CN108852758A - A kind of new-type falling-resistant leg recovery exercising robot - Google Patents
A kind of new-type falling-resistant leg recovery exercising robot Download PDFInfo
- Publication number
- CN108852758A CN108852758A CN201810872947.XA CN201810872947A CN108852758A CN 108852758 A CN108852758 A CN 108852758A CN 201810872947 A CN201810872947 A CN 201810872947A CN 108852758 A CN108852758 A CN 108852758A
- Authority
- CN
- China
- Prior art keywords
- leg
- main body
- fixed
- telescopic rod
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 28
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 54
- 210000003108 foot joint Anatomy 0.000 claims abstract description 17
- 210000003141 lower extremity Anatomy 0.000 claims description 36
- 230000000694 effects Effects 0.000 claims description 17
- 229920001971 elastomer Polymers 0.000 claims description 12
- 230000009975 flexible effect Effects 0.000 claims description 11
- 238000007789 sealing Methods 0.000 claims description 10
- 239000000463 material Substances 0.000 claims description 9
- 210000003414 extremity Anatomy 0.000 claims description 5
- 229910000975 Carbon steel Inorganic materials 0.000 claims description 3
- 244000043261 Hevea brasiliensis Species 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010962 carbon steel Substances 0.000 claims description 3
- 229920003052 natural elastomer Polymers 0.000 claims description 3
- 229920001194 natural rubber Polymers 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 210000002683 foot Anatomy 0.000 abstract description 26
- 210000002414 leg Anatomy 0.000 description 81
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 230000000153 supplemental effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003739 neck Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/165—Wearable interfaces
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention relates to a kind of robot fields, it in particular is a kind of new-type falling-resistant leg recovery exercising robot, including going up and down parallel bars mechanism, lumbar mount, waist fixedly connected part, lateral servo, robot control mechanism, leg upper limb, leg lower limb, foot joint, foot pedal, leg retainer plate, the present apparatus can guarantee that leg rehabilitation training person will not fall down during training, device can automatically make the correct body position of walking with moving leg, and slowly with moving forward movement, the adjustable height of device, adapt to people of different heights.Lateral servo and lifting parallel bars mechanism are connected by groove, waist fixedly connected part and the fixed contact connectio of lateral servo, waist fixedly connected part is connect with lumbar mount movable contact, waist fixedly connected part and the fixed contact connectio of robot control mechanism, leg upper limb are connect with robot control mechanism movable contact.
Description
Technical field
The present invention relates to a kind of robot fields, are in particular a kind of new-type falling-resistant leg rehabilitation training machines
People.
Background technique
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace the mankind
The work of work restores limbs function for the ease of rehabilitation clients, so designing a kind of new-type falling-resistant leg rehabilitation trainer
Device people solves the problems, such as this.
Summary of the invention
The invention mainly solves the technical problem of providing a kind of new-type falling-resistant leg recovery exercising robot, this dresses
Setting can guarantee that leg rehabilitation training person will not fall down during training, and device can automatically be made with moving leg
The correct body position of walking, and slowly with moving forward movement, the adjustable height of device adapts to people of different heights.
In order to solve the above technical problems, the present invention relates to a kind of robot fields, being in particular that one kind is new-type prevents
Fall down leg recovery exercising robot, including lifting parallel bars mechanism, lumbar mount, waist fixedly connected part, lateral servo,
Robot control mechanism, leg upper limb, leg lower limb, foot joint, foot pedal, leg retainer plate, the present apparatus can guarantee leg
Portion rehabilitation training person will not fall down during training, and device can automatically make the correct appearance of walking with moving leg
Gesture, and slowly with moving forward movement, the adjustable height of device adapts to people of different heights.
The lifting parallel bars mechanism includes parallel bars crossbeam, vertical supporting bar, bottom support beam, and parallel bars crossbeam is located at vertical
To the top of support rod, vertical supporting bar and the fixed contact connectio of parallel bars crossbeam, bottom support beam are located at vertical supporting bar
Bottom end, vertical supporting bar and bottom support beam are fixed to be connected, vertical supporting bar there are two, be located at parallel bars cross
The left and right sides of beam and bottom support beam；
Servo orbital groove is provided on parallel bars crossbeam, servo orbital groove and servo track frame are adapted；
Vertical supporting bar includes telescopic rod, external support pipe, and telescopic rod and parallel bars crossbeam, which are fixed, to be connected, external support
Pipe is located at the underface of telescopic rod, and external support pipe connect external support pipe with telescopic rod movable contact and bottom support beam is solid
It is fixed to connect；
Retaining groove is provided on telescopic rod, retaining groove and class T-type card-bit part are adapted；
External support pipe includes class T-type card-bit part, movable groove, support spring, T shape knob, the fixed lid of sealing, outside branch
It is provided with movable groove, class T-type card-bit part and external support pipe on stay tube to be adapted by through-hole, class T-type card-bit part and support
Spring is fixed to be connected, and T shape knob is meshed with class T-type card-bit part by screw thread, and support spring is covered in the outer of T shape knob
Face, support spring and the fixed lid of sealing are fixed and are connected, and are sealed fixed lid and are fixed on external support pipe by fastening screw,
The fixed lid of sealing is adapted with T shape knob by through-hole, and class T-type card-bit part and telescopic rod are adapted by groove；
Lumbar mount includes waist part bracket, waistband, belt buckle, and there are two the numbers of waist part bracket, is located at machine
The two sides of people's control mechanism, waist part bracket and robot control mechanism are fixed to be connected, and waistband is contacted with the fixation of waist part bracket
Connection, there are two the numbers of waistband, fixes connect with the both ends of belt buckle respectively；
