CN110743134A - Lower limb joint rehabilitation robot - Google Patents
Lower limb joint rehabilitation robot Download PDFInfo
- Publication number
- CN110743134A CN110743134A CN201911034939.9A CN201911034939A CN110743134A CN 110743134 A CN110743134 A CN 110743134A CN 201911034939 A CN201911034939 A CN 201911034939A CN 110743134 A CN110743134 A CN 110743134A
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- tiptoe
- lead screw
- mechanical
- lower limb
- hanger
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 30
- 210000000689 upper leg Anatomy 0.000 claims abstract description 26
- 210000002683 foot Anatomy 0.000 claims abstract description 21
- 210000002414 leg Anatomy 0.000 claims abstract description 16
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 210000003371 toe Anatomy 0.000 abstract description 23
- 230000000694 effects Effects 0.000 abstract description 10
- 238000006748 scratching Methods 0.000 abstract description 2
- 230000002393 scratching effect Effects 0.000 abstract description 2
- 238000009776 industrial production Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000013475 authorization Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 238000010213 manual physical therapy Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a lower limb joint rehabilitation robot which comprises a fixed support assembly, a mechanical thigh section and a mechanical shank section, wherein one end of the fixed support assembly is hinged with the upper end of the mechanical thigh section through a first joint bearing, the lower end of the mechanical thigh section is hinged with the mechanical shank section through a second joint bearing, a plurality of leg auxiliary support frames used for supporting legs are arranged on the mechanical thigh section and the mechanical shank section, and are positioned in the same vertical plane. The invention removes the use of the pedal, installs the toe sling through the foot auxiliary supporting device, and then avoids the toes from scratching the ground without force under the condition of ensuring that the feet of the patient can touch the ground to simulate real walking, thereby ensuring the active rehabilitation effect.
Description
Technical Field
The invention relates to the field of rehabilitation robots, in particular to a lower limb joint rehabilitation robot.
Background
In recent years, rehabilitation robots have begun to gradually replace traditional manual physical therapy due to their automation, precision and intelligence. The rehabilitation robot can be divided into an auxiliary type and a treatment type, wherein the treatment type lower limb rehabilitation robot can be divided into a single-degree-of-freedom lower limb rehabilitation robot and a multi-degree-of-freedom lower limb rehabilitation robot. The single-degree-of-freedom lower limb rehabilitation training robot has single motion, the application range of the robot is limited to local joint rehabilitation, the coordinated motion of each joint of the leg cannot be realized, and the training effect is poor; the multi-joint lower limb rehabilitation training robot can help a patient to carry out various active and passive training, and determines an individualized training mode according to the condition of the patient. At present, lower limb rehabilitation equipment applied to domestic hospitals is mostly a single-degree-of-freedom rehabilitation training device, and a multi-degree-of-freedom lower limb rehabilitation training robot mainly depends on import and is expensive.
In recent years, the research on the multi-degree-of-freedom lower limb rehabilitation training robot is started in China, and a Chinese patent with an authorization publication number of CN102949281B discloses a lower limb joint rehabilitation robot which is used for performing passive, active and assisted training on a lower limb handicapped person. Also, as disclosed in the chinese patent No. CN104287940B, a lower limb joint rehabilitation training robot is provided, which uses high-speed synchronous belts and low-speed gears for driving the knee joint and the marrow joint devices, and uses a swing push rod slider mechanism composed of an electric push rod and a linear slide rail for the thigh and shank adjusting devices of the mechanical leg, so as to adjust the length of the mechanical leg to adapt to patients with different heights. But all adopt the step footboard to realize the support of patient's step in the above-mentioned patent, and the mode that adopts the footboard is unfavorable for patient's foot to land in the in-service use for it is difficult to simulate real walking, leads to influencing the recovered effect of initiative, and its size and position are all adjustable in addition, are difficult to satisfy different patient's demand.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the support of patient's step is all realized to the step footboard of prior art, and the mode that adopts the footboard is unfavorable for patient's foot to land in the in-service use for it is difficult to simulate real walking, leads to influencing the recovered effect of initiative, and its size and position are all adjustable in addition, are difficult to satisfy different patient's demand.
