CN105342809B - 可折叠、可变轨的上下肢协调运动训练椅 - Google Patents

可折叠、可变轨的上下肢协调运动训练椅 Download PDF

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CN105342809B
CN105342809B CN201510888511.6A CN201510888511A CN105342809B CN 105342809 B CN105342809 B CN 105342809B CN 201510888511 A CN201510888511 A CN 201510888511A CN 105342809 B CN105342809 B CN 105342809B
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connecting rod
hinged
revolute pair
frame
crank
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CN105342809A (zh
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王勇
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WUHU TIANREN INTELLIGENT MACHINERY CO Ltd
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WUHU TIANREN INTELLIGENT MACHINERY CO Ltd
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Abstract

本发明公开了一种可折叠、可变轨的上下肢协调运动训练椅，其包括：座椅、座椅下部的传动装置、及座椅两侧的机架，传动装置的两侧各自设置有外伸的主动轴、辅助轴，在座椅两侧的七杆机构曲柄的一端与主动轴固联，另一端与第一连杆的首端铰接形成转动副，第一连杆的末端与第二连杆的首端铰接形成转动副，第二连杆的末端与连架杆的首端铰接形成转动副，连架杆的末端与辅助轴固联，与机架铰接形成转动副，第三连杆的一端与曲柄或第一连杆或第二连杆铰接形成转动副，第三连杆的另一端与摇杆的中部铰接形成转动副，摇杆的底部与机架铰接形成转动副；在第一连杆或第二连杆上安装有脚部支撑，在摇杆的上端安装有手柄。其结构简单、应用广泛。