Waist part bracket includes rack body, side seal cover, bearing, and bearing and rack body are adapted by groove, bearing,
Bearing and rack body are connected by the way that fastening screw is fixed, and side seal cover is connect with bearing touch, and side seal cover passes through tight
Gu screw is fixed on rack body, side seal cover and waist fixedly connected part are adapted by through-hole, waist fixedly connected part
It is connected with bearing by the way that fastening screw is fixed；
It is provided with connection bump, connection bump and bearing in waist fixedly connected part to be adapted by through-hole, connection bump
It is connected with bearing by the way that fastening screw is fixed；
Lateral servo includes servo main body, servo track frame, and servo track frame and parallel bars crossbeam pass through groove
It is adapted, servo main body is connect with servo track frame by groove movable contact；
Leg upper limb includes connection tie, upper limb main body, servo, telescopic rod, connection tie and robot control mechanism
Movable contact connection, upper limb main body is positioned at the lower section of connection tie, connection tie and the fixed contact connectio of upper limb main body, telescopic rod
Positioned at the lower section of upper limb main body, upper limb main body is connect with telescopic rod by groove movable contact, servo and upper limb subject activity
It connects, servo is connected by upper limb main body with telescopic rod, and telescopic rod is connect with joint connector movable contact；
Leg lower limb include joint governor, joint connector, lower limb main body, flexible servo, lower limb telescopic rod, joint
Governor is connected by joint connector with telescopic rod, and telescopic rod is connect with joint governor by groove movable contact, under
Limb main body is located at the lower section of joint connector, and lower limb main body is connect with joint connector movable contact, and joint governor passes through pass
Section connector is connected with lower limb main body, and lower limb telescopic rod is located at the lower section of lower limb main body, and lower limb telescopic rod and lower limb main body are logical
The connection of groove movable contact is crossed, lower limb telescopic rod is connect with joint body by groove movable contact；
Foot joint includes rotation governor, joint body, pedal connector, and rotation governor is by joint body under
Limb telescopic rod is connected, and joint body is located at the lower section of lower limb telescopic rod, and pedal connector is located at the lower section of joint body, pedal
Connector is connect with joint body by groove movable contact, and rotation governor is connected by joint body with pedal connector
It connects；
Foot pedal includes foot pedal main body, comfortable rubber mat, fixed bandage, and foot pedal main body and pedal connector pass through groove
It is adapted, foot pedal main body and the fixed contact connectio of pedal connector, comfortable rubber mat and the fixed contact connectio of foot pedal main body, Gu
There are two the numbers for determining bandage, is located at the right side of foot pedal main body；
Leg retainer plate includes movable retainer plate one, movable retainer plate two, and movable retainer plate one connects with leg upper limb activity
Touching connection, movable retainer plate two are connect with leg upper limb movable contact, and movable retainer plate one is contacted with the movable fixation of retainer plate two
Connection；
Lateral servo is located at the lower section of lifting parallel bars mechanism, and lateral servo is contacted with lifting parallel bars mechanism by groove
Connection, waist fixedly connected part are located at the lower section of lateral servo, and waist fixedly connected part fixes the company of contact with lateral servo
It connects, waist fixedly connected part is connect with lumbar mount movable contact, and waist fixedly connected part is fixed with robot control mechanism
It connects, leg upper limb is located at the lower section of robot control mechanism, and leg upper limb and robot control mechanism movable contact connect
It connects, foot joint is connect with leg upper limb movable contact for leg lower limb and leg lower limb exercise connects, foot pedal and foot
Joint motion connects, and leg retainer plate is connect with leg upper limb movable contact, and leg retainer plate connects with leg lower limb exercise
Touching connection.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
The material for the support spring stated is carbon steel.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
The material for the bearing stated is bearing steel.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
The material for the comfortable rubber mat stated is natural rubber.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
The parallel bars crossbeam stated is parallel with the position of bottom support beam.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
The parallel bars crossbeam and bottom support beam stated are only vertical with vertical supporting bar.
As advanced optimizing for the technical program, a kind of new-type falling-resistant leg recovery exercising robot institute of the present invention
There are two the numbers for the waist fixedly connected part stated.
A kind of new-type falling-resistant leg recovery exercising robot of the invention has the beneficial effect that：
A kind of new-type falling-resistant leg recovery exercising robot of the invention, the present apparatus can guarantee leg rehabilitation training person
It will not be fallen down during training, device can automatically make the correct body position of walking with moving leg, and slowly
With moving forward movement, the adjustable height of device adapts to people of different heights.
Detailed description of the invention
The present invention will be further described in detail with specific implementation method with reference to the accompanying drawing.
Fig. 1 is a kind of structural schematic diagram of new-type falling-resistant leg recovery exercising robot of the present invention.
Fig. 2 is that a kind of structure of the lifting parallel bars mechanism 1 of new-type falling-resistant leg recovery exercising robot of the present invention is shown
It is intended to.
Fig. 3 is the partial enlargement structural representation of B in Fig. 2.
Fig. 4 is the cross-sectional structure schematic diagram of A-A in Fig. 1.
Fig. 5 is the present invention a kind of lumbar mount 2 and robot control of new-type falling-resistant leg recovery exercising robot
The combined structural schematic diagram of mechanism 5 processed.
Fig. 6 is the partial profile structure of C in Fig. 1.
Fig. 7 is the present invention a kind of the leg upper limb 6 and leg retainer plate of new-type falling-resistant leg recovery exercising robot
10 structural schematic diagram.