In order to solve the technical problems, the invention provides the following technical scheme:
a lower limb joint rehabilitation robot comprises a fixed support assembly, a mechanical thigh section and a mechanical shank section, wherein one end of the fixed support assembly is hinged with the upper end of the mechanical thigh section through a first joint bearing, the lower end of the mechanical thigh section is hinged with the mechanical shank section through a second joint bearing, a plurality of leg auxiliary support frames used for supporting legs are arranged on the mechanical thigh section and the mechanical shank section, and the leg auxiliary support frames are positioned in the same vertical plane; be provided with the supplementary strutting arrangement of foot on the machinery shank section, the supplementary strutting arrangement of foot includes fixed mounting bracket, tiptoe peg and tiptoe stores pylon, fixed mounting bracket one end is connected with machinery shank section, the fixed mounting bracket other end is articulated with the tiptoe peg, be provided with two sets of tiptoe stores pylons that are used for installing the tiptoe suspender on the tiptoe peg, the tiptoe stores pylon can slide on the tiptoe peg. The toe sling is installed through the auxiliary foot supporting device, so that the toes of a patient are prevented from being scratched on the ground without force under the condition that the foot of the patient can touch the ground to simulate real walking, and the active rehabilitation effect is guaranteed.
As a further scheme of the invention: the upper end of the mechanical thigh section is provided with a first lead screw hinged joint, the lower end of the fixed support assembly is provided with a first lead screw nut seat with a first lead screw, the end part of the first lead screw is hinged with the first lead screw hinged joint, and one side of the first lead screw nut seat is provided with a first motor for driving the first lead screw nut seat to move. The posture angle adjusting device is used for posture angle adjustment of the mechanical thigh section.
As a still further scheme of the invention: the upper end of the mechanical shank section is provided with a second lead screw hinged joint, the upper end of the mechanical shank section is provided with a second lead screw nut seat with a second lead screw, the end part of the second lead screw is hinged with the second lead screw hinged joint, and one side of the second lead screw nut seat is provided with a second motor for driving the second lead screw nut seat to move. The device is used for posture angle adjustment of the mechanical leg segment.
As a still further scheme of the invention: the tiptoe hanger comprises a hanger coat and a limiting rod, the hanger coat is sleeved outside the tiptoe hanging rod, a sliding groove matched with the limiting rod is correspondingly arranged on the tiptoe hanging rod, one end of the limiting rod is connected with the inner wall of one side of the hanger coat, and the other end of the limiting rod penetrates through the sliding groove to be connected with the inner wall of the other side of the hanger coat. Through the sliding of the hanging rack coat, the positions and the sizes of the tiptoe hanging strips can be adjusted, so that the requirements of different patients are met.
As a still further scheme of the invention: the novel foot tip hanging rack is characterized in that an automatic locking device is arranged in the foot tip hanging rack, the automatic locking device comprises a rack bottom plate which is spaced from the lower end of the foot tip hanging rod, the rack bottom plate is fixed between the rack outer sleeves, a first reset spring is arranged on the rack bottom plate, a first reset block is arranged between the first reset spring and the lower end of the foot tip hanging rod, a positioning protrusion is arranged at the upper end of the first reset block, and a plurality of positioning grooves matched with the positioning protrusion are correspondingly arranged at the lower end of the foot tip hanging rod. After the tiptoe stores pylon slides the position that needs the adjustment, first reset block shifts up to reset under first reset spring's effect, makes then that the location is protruding to insert positioning groove in, has realized the holistic quick location of tiptoe stores pylon, guarantees the position stability when its follow-up use.
As a still further scheme of the invention: still be provided with the unlocking device who is used for the unblock with automatic locking device in the tiptoe stores pylon, unlocking device includes briquetting down, the briquetting is rolled down and is extended first reset block upper end rather than conflicting down, briquetting upper end extends to the tiptoe stores pylon down and is connected with the button outward. The first reset block is pressed through the lower pressing block, so that the positioning protrusions are separated from the positioning grooves, and the tiptoe hanging rack is convenient to move.
As a still further scheme of the invention: the lower pressing block is made of channel steel, and two arms of the lower pressing block are clamped outside the tiptoe hanging rod and are longer than the tiptoe hanging rod.