Description

可折叠、可变轨的上下肢协调运动训练椅
本申请是申请号为2013102917735的分案申请。
技术领域：
本发明涉及一种可折叠、可变轨的上下肢协调运动训练椅，属于康复医疗和运动健身器械领域。
背景技术：
《2010年度中国老龄事业发展统计公报》指出全国60岁及以上老年人口已达1.7765亿，占总人口的比重达13.26％，与2000年第五次全国人口普查相比，上升了2.93个百分点，可见我国老龄化程度正在继续加深；随着社会发展，坐姿工作的人群不断增加，具有白领职业病的人数也不断增加。老年病的预防和康复、白领职业病的预防和治理已成为当今社会面临的严重问题。近些年康复和健身训练器械的研究也有了诸多成果，例如末端执行器牵引式、外骨骼穿戴式以及各种运动健身等训练器的研究和使用都有了很大程度的发展。但它们存在着以下不足：需要专业护理人员全程陪同训练、训练器械结构复杂、应用场地较大、运动形式单一，缺少上下肢协调运动，不能折叠，轨迹不变，所以不具有普遍适用性，难以满足家庭、办公场所的康复、健身需求。
发明内容：
为克服现有技术的缺陷，本发明的目的在于提供一种可折叠、可变轨的上下肢协调运动训练椅，其结构简单紧凑、应用范围广泛，能够满足家庭、办公室等空间环境较小的、幅度可调的上下肢协调运动的康复、健身训练需求。
本发明解决技术问题采用如下技术方案：
可折叠、可变轨的上下肢协调运动训练椅，包括：
座椅、设于所述座椅下部的传动装置、及设于座椅两侧的机架，所述传动装置的两侧各自设置有外伸的主动轴、辅助轴，在所述座椅的两侧对称分布有两个七杆机构；
所述七杆机构包括曲柄、第一连杆、第二连杆、连架杆、第三连杆、摇杆、机架；所述曲柄的一端与所述主动轴固联，另一端与所述第一连杆的首端铰接形成转动副，第一连杆的末端与所述第二连杆的首端铰接形成转动副，第二连杆的末端与所述连架杆的首端铰接形成转动副，连架杆的末端与所述辅助轴固联，所述第三连杆的一端与所述曲柄或所述第一连杆或所述第二连杆铰接形成转动副，第三连杆的另一端与所述摇杆的中部铰接形成转动副，所述摇杆的底部与机架铰接形成转动副；
在所述第一连杆或第二连杆上安装有脚部支撑，在所述摇杆的上端安装有手柄。
所述主动轴由动力机构通过主传动链驱动转动；所述辅助轴由辅传动链驱动转动。
所述第三连杆的一端在所述曲柄或所述第一连杆或所述第二连杆上的铰接点随调；所述摇杆在所述机架上的铰接点随调；所述脚部支撑在第一连杆或第二连杆上的位置随调。
本发明的另一实施方案为：
可折叠、可变轨的上下肢协调运动训练椅，包括：
座椅、设于所述座椅下部的传动装置、及设于座椅两侧的机架，所述传动装置的两侧各自设置有外伸的主动轴，在所述座椅的两侧对称分布有两个七杆机构；
所述七杆机构包括曲柄、第一连杆、第二连杆、连架杆、第三连杆、摇杆、机架；所述曲柄的一端与所述主动轴固联，另一端与所述第一连杆的首端铰接形成转动副，第一连杆的末端与所述第二连杆的首端铰接形成转动副，第二连杆的末端与所述连架杆的首端铰接形成转动副，连架杆的末端铰接于所述机架上，所述第三连杆的一端与所述第一连杆或所述曲柄铰接形成转动副，第三连杆另一端与所述摇杆的中部铰接形成转动副，所述摇杆的底部与机架铰接形成转动副；设置线性致动器，所述线性致动器的一端与机架铰接成转动副，另一端与连架杆的中部铰接形成转动副；
在所述第一连杆或第二连杆上安装有脚部支撑，在所述摇杆的上端安装有手柄。
与已有技术相比，本发明的有益效果体现在：
1、本发明应用范围广，可用于上、下肢和躯干的协调运动，达到运动康复和健身目的。
2、本发明锻炼模式多样，手柄和脚踏对称布置于座椅左右两边，可以实现同步/异步训练。
3、本发明结构紧凑灵活，可以自由收放，不使用时可以折叠，占用空间小。
4、本发明具有可调节性，摇杆的初始位置、脚部支撑在第一连杆或第二连杆上的位置、以及连架杆的角度可实现组合式调节，实现不同轨迹、不同幅度的运动训练，使其既能适应同一位训练者在不同的康复期和训练状态的锻炼的情况，又能满足不同身高的训练者进行康复和健身锻炼的需求。
5、通过离合器来控制电机带动曲柄或连架杆，曲柄和连架杆的驱动电机可以是同一个。
6、若在传动链中设置有阻力环节便能进行主动训练，不仅可以带动人的四肢运动，而且可以产生阻力，作为健身器械来使用。
7、摇杆在机架上的铰接点可调，第三连杆在曲柄或第一连杆或第二连杆上的铰接点也可调，通过调节铰接点可改变运动轨迹，调整手部的运动幅度。
附图说明：
图1为本发明的第三连杆与第一连杆铰接的主视示意图；图2为本发明的第三连杆与第一连杆铰接的右视示意图；图3为本发明第二方案的主视图，采用线性致动器替换辅助轴及辅传动链；图4为本发明的第三连杆与曲柄铰接的主视图；图5为本发明第二方案的曲柄安装在上部的主视图，采用线性致动器替换辅助轴及辅传动链。
图中标号：1曲柄，2第一连杆，3第二连杆，4连架杆，5第三连杆，6摇杆，7机架，8脚部支撑，9手柄，10辅助轴，11主传动链，12主动轴，13辅传动链，14座椅，15传动装置，16七连杆机构，17线性致动器。
以下通过具体实施方式，并结合附图对本发明作进一步说明。
具体实施方式：
实施例：结合图1、2，本实施例的可折叠、可变轨的上下肢协调运动训练椅，其包括：
座椅14、设于座椅下部的传动装置15、设于座椅两侧的机架7，传动装置15的两侧各自设置有外伸的主动轴12、辅助轴10，并在座椅的两侧对称分布有两个七杆机构16；
其中，七杆机构包括曲柄1、第一连杆2、第二连杆3、连架杆4、第三连杆5、摇杆6、机架7；曲柄1的一端与主动轴12固联，主动轴与机架7形成转动副，曲柄的另一端与第一连杆2的首端铰接形成转动副，第一连杆2的末端与第二连杆3的首端铰接形成转动副，第二连杆3的末端与连架杆4的首端铰接形成转动副，连架杆4的末端与所述辅助轴10固联，辅助轴与机架7形成转动副，第三连杆5的一端与第一连杆2铰接形成转动副，另一端与摇杆6的底端铰接形成转动副，摇杆6的中部与机架7铰接形成转动副；
在第一连杆2或第二连杆3上安装有脚部支撑8，在摇杆6的上端安装有手柄9。
结合图4，第三连杆5的一端与曲柄1铰接形成转动副，另一端与摇杆6的底端铰接形成转动副，摇杆6的中部与机架7铰接形成转动副；
在第一连杆2或第二连杆3上安装有脚部支撑8，在摇杆6的上端安装有手柄9。
具体设置中，主动轴12由动力机构通过主传动链11驱动转动；辅助轴10由辅传动链13驱动转动。为方便调节手部、脚部的运动轨迹，第三连杆5的一端在曲柄1或第一连杆2或第二连杆3上的铰接点随调；摇杆6在机架7上的铰接点随调；脚部支撑8在第一连杆2或第二连杆3上的位置随调，可以在第一连杆2或第二连杆3的两转动副之间或外伸上，如图4、5所示，这种调节可通过不同位置的孔、槽来实现，或通过丝杠导轨移动实现，或通过蜗轮蜗杆转动实现。
具体应用中，主传动链11与辅传动链13共同组成传动装置15，通过控制离合器来选择主传动链11和辅传动链13，并由电机驱动。主传动链11与辅传动链13由齿轮、带轮或链轮等组合而成，并设有制动器或自锁装置。
在主动轴12和辅助轴10上分别装上离合器，则可以通过离合器来控制电机带动曲柄或连架杆，这样，曲柄和连架杆的驱动电机可以是同一个。
结合图3、5，作为本发明的第二实施方案，该可折叠、可变轨的上下肢协调运动训练椅，其包括：座椅14、设于座椅下部的传动装置15、及设于座椅两侧的机架7，传动装置的两侧各自设置有外伸的主动轴12、在座椅的两侧对称分布有两个七杆机构16；
七杆机构包括曲柄1、第一连杆2、第二连杆3、连架杆4、第三连杆5、摇杆6、机架7；曲柄1的一端与主动轴12固联，另一端与所述第一连杆2的首端铰接形成转动副，第一连杆2的末端与第二连杆3的首端铰接形成转动副，第二连杆3的末端与连架杆4的首端铰接形成转动副，连架杆4的末端铰接于机架7上，第三连杆5的一端与第一连杆2中部铰接形成转动副，第三连杆另一端与摇杆6的底端铰接形成转动副，摇杆6的中部与机架7铰接形成转动副；设置线性致动器17，线性致动器的一端与机架7铰接成转动副，另一端与连架杆4的中部铰接形成转动副；
在第一连杆2或第二连杆3上安装有脚部支撑8，在摇杆6的上端安装有手柄9。
线性致动器一端与机架铰接成转动副，另一端与连架杆4的中部铰接形成转动副。该线性致动器也具有自锁能力，通过伸长、缩短来调节连架杆4的角度变化。具体实施中，线性致动器17可采用大銀微系統股份有限公司生产的线性致动器，型号可采用LAM、LAS、LAN等系列线性致动器。
使用中，根据训练对象的身体参数和训练要求，调整脚部支撑8移动到第一连杆2或第二连杆3上的合适位置，或通过线性致动器17调整连架杆4到合适位置，调整摇杆6的初始位置到合适的位置；制动器工作或自锁功能发挥作用保持连架杆4不动。训练者上肢的两只手分别与左右的手柄9接触，下肢的两只脚分别与左右的脚部支撑8接触，主动轴12通过主传动链11驱动曲柄1整周回转，曲柄带动手柄、脚部支撑按预期的轨迹和速度运动，达到训练目的；若支撑的手柄(脚踏)的运动轨迹不在使用者的适宜运动范围内，则将连架杆4转动一定角度实现相应范围的位置调整，使得手柄、脚部支撑的运动轨迹在使用者的适宜运动范围内，从而也可以满足不同人群或个体的训练需求。为了实现更复杂的运动形式，可以让连架杆4和曲柄1同时转动。
若在主动轴12和主传动链11中或外部装上阻力装置如力矩可调的摩擦制动器等，可以控制阻力矩的大小，为主动训练提供阻力，实现在规定轨迹的主动运动中进行力量训练的目的；结合电机的被动训练，从而可以满足主被动训练的需要。
若在主动轴12或主传动链11中装有制动器，可以分别调整两侧的初始相位并保持不变，从而实现同步/异步训练。
曲柄1的形状可以是杆、圆盘等形状。曲柄1可以布置在机构下部(如图1、2、3、4所示)；也可以布置在机构上部(如图5所示)。