Fig. 8 is a kind of structure of the waist fixedly connected part 3 of new-type falling-resistant leg recovery exercising robot of the present invention
Schematic diagram.
Fig. 9 is a kind of structural schematic diagram of the foot pedal 9 of new-type falling-resistant leg recovery exercising robot of the present invention.
Figure 10 is a kind of robot control mechanism 5 of new-type falling-resistant leg recovery exercising robot of the present invention, leg
Upper limb 6, leg lower limb 7, foot joint 8 and foot pedal 9 combining structure schematic diagram.
In figure：Go up and down parallel bars mechanism 1；Parallel bars crossbeam 1-1；Servo orbital groove 1-1-1；Vertical supporting bar 1-2；It is flexible
Bar 1-2-1；Retaining groove 1-2-1-1；External support pipe 1-2-2；Class T-type card-bit part 1-2-2-1；Movable groove 1-2-2-2；Branch
Support spring 1-2-2-3；T shape knob 1-2-2-4；The fixed lid 1-2-2-5 of sealing；Bottom support beam 1-3；Lumbar mount 2；Waist
Part bracket 2-1；Rack body 2-1-1；Side seal cover 2-1-2；Bearing 2-1-3；Waistband 2-2；Belt buckle 2-3；Waist is fixed to be connected
Fitting 3；Connection bump 3-1；Lateral servo 4；Servo main body 4-1；Servo track frame 4-2；Robot control mechanism 5；
Leg upper limb 6；Connect tie 6-1；Upper limb main body 6-2；Servo 6-3；Telescopic rod 6-4；Leg lower limb 7；Joint governor 7-
1；Joint connector 7-2；Lower limb main body 7-3；Flexible servo 7-4；Lower limb telescopic rod 7-5；Foot joint 8；Rotate governor
8-1；Joint body 8-2；Pedal connector 8-3；Foot pedal 9；Foot pedal main body 9-1；Comfortable rubber mat 9-2；Fixed bandage 9-3；
Leg retainer plate 10；Movable one 10-1 of retainer plate；Movable two 10-2 of retainer plate.
Specific embodiment
Specific embodiment one：
Illustrate present embodiment below with reference to Fig. 1,2,3,4,5,6,7,8,9,10, the present invention relates to a kind of robot necks
In particular domain is a kind of new-type falling-resistant leg recovery exercising robot, including lifting parallel bars mechanism 1, waist are fixed
Part 2, waist fixedly connected part 3, lateral servo 4, robot control mechanism 5, leg upper limb 6, leg lower limb 7, foot joint
8, foot pedal 9, leg retainer plate 10, the present apparatus can guarantee that leg rehabilitation training person will not fall down during training, dress
The correct body position that walking can be automatically made with moving leg is set, and slowly with moving forward movement, device can be adjusted
Whole height adapts to people of different heights.
The lifting parallel bars mechanism 1 includes parallel bars crossbeam 1-1, vertical supporting bar 1-2, bottom support beam 1-3, parallel bars
Crossbeam 1-1 is located at the top of vertical supporting bar 1-2, vertical supporting bar 1-2 and the fixed contact connectio of parallel bars crossbeam 1-1, bottom branch
Support crossbeam 1-3 is located at the bottom end of vertical supporting bar 1-2, vertical supporting bar 1-2 and the fixed contact connectio of bottom support beam 1-3,
Vertical supporting bar 1-2 there are two, be located at the left and right sides of parallel bars crossbeam 1-1 and bottom support beam 1-3, parallel bars are horizontal
Beam 1-1, vertical supporting bar 1-2 and bottom support beam 1-3 constitute the overall architecture of device；
Servo orbital groove 1-1-1, servo orbital groove 1-1-1 and servo rail are provided on parallel bars crossbeam 1-1
Road frame 4-2 is adapted；
Vertical supporting bar 1-2 includes telescopic rod 1-2-1, external support pipe 1-2-2, telescopic rod 1-2-1 and parallel bars crossbeam 1-1
Fixed to connect, external support pipe 1-2-2 is located at the underface of telescopic rod 1-2-1, external support pipe 1-2-2 and telescopic rod 1-
2-1 movable contact connects the fixed contact connectio of external support pipe 1-2-2 and bottom support beam 1-3, telescopic rod 1-2-1 and outside
Support tube 1-2-2 plays the mechanism of adjustment height；
Retaining groove 1-2-1-1, retaining groove 1-2-1-1 and class T-type card-bit part 1-2-2- are provided on telescopic rod 1-2-1
1 is adapted；
External support pipe 1-2-2 includes class T-type card-bit part 1-2-2-1, movable groove 1-2-2-2, support spring 1-2-2-
3, T shape knob 1-2-2-4, sealing, which are fixed on lid 1-2-2-5, external support pipe 1-2-2, is provided with movable groove 1-2-2-2, class T
Type card-bit part 1-2-2-1 and external support pipe 1-2-2 is adapted by through-hole, class T-type card-bit part 1-2-2-1 and support spring 1-
2-2-3 is fixed to be connected, and T shape knob 1-2-2-4 is meshed with class T-type card-bit part 1-2-2-1 by screw thread, support spring 1-
2-2-3 is covered in the outside of T shape knob 1-2-2-4, the fixed contact connectio of the support spring 1-2-2-3 and fixed lid 1-2-2-5 of sealing,
The fixed lid 1-2-2-5 of sealing is fixed on external support pipe 1-2-2 by fastening screw, seals fixed lid 1-2-2-5 and T shape is drawn
Hand 1-2-2-4 is adapted by through-hole, and class T-type card-bit part 1-2-2-1 and telescopic rod 1-2-1 are adapted by groove, pulls T shape
Shake hands 1-2-2-4, and T shape knob 1-2-2-4 drives class T-type card-bit part 1-2-2-1, and it is recessed that class T-type card-bit part 1-2-2-1 is detached from detent
