 (en) * | 1999-02-10 | 2000-02-14 | セノー株式会社 | Walking training equipment |
| US6077196A (en) * | 1999-10-01 | 2000-06-20 | Eschenbach; Paul William | Adjustable elliptical exercise apparatus |
| CN2558375Y (en) * | 2002-08-14 | 2003-07-02 | 哈尔滨工程大学 | Lower extremity recovery training robot |
| CN2801219Y (en) * | 2005-05-16 | 2006-08-02 | 郭海滨 | Oval exercising equipment with adjustable step length |
| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
| US20080242516A1 (en) * | 2007-03-28 | 2008-10-02 | Zhi Lu | Elliptical mechanism |
| CN201907622U (en) * | 2010-09-17 | 2011-07-27 | 和硕联合科技股份有限公司 | Electromagnetic pedal plate and riding vehicle body thereof |
| CN202128671U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105456002A (en) * | 2016-01-07 | 2016-04-06 | 天津大学 | Rehabilitation training robot capable of achieving normal gait pattern |
| CN106420266A (en) * | 2016-12-01 | 2017-02-22 | 长春工业大学 | Flywheel type limb rehabilitation training robot |
| CN108815715A (en) * | 2018-04-10 | 2018-11-16 | 泰州职业技术学院 | A kind of hot physical therapy bracket of lower limb |
| CN110279556A (en) * | 2019-06-21 | 2019-09-27 | 天津大学 | Adjustable elliptical orbit lower limb recovery wheelchair |
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| Publication number | Publication date |
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| CN103845185B (en) | 2016-05-25 |
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Granted publication date: 20160525 |