As a still further scheme of the invention: a limiting module is arranged at the hinged position of the fixed mounting frame and the tiptoe hanging rod, and a placing cavity matched with the limiting module is correspondingly arranged on the fixed mounting frame; the limiting module is internally provided with a mounting groove, a lever is hinged in the mounting groove through a hinge pin shaft, one end of the lever is abutted against a pressure rod with a pressure cap above the lever, and the other end of the lever is clamped with a positioning pin below the lever; the locating pin is arranged for the level, locating pin one end is passed through second reset spring and is placed intracavity wall connection, the locating pin other end extends to fixed mounting frame and contradicts with tiptoe peg tip outside, it is provided with the locating hole that matches with the locating pin to correspond on the tiptoe peg tip. The limiting module is produced in an integral type modularization mode, and industrial production is facilitated; meanwhile, the device can be directly placed into the placing cavity or taken out of the placing cavity, and is convenient to install and maintain. When the tiptoe hanging rack needs to be used, the locating pin can be extruded to compress the second return spring by rotating the tiptoe hanging rod, and the locating pin is just inserted into the locating hole of the tiptoe hanging rod after the tiptoe hanging rack reaches the using position, so that the posture of the tiptoe hanging rod is stable; when the tiptoe hanging rack is not needed, the pressing cap can be pressed, the retraction of the positioning pin can be realized through the lever, and the tiptoe hanging rod can be conveniently swung to the outer side.
As a still further scheme of the invention: the end part of the tiptoe hanging rod provided with the positioning hole is an inclined plane gradually far away from the positioning pin along the rotating direction.
Compared with the prior art, the invention has the beneficial effects that: 1. the invention removes the use of the pedal, installs the toe sling through the foot auxiliary supporting device, and then avoids the toes from scratching the ground without force under the condition of ensuring that the feet of the patient can touch the ground to simulate real walking, thereby ensuring the active rehabilitation effect.
2. The posture and position of the mechanical thigh section and the mechanical shank section can be adjusted through the first screw rod and the second screw rod.
3. Through the sliding of the hanging rack coat, the positions and the sizes of the tiptoe hanging strips can be adjusted, so that the requirements of different patients are met.
4. After the tiptoe stores pylon slides the position that needs the adjustment, first reset block shifts up to reset under first reset spring's effect, makes then that the location is protruding to insert positioning groove in, has realized the holistic quick location of tiptoe stores pylon, guarantees the position stability when its follow-up use.
5. The limiting module is produced in an integral type modularization mode, and industrial production is facilitated; meanwhile, the device can be directly placed into the placing cavity or taken out of the placing cavity, and is convenient to install and maintain. Meanwhile, when the tiptoe hanging rack needs to be used, the locating pin can be extruded to compress the second return spring by rotating the tiptoe hanging rod, and the locating pin is just inserted into the locating hole of the tiptoe hanging rod after the tiptoe hanging rack reaches the using position, so that the posture of the tiptoe hanging rod is stable; when the tiptoe hanging rack is not needed, the pressing cap can be pressed, the retraction of the positioning pin can be realized through the lever, and the tiptoe hanging rod can be conveniently swung to the outer side.
Drawings
Fig. 1 is a front view of a lower limb joint rehabilitation robot in an embodiment.
Fig. 2 is a plan view of the lower limb joint rehabilitation robot in the embodiment.
Fig. 3 is a structural diagram of the toe hanger and the toe hanging rod in the embodiment.
Fig. 4 is a sectional view of the toe hanger according to the embodiment.
Fig. 5 is a partial enlarged view of the limiting module in the embodiment.