Slot 1-2-1-1 can move up telescopic rod 1-2-1 to position appropriate at this time, T shape knob 1-2-2-4 be unclamped, in support spring
Under the action of 1-2-2-3, class T-type card-bit part 1-2-2-1 is adapted with telescopic rod 1-2-1 by groove again, is played fixed
Effect seals fixed lid 1-2-2-5 and plays the fixed effect of sealing；
Lumbar mount 2 includes waist part bracket 2-1, waistband 2-2, belt buckle 2-3, and there are two the numbers of waist part bracket 2-1,
It is located at the two sides of robot control mechanism 5, waist part bracket 2-1 and the fixed contact connectio of robot control mechanism 5, waistband 2-
2 fix contact connectio with waist part bracket 2-1, and there are two the numbers of waistband 2-2, contact respectively with the fixation of the both ends of belt buckle 2-3
Connection, the structure of waist part bracket 2-1, waistband 2-2 and belt buckle 2-3 composition and fixed waist；
Waist part bracket 2-1 includes rack body 2-1-1, side seal cover 2-1-2, bearing 2-1-3, bearing 2-1-3 and bracket
Main body 2-1-1 is adapted by groove, and bearing 2-1-3, bearing 2-1-3 are connect with rack body 2-1-1 by fastening screw fixation
Touching connection, side seal cover 2-1-2 and bearing 2-1-3 are connected, and side seal cover 2-1-2 is fixed on bracket master by fastening screw
On body 2-1-1, side seal cover 2-1-2 and waist fixedly connected part 3 are adapted by through-hole, waist fixedly connected part 3 and bearing
2-1-3 is connected by the way that fastening screw is fixed, and side seal cover 2-1-2 plays the role of retaining element, and bearing 2-1-3 plays auxiliary
Help the effect of rotation；
Connection bump 3-1, connection bump 3-1 and bearing 2-1-3 is provided in waist fixedly connected part 3 mutually to fit by through-hole
It answers, connection bump 3-1 and bearing 2-1-3 are connected by the way that fastening screw is fixed, and connection bump 3-1 plays the work being fixedly connected
With；
Lateral servo 4 includes that servo main body 4-1, servo track frame 4-2, servo track frame 4-2 and parallel bars are horizontal
Beam 1-1 is adapted by groove, and servo main body 4-1 is connect with servo track frame 4-2 by groove movable contact, servo
Main body 4-1 is moved on servo track frame 4-2, is driven rehabilitation training person mobile, is played the role of supplemental training；
Leg upper limb 6 includes connection tie 6-1, upper limb main body 6-2, servo 6-3, telescopic rod 6-4, connects tie 6-1
Connect with 5 movable contact of robot control mechanism, upper limb main body 6-2 is located at the lower section of connection tie 6-1, connection tie 6-1 with
Upper limb main body 6-2 is fixed to be connected, and telescopic rod 6-4 is located at the lower section of upper limb main body 6-2, upper limb main body 6-2 and telescopic rod 6-4
It is connected by groove movable contact, servo 6-3 is connect with upper limb main body 6-2 movable contact, and servo 6-3 passes through upper limb main body
6-2 is connected with telescopic rod 6-4, and telescopic rod 6-4 is connect with joint connector 7-2 movable contact, and connection tie 6-1 plays fixation
The effect of connection, upper limb main body 6-2 play the role of being fixedly connected, and servo 6-3 plays the flexible work of auxiliary telescopic bar 6-4
With；
Leg lower limb 7 include joint governor 7-1, joint connector 7-2, lower limb main body 7-3, flexible servo 7-4, under
Limb telescopic rod 7-5, joint governor 7-1 are connected by joint connector 7-2 with telescopic rod 6-4, telescopic rod 6-4 and joint tune
Fast machine 7-1 is connected by groove movable contact, and lower limb main body 7-3 is located at the lower section of joint connector 7-2, lower limb main body 7-3 with
The connection of joint connector 7-2 movable contact, joint governor 7-1 are connected by joint connector 7-2 with lower limb main body 7-3,
Lower limb telescopic rod 7-5 is located at the lower section of lower limb main body 7-3, and lower limb telescopic rod 7-5 and lower limb main body 7-3 pass through groove movable contact
Connection, lower limb telescopic rod 7-5 are connect with joint body 8-2 by groove movable contact, and joint governor 7-1, which is played, to regulate the speed
Effect, joint connector 7-2 plays the role of being fixedly connected with lower limb main body 7-3, and the servo 7-4 that stretches drives lower limb flexible
Bar 7-5 is flexible；
Foot joint 8 includes rotation governor 8-1, joint body 8-2, pedal connector 8-3, and rotation governor 8-1 is logical
It crosses joint body 8-2 to be connected with lower limb telescopic rod 7-5, joint body 8-2 is located at the lower section of lower limb telescopic rod 7-5, and pedal connects
Fitting 8-3 is located at the lower section of joint body 8-2, and pedal connector 8-3 is connect with joint body 8-2 by groove movable contact,
Rotation governor 8-1 is connected with pedal connector 8-3 by joint body 8-2, rotates governor 8-1 and plays and regulates the speed
Effect, joint body 8-2 and pedal connector 8-3 play the role of connection；
Foot pedal 9 includes foot pedal main body 9-1, comfortable rubber mat 9-2, fixed bandage 9-3, foot pedal main body 9-1 and pedal