Claims (1)

1.可折叠、可变轨的上下肢协调运动训练椅，其特征在于包括：
座椅(14)、设于所述座椅下部的传动装置(15)、及设于座椅两侧的机架(7)，所述传动装置的两侧各自设置有外伸的主动轴(12)、辅助轴(10)，在所述座椅的两侧对称分布有两个七杆机构(16)；
所述七杆机构包括曲柄(1)、第一连杆(2)、第二连杆(3)、连架杆(4)、第三连杆(5)、摇杆(6)、机架(7)；所述曲柄(1)的一端与所述主动轴(12)固联，另一端与所述第一连杆(2)的首端铰接形成转动副，第一连杆(2)的末端与所述第二连杆(3)的首端铰接形成转动副，第二连杆(3)的末端与所述连架杆(4)的首端铰接形成转动副，连架杆(4)的末端与所述辅助轴(10)固联，所述第三连杆(5)的一端与所述曲柄(1)或所述第一连杆(2)或所述第二连杆(3)铰接形成转动副，第三连杆的另一端与所述摇杆(6)的底端铰接形成转动副，所述摇杆(6)的中部与机架(7)铰接形成转动副；
在所述第一连杆(2)或第二连杆(3)上安装有脚部支撑(8)，在所述摇杆(6)的上端安装有手柄(9)；
所述主动轴(12)由动力机构通过主传动链(11)驱动转动；所述辅助轴(10)由辅传动链(13)驱动转动；
所述第三连杆(5)的一端在所述曲柄(1)或所述第一连杆(2)或所述第二连杆(3)上的铰接点随调；所述摇杆(6)在所述机架(7)上的铰接点随调；所述脚部支撑(8)在第一连杆(2)或第二连杆(3)上的位置随调。
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