In the figure: 1-a fixed bracket assembly, 11-a first joint bearing, 12-a first screw rod, 13-a first screw rod nut seat, 14-a first motor, 2-a mechanical thigh section, 21-a first screw rod hinged joint, 22-a second screw rod hinged joint, 23-a second screw rod, 24-a second screw rod nut seat, 25-a second motor, 26-a second joint bearing, 3-a mechanical shank section, 4-a leg auxiliary support frame, 5-a foot auxiliary support device, 51-a fixed mounting frame, 52-a toe hanger, 521-a hanger jacket, 522-a lower pressing block, 523-a button, 524-a limiting rod, 525-a hanger bottom plate, 526-a first reset spring, 527-a first reset block, 528-a positioning bulge and 53-a toe hanger rod, 531-sliding groove, 6-limit module, 61-mounting groove, 62-lever, 63-hinge pin shaft, 64-pressure rod, 65-pressure cap, 66-positioning pin and 67-second return spring.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a lower limb joint rehabilitation robot includes a fixing support assembly 1, a mechanical thigh section 2 and a mechanical shank section 3, wherein one end of the fixing support assembly 1 is hinged to the upper end of the mechanical thigh section 2 through a first joint bearing 11, the lower end of the mechanical thigh section 2 is hinged to the mechanical shank section 3 through a second joint bearing 26, a plurality of leg auxiliary supports 4 for supporting legs are respectively arranged on the mechanical thigh section 2 and the mechanical shank section 3, and the leg auxiliary supports 4 are located in the same vertical plane; the mechanical shank section 3 is provided with a foot auxiliary supporting device 5, the foot auxiliary supporting device 5 comprises a fixed mounting frame 51, a tiptoe hanging rod 53 and a tiptoe hanging rack 52, one end of the fixed mounting frame 51 is connected with the mechanical shank section 3, the other end of the fixed mounting frame 51 is hinged with the tiptoe hanging rod 53, the tiptoe hanging rod 53 is provided with two groups of tiptoe hanging racks 52 for mounting tiptoe hanging belts, and the tiptoe hanging rack 52 can slide on the tiptoe hanging rod 53; a limiting module 6 is arranged at the hinged position of the fixed mounting frame 51 and the tiptoe hanging rod 53, and a placing cavity matched with the limiting module 6 is correspondingly arranged on the fixed mounting frame 51; an installation groove 61 is formed in the limiting module 6, a lever 62 is hinged in the installation groove 61 through a hinge pin 63, one end of the lever 62 is abutted against a pressure rod 64 with a pressure cap 65 above the lever 62, and the other end of the lever 62 is clamped with a positioning pin 66 below the lever 62; locating pin 66 is the level and arranges, locating pin 66 one end is passed through second reset spring 67 and is placed intracavity wall and be connected, the locating pin 66 other end extends to fixed mounting frame 51 outer contradict with tiptoe peg 53 tip, it is provided with the locating hole that matches with locating pin 66 to correspond on tiptoe peg 53 tip.
The working principle of the invention is as follows: the toe sling is installed through the foot auxiliary supporting device 5, so that the toes of a patient are prevented from being scratched on the ground without force under the condition that the foot of the patient can touch the ground to simulate real walking, and the active rehabilitation effect is guaranteed; when the toe hanging rack 52 needs to be used, the positioning pin 66 can be extruded to compress the second return spring 67 by rotating the toe hanging rod 53, and the positioning pin 66 is just inserted into the positioning hole of the toe hanging rod 53 after the toe hanging rack 52 reaches the use position, so that the posture of the toe hanging rod 53 is stable; when the toe hanger 52 is not needed, the pressing cap 65 can be pressed, and the lever 62 retracts the positioning pin 66, so that the toe hanger 53 can be conveniently swung outwards.
Optionally, a first lead screw hinged joint 21 is arranged at the upper end of the mechanical thigh section 2, a first lead screw nut seat 13 with a first lead screw 12 is arranged at the lower end of the fixed bracket assembly 1, the end of the first lead screw 12 is hinged with the first lead screw hinged joint 21, and a first motor 14 for driving the first lead screw nut seat 13 to move is arranged on one side. For posture angle adjustment of the mechanical thigh section 2.
Optionally, a second lead screw hinged joint 22 is arranged at the upper end of the mechanical thigh section 2, a second lead screw nut seat 24 with a second lead screw 23 is arranged at the upper end of the mechanical thigh section 3, the end of the second lead screw 23 is hinged with the second lead screw hinged joint 22, and a second motor 25 for driving the second lead screw nut seat 24 to move is arranged on one side. For posture angle adjustment of the mechanical calf section 3.
As an optional scheme, the tiptoe hanger 5 includes a hanger cover 521 and a limiting rod 524, the hanger cover 521 is sleeved outside the tiptoe hanging rod 53, a sliding groove 531 matched with the limiting rod 524 is correspondingly disposed on the tiptoe hanging rod 53, one end of the limiting rod 524 is connected with an inner wall of one side of the hanger cover 521, and the other end of the limiting rod 524 penetrates through the sliding groove 531 to be connected with an inner wall of the other side of the hanger cover 521. Through the sliding of the hanger coat 521, the positions and the sizes of the tiptoe braces can be adjusted, so that the requirements of different patients can be met.