Connector 8-3 is adapted by groove, foot pedal main body 9-1 and the fixed contact connectio of pedal connector 8-3, comfortable rubber mat 9-2
With the fixed contact connectio of foot pedal main body 9-1, there are two the numbers of fixed bandage 9-3, is located at the right side of foot pedal main body 9-1
Side, foot are placed on foot pedal 9, are fixed by fixed bandage 9-3, and comfortable rubber mat 9-2 plays the role of providing comfort level；
Leg retainer plate 10 include movable one 10-1 of retainer plate, activity retainer plate two 10-2, movable one 10-1 of retainer plate and
The connection of 6 movable contact of leg upper limb, movable two 10-2 of retainer plate are connect with 6 movable contact of leg upper limb, movable one 10- of retainer plate
1 is separately fixed on the thigh and shank of trainer, rises with the fixed contact connectio of activity two 10-2 of retainer plate, leg retainer plate 10
To the effect being fixedly connected；
Lateral servo 4 is located at the lower section of lifting parallel bars mechanism 1, and lateral servo 4 passes through groove with lifting parallel bars mechanism 1
It connects, waist fixedly connected part 3 is located at the lower section of lateral servo 4, and waist fixedly connected part 3 and lateral servo 4 are solid
Fixed to connect, waist fixedly connected part 3 is connect with 2 movable contact of lumbar mount, waist fixedly connected part 3 and robot control
Mechanism 5 processed is fixed to be connected, and leg upper limb 6 is located at the lower section of robot control mechanism 5, and leg upper limb 6 and robot control
The connection of 5 movable contact of mechanism, leg lower limb 7 connect foot joint 8 with 6 movable contact of leg upper limb and connect with 7 activity of leg lower limb
Touching connection, foot pedal 9 are connect with 8 movable contact of foot joint, and leg retainer plate 10 is connect with 6 movable contact of leg upper limb, leg
Portion's retainer plate 10 is connect with 7 movable contact of leg lower limb.
Specific embodiment two：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, the material of the support spring 1-2-2-3 is carbon steel.
Specific embodiment three：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, the material of the bearing 2-1-3 is bearing steel.
Specific embodiment four：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, the material of the comfortable rubber mat 9-2 is natural rubber.
Specific embodiment five：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, the parallel bars crossbeam 1-1 is parallel with the position of bottom support beam 1-3.
Specific embodiment six：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, the parallel bars crossbeam 1-1 and bottom support beam 1-3 are only vertical with vertical supporting bar 1-2.
Specific embodiment seven：
Illustrate that present embodiment, present embodiment make embodiment one below with reference to Fig. 1,2,3,4,5,6,7,8,9,10
It further illustrates, there are two the numbers of the waist fixedly connected part 3.
The application method of device：Device has the function of being turned up, and pulls T shape knob 1-2-2-4, T shape knob 1-2-2-4 band
Dynamic class T-type card-bit part 1-2-2-1, class T-type card-bit part 1-2-2-1 are detached from retaining groove 1-2-1-1, can move up at this time flexible
Bar 1-2-1 unclamps T shape knob 1-2-2-4, under the action of support spring 1-2-2-3, class T-type card-bit part to position appropriate
1-2-2-1 is adapted with telescopic rod 1-2-1 by groove again, plays fixed effect.
Servo track frame 4-2 is fixed on parallel bars crossbeam 1-1, and servo main body 4-1 is moved up in servo track frame 4-2
It is dynamic, it drives rehabilitation training person mobile, plays the role of supplemental training.
Belt buckle 2-3 is opened, lumbar mount 2 is locked on the waist of human body by belt buckle 2-3, leg retainer plate 10
It is separately fixed on the thigh and shank of trainer, foot is placed on foot pedal 9, is fixed by fixed bandage 9-3, comfortable rubber mat 9-
2 play the role of providing comfort level, play device, servo 6-3 and flexible servo 7- by robot control mechanism 5 at this time
4 play the flexible effect of device, and joint governor 7-1 and rotation governor 8-1 play control foot joint 8,7 and of leg lower limb
The speed that leg upper limb 6 rotates, lateral servo 4 drive trainer to move forward, under control mechanism 5, leg upper limb 6, leg
Limb 7, foot joint 8, foot pedal 9 and leg retainer plate 10 simulate human leg's movement, drive trainer by mutual cooperation
Leg exercise.
The present apparatus can guarantee that leg rehabilitation training person will not fall down during training, and device can automatically drive
The correct body position of walking is made in the leg of people, and slowly with moving forward movement, the adjustable height of device adapts to different bodies
High people.
Certainly, above description is not limitation of the present invention, and the present invention is also not limited to the example above, the art
The variations, modifications, additions or substitutions that those of ordinary skill is made within the essential scope of the present invention also belong to guarantor of the invention
Protect range.
Claims (7)
1. a kind of new-type falling-resistant leg recovery exercising robot, including lifting parallel bars mechanism (1), lumbar mount (2), waist
Portion's fixedly connected part (3), lateral servo (4), robot control mechanism (5), leg upper limb (6), leg lower limb (7), foot
Joint (8), foot pedal (9), leg retainer plate (10), it is characterised in that：The lifting parallel bars mechanism (1) includes parallel bars crossbeam
(1-1), vertical supporting bar (1-2), bottom support beam (1-3), parallel bars crossbeam (1-1) are located at the upper of vertical supporting bar (1-2)
Side, vertical supporting bar (1-2) and parallel bars crossbeam (1-1) fixed contact connectio, bottom support beam (1-3) are located at vertical supporting bar
The bottom end of (1-2), vertical supporting bar (1-2) and bottom support beam (1-3) fixed contact connectio, vertical supporting bar (1-2)
There are two a, it is located at the left and right sides of parallel bars crossbeam (1-1) and bottom support beam (1-3)；
It is provided on parallel bars crossbeam (1-1) servo orbital groove (1-1-1), servo orbital groove (1-1-1) and servo
Track frame (4-2) is adapted；
Vertical supporting bar (1-2) includes telescopic rod (1-2-1), external support pipe (1-2-2), and telescopic rod (1-2-1) and parallel bars are horizontal
Beam (1-1) is fixed to be connected, and external support pipe (1-2-2) is located at the underface of telescopic rod (1-2-1), external support pipe (1-
2-2) company of contact is fixed with telescopic rod (1-2-1) movable contact connection external support pipe (1-2-2) and bottom support beam (1-3)
It connects；
It is provided on telescopic rod (1-2-1) retaining groove (1-2-1-1), retaining groove (1-2-1-1) and class T-type card-bit part (1-
2-2-1) it is adapted；
External support pipe (1-2-2) includes class T-type card-bit part (1-2-2-1), movable groove (1-2-2-2), support spring (1-2-
2-3), lid (1-2-2-5) is fixed in T shape knob (1-2-2-4), sealing, is provided with movable groove on external support pipe (1-2-2)
(1-2-2-2), class T-type card-bit part (1-2-2-1) and external support pipe (1-2-2) are adapted by through-hole, class T-type card-bit part
(1-2-2-1) and support spring (1-2-2-3) is fixed to be connected, T shape knob (1-2-2-4) and class T-type card-bit part (1-2-2-
1) it is meshed by screw thread, support spring (1-2-2-3) is covered in the outside of T shape knob (1-2-2-4), support spring (1-2-2-
3) it fixes and connects with the fixed lid (1-2-2-5) of sealing, seal fixed lid (1-2-2-5) by fastening screw and be fixed on outside
On support tube (1-2-2), seals fixed lid (1-2-2-5) and T shape knob (1-2-2-4) is adapted by through-hole, class T-type detent
Part (1-2-2-1) and telescopic rod (1-2-1) are adapted by groove；
Lumbar mount (2) includes waist part bracket (2-1), waistband (2-2), belt buckle (2-3), the number of waist part bracket (2-1)
There are two, the two sides of robot control mechanism (5) are located at, waist part bracket (2-1) connects with robot control mechanism (5) fixation
Touching connection, waistband (2-2) and waist part bracket (2-1) are fixed to be connected, and there are two the numbers of waistband (2-2), respectively with waistband
Detain the fixed contact connectio in both ends of (2-3)；
Waist part bracket (2-1) includes rack body (2-1-1), side seal cover (2-1-2), bearing (2-1-3), bearing (2-1-3)
It is adapted with rack body (2-1-1) by groove, bearing (2-1-3), bearing (2-1-3) passes through with rack body (2-1-1)
Fastening screw is fixed to be connected, and side seal cover (2-1-2) and bearing (2-1-3) are connected, and side seal cover (2-1-2) passes through
Fastening screw is fixed on rack body (2-1-1), and side seal cover (2-1-2) passes through through-hole phase with waist fixedly connected part (3)
It adapts to, waist fixedly connected part (3) and bearing (2-1-3) are connected by the way that fastening screw is fixed；
It is provided in waist fixedly connected part (3) connection bump (3-1), connection bump (3-1) and bearing (2-1-3) pass through through-hole
It is adapted, connection bump (3-1) and bearing (2-1-3) are connected by the way that fastening screw is fixed；
Lateral servo (4) includes servo main body (4-1), servo track frame (4-2), servo track frame (4-2) and double
Thick stick crossbeam (1-1) is adapted by groove, and servo main body (4-1) and servo track frame (4-2) pass through groove movable contact
Connection；
Leg upper limb (6) includes connection tie (6-1), upper limb main body (6-2), servo (6-3), telescopic rod (6-4), connects knob
Band (6-1) is connect with robot control mechanism (5) movable contact, and upper limb main body (6-2) is located at the lower section of connection tie (6-1),
Tie (6-1) and upper limb main body (6-2) fixed contact connectio is connected, telescopic rod (6-4) is located at the lower section of upper limb main body (6-2),
Upper limb main body (6-2) is connect with telescopic rod (6-4) by groove movable contact, servo (6-3) and upper limb main body (6-2) activity
It connects, servo (6-3) is connected by upper limb main body (6-2) with telescopic rod (6-4), and telescopic rod (6-4) and joint connect
The connection of fitting (7-2) movable contact；
Leg lower limb (7) include joint governor (7-1), joint connector (7-2), lower limb main body (7-3), flexible servo
(7-4), lower limb telescopic rod (7-5), joint governor (7-1) are connected by joint connector (7-2) with telescopic rod (6-4),
Telescopic rod (6-4) is connect with joint governor (7-1) by groove movable contact, and lower limb main body (7-3) is located at joint connector
The lower section of (7-2), lower limb main body (7-3) are connect with joint connector (7-2) movable contact, and joint governor (7-1) passes through pass
Section connector (7-2) is connected with lower limb main body (7-3), and lower limb telescopic rod (7-5) is located at the lower section of lower limb main body (7-3), under
Limb telescopic rod (7-5) is connect with lower limb main body (7-3) by groove movable contact, lower limb telescopic rod (7-5) and joint body (8-
2) it is connected by groove movable contact；
Foot joint (8) includes rotation governor (8-1), joint body (8-2), pedal connector (8-3), rotates governor
(8-1) is connected by joint body (8-2) with lower limb telescopic rod (7-5), and joint body (8-2) is located at lower limb telescopic rod (7-
5) lower section, pedal connector (8-3) are located at the lower section of joint body (8-2), pedal connector (8-3) and joint body (8-
2) it is connected by groove movable contact, rotation governor (8-1) is connected by joint body (8-2) with pedal connector (8-3)
It connects；
Foot pedal (9) includes foot pedal main body (9-1), comfortable rubber mat (9-2), fixed bandage (9-3), foot pedal main body (9-1)
It is adapted with pedal connector (8-3) by groove, foot pedal main body (9-1) and pedal connector (8-3) fixed contact connectio,
Comfortable rubber mat (9-2) and foot pedal main body (9-1) fixed contact connectio, there are two the numbers of fixed bandage (9-3), is located at
The right side of foot pedal main body (9-1)；
Leg retainer plate (10) includes movable retainer plate one (10-1), movable retainer plate two (10-2), movable one (10- of retainer plate
1) it is connect with leg upper limb (6) movable contact, movable retainer plate two (10-2) connect with leg upper limb (6) movable contact, activity
Retainer plate one (10-1) and the fixed contact connectio of movable retainer plate two (10-2)；
Lateral servo (4) is located at the lower section of lifting parallel bars mechanism (1), and lateral servo (4) passes through with lifting parallel bars mechanism (1)
Groove connects, and waist fixedly connected part (3) is located at the lower section of lateral servo (4), waist fixedly connected part (3) and laterally
Servo (4) is fixed to be connected, and waist fixedly connected part (3) is connect with lumbar mount (2) movable contact, and waist is fixed to be connected
Fitting (3) and robot control mechanism (5) fixed contact connectio, leg upper limb (6) are located under robot control mechanism (5)
Side, leg upper limb (6) are connect with robot control mechanism (5) movable contact, and leg lower limb (7) connect with leg upper limb (6) activity
Touching connection foot joint (8) is connect with leg lower limb (7) movable contact, and foot pedal (9) and foot joint (8) movable contact connect
It connects, leg retainer plate (10) is connect with leg upper limb (6) movable contact, and leg retainer plate (10) connects with leg lower limb (7) activity
Touching connection.
2. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
The material of support spring (1-2-2-3) is carbon steel.
3. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
The material of bearing (2-1-3) is bearing steel.
4. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
The material of comfortable rubber mat (9-2) is natural rubber.
5. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
Parallel bars crossbeam (1-1) is parallel with the position of bottom support beam (1-3).
6. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
Parallel bars crossbeam (1-1) and bottom support beam (1-3) are only vertical with vertical supporting bar (1-2).
7. the new-type falling-resistant leg recovery exercising robot of one kind according to claim 1, it is characterised in that：Described
There are two the numbers of waist fixedly connected part (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810872947.XA CN108852758B (en) | 2018-08-02 | 2018-08-02 | Prevent falling shank rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810872947.XA CN108852758B (en) | 2018-08-02 | 2018-08-02 | Prevent falling shank rehabilitation training robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108852758A true CN108852758A (en) | 2018-11-23 |
| CN108852758B CN108852758B (en) | 2020-09-15 |
Family
ID=64307726
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810872947.XA Expired - Fee Related CN108852758B (en) | 2018-08-02 | 2018-08-02 | Prevent falling shank rehabilitation training robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108852758B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109330827A (en) * | 2018-12-12 | 2019-02-15 | 西安市红会医院 | A kind of hip joint power-assisted convalescence device based on lasso trick transmission |
| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN110652426A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Gait training rehabilitation robot |
| CN111821141A (en) * | 2020-07-15 | 2020-10-27 | 南京工程学院 | Lower limb fixing and adjusting device of rope traction rehabilitation training robot |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3009889B1 (en) * | 1999-02-10 | 2000-02-14 | セノー株式会社 | Walking training equipment |
| CN1843317A (en) * | 2006-05-12 | 2006-10-11 | 杜国强 | Integrated sport exerciser for brain paralysis rehabilitation |
| KR200446186Y1 (en) * | 2008-04-16 | 2009-10-05 | 장진화 | Suspension apparatus for ambulatory |
| CN101810533A (en) * | 2010-03-08 | 2010-08-25 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| US20110071442A1 (en) * | 2008-03-31 | 2011-03-24 | P & S Mechanics Co., Ltd. | Robot for gait Training and Operating Method Thereof |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| CN203861526U (en) * | 2014-04-03 | 2014-10-08 | 西华大学 | Wearable adjustable lower limb rehabilitation training robot device |
| KR20150005151A (en) * | 2013-07-04 | 2015-01-14 | 박영덕 | Apparatus for reinforcing muscular strength of leg |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN106420271A (en) * | 2016-09-06 | 2017-02-22 | 广州科安康复专用设备有限公司 | Single-driven bionic gait rehabilitation training robot system |
| CN106913448A (en) * | 2017-03-29 | 2017-07-04 | 李子木 | A kind of robot therapeutic system for recovering limbs health |
| CN107088139A (en) * | 2017-06-23 | 2017-08-25 | 中北大学 | For the horizontal healing robot of motor dysfunction of lower limb type patient |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
| CN207370865U (en) * | 2017-03-16 | 2018-05-18 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of vertical lower limbs rehabilitation training robot |
-
2018
- 2018-08-02 CN CN201810872947.XA patent/CN108852758B/en not_active Expired - Fee Related
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3009889B1 (en) * | 1999-02-10 | 2000-02-14 | セノー株式会社 | Walking training equipment |
| CN1843317A (en) * | 2006-05-12 | 2006-10-11 | 杜国强 | Integrated sport exerciser for brain paralysis rehabilitation |
| US20110071442A1 (en) * | 2008-03-31 | 2011-03-24 | P & S Mechanics Co., Ltd. | Robot for gait Training and Operating Method Thereof |
| KR200446186Y1 (en) * | 2008-04-16 | 2009-10-05 | 장진화 | Suspension apparatus for ambulatory |
| CN101810533A (en) * | 2010-03-08 | 2010-08-25 | 上海交通大学 | Walking aid exoskeleton rehabilitation robot |
| CN102058464A (en) * | 2010-11-27 | 2011-05-18 | 上海大学 | Motion control method of lower limb rehabilitative robot |
| KR20150005151A (en) * | 2013-07-04 | 2015-01-14 | 박영덕 | Apparatus for reinforcing muscular strength of leg |
| CN203861526U (en) * | 2014-04-03 | 2014-10-08 | 西华大学 | Wearable adjustable lower limb rehabilitation training robot device |
| CN105167965A (en) * | 2015-10-10 | 2015-12-23 | 合肥工业大学 | Linkage type walking-aiding rehabilitation robot with joint rotation center taken into consideration |
| CN106420271A (en) * | 2016-09-06 | 2017-02-22 | 广州科安康复专用设备有限公司 | Single-driven bionic gait rehabilitation training robot system |
| CN207370865U (en) * | 2017-03-16 | 2018-05-18 | 沈阳艾克申机器人技术开发有限责任公司 | A kind of vertical lower limbs rehabilitation training robot |
| CN106913448A (en) * | 2017-03-29 | 2017-07-04 | 李子木 | A kind of robot therapeutic system for recovering limbs health |
| CN107088139A (en) * | 2017-06-23 | 2017-08-25 | 中北大学 | For the horizontal healing robot of motor dysfunction of lower limb type patient |
| CN107126344A (en) * | 2017-07-05 | 2017-09-05 | 天津科技大学 | Lower limb walking function rehabilitation exoskeleton rehabilitation robot and control system and method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109330827A (en) * | 2018-12-12 | 2019-02-15 | 西安市红会医院 | A kind of hip joint power-assisted convalescence device based on lasso trick transmission |
| CN110123590A (en) * | 2019-05-31 | 2019-08-16 | 武汉轻工大学 | Convalescence device |
| CN110652426A (en) * | 2019-10-21 | 2020-01-07 | 漫步者（天津）康复设备有限公司 | Gait training rehabilitation robot |
| CN111821141A (en) * | 2020-07-15 | 2020-10-27 | 南京工程学院 | Lower limb fixing and adjusting device of rope traction rehabilitation training robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108852758B (en) | 2020-09-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108852758A (en) | A kind of new-type falling-resistant leg recovery exercising robot | |
| CN105832496B (en) | A kind of novel lower limb exoskeleton rehabilitation training device and training method | |
| CN106176143B (en) | A kind of healthy plint of multi-pose lower limb | |
| CN106823289A (en) | A kind of healthy trainer of pose adjustable lower limb | |
| CN106344349B (en) | The driving lower limb rehabilitation training device of shank | |
| CN106691719B (en) | A kind of electric wheelchair with full attitude regulation | |
| CN108938322B (en) | Upper limb rehabilitation device | |
| CN206261792U (en) | A kind of healthy plint of multi-pose lower limb | |
| WO2020220639A1 (en) | Bed-type gait rehabilitation training system | |
| CN105769506A (en) | Lower limb rehabilitation robot | |
| CN108721051A (en) | A kind of upper and lower extremities integrated training robot | |
| CN111111096A (en) | Recovered exerciser that uses of disabled patient | |
| CN108814899B (en) | Multi-pose and track-adjustable lower limb training device | |
| CN102085143B (en) | Riding type robot for lower limb rehabilitation | |
| CN205411569U (en) | Recovered robot of low limbs | |
| CN209714166U (en) | A kind of nursing in neurology limb exercising device | |
| CN209519072U (en) | Step device and walking rehabilitation training robot | |
| CN205795994U (en) | A kind of Multifunctional lower limb rehabilitation telecontrol equipment | |
| CN209059877U (en) | A kind of lower limb passive type convalescence device of Neurology | |
| CN209048595U (en) | A kind of hip bending knee device for healing and training in the wrong | |
| CN110522609A (en) | A kind of lower limb rehabilitation training chair that track is variable | |
| CN207384447U (en) | Hand motion device | |
| CN106924937B (en) | Leg and foot movement adjusting device of rehabilitation machine | |
| CN207492924U (en) | Power exoskeleton | |
| CN206548775U (en) | The driving lower limb rehabilitation training device of shank |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Jianguo Inventor after: Chen Xi Inventor before: Chen Xi |
|
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200819 Address after: Department of orthopedics, people's Hospital of Pingdu, Shandong Province Applicant after: Li Jianguo Address before: 223735 25 group two, Southeast village, Pei Wei Town, Siyang, Suqian, Jiangsu. Applicant before: Chen Xi |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200915 Termination date: 20210802 |