As an optional scheme, be provided with automatic locking device in the tiptoe stores pylon 53, automatic locking device includes and has the stores pylon bottom plate 525 of interval with tiptoe peg 53 lower extreme, stores pylon bottom plate 525 is fixed in between the stores pylon overcoat 521, be provided with first reset spring 526 on the stores pylon bottom plate 525, be provided with first reset block 527 between first reset spring 526 and the tiptoe peg 53 lower extreme, first reset block 527 upper end is provided with the location arch 528, tiptoe peg 53 lower extreme correspondence is provided with a plurality of positioning groove that match with the location arch 528. After the tiptoe hanger 52 slides to the position that needs the adjustment, move up the restoration at first reset block 527 under the effect of first reset spring 526 and reset, make then that the location is protruding 528 inserts in the positioning groove, realized the holistic quick location of tiptoe hanger 52, position stability when guaranteeing its follow-up use.
As an optional scheme, an unlocking device for unlocking the automatic locking device is further disposed in the toe hanger 52, the unlocking device includes a lower pressing block 522, the lower pressing block 522 is pressed downward and extends to the upper end of the first reset block 527 to abut against the upper end of the first reset block, and the upper end of the lower pressing block 522 extends to the outside of the toe hanger 52 and is connected with the button 523. The first restoring block 527 is pressed by the pressing block 522 so that the positioning protrusion 528 is disengaged from the positioning groove, thereby facilitating the movement of the toe hanger 52.
As an optional scheme, the lower pressing block 522 is made of channel steel, and two arms of the lower pressing block 522 are clamped outside the tiptoe hanging rod 53 and have a length greater than the height of the tiptoe hanging rod.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (10)
1. A lower limb joint rehabilitation robot comprises a fixed support assembly, a mechanical thigh section and a mechanical shank section, wherein one end of the fixed support assembly is hinged with the upper end of the mechanical thigh section through a first joint bearing, the lower end of the mechanical thigh section is hinged with the mechanical shank section through a second joint bearing, a plurality of leg auxiliary support frames used for supporting legs are arranged on the mechanical thigh section and the mechanical shank section respectively, the leg auxiliary support frames are positioned in the same vertical plane, the lower limb joint rehabilitation robot is characterized in that a foot auxiliary support device is arranged on the mechanical shank section and comprises a fixed mounting frame, a tiptoe hanging rod and a tiptoe hanging rack, one end of the fixed mounting frame is connected with the mechanical shank section, the other end of the fixed mounting frame is hinged with the tiptoe hanging rod, two groups of tiptoe racks used for mounting tiptoe hanging straps are arranged on the tiptoe hanging rod, the tiptoe hanging rack can slide on the tiptoe hanging rod.
2. The lower limb joint rehabilitation robot according to claim 1, wherein a first lead screw and nut seat with a first lead screw is arranged at the lower end of the fixed support assembly, a first motor for driving the first lead screw and nut seat to move is arranged at one side of the first lead screw and nut seat, and the first lead screw and nut seat is hinged with the first lead screw.
3. The lower limb joint rehabilitation robot according to claim 1, wherein a second lead screw and nut seat with a second lead screw is arranged at the upper end of the mechanical thigh section, the end part of the second lead screw is hinged with the second lead screw and nut seat, and a second motor for driving the second lead screw and nut seat to move is arranged on one side of the second lead screw and nut seat.
4. The lower limb joint rehabilitation robot according to claim 1, wherein the tiptoe hanger comprises a hanger outer sleeve and a limiting rod, the hanger outer sleeve is sleeved outside the tiptoe hanging rod, a sliding groove matched with the limiting rod is correspondingly formed in the tiptoe hanging rod, one end of the limiting rod is connected with the inner wall of one side of the hanger outer sleeve, and the other end of the limiting rod penetrates through the sliding groove to be connected with the inner wall of the other side of the hanger outer sleeve.
5. The lower limb joint rehabilitation robot according to claim 4, wherein an automatic locking device is arranged in the tiptoe hanger, the automatic locking device comprises a hanger base plate which is spaced from the lower end of the tiptoe hanging rod, the hanger base plate is fixed between hanger jackets, a first return spring is arranged on the hanger base plate, a first return block is arranged between the first return spring and the lower end of the tiptoe hanging rod, a positioning protrusion is arranged at the upper end of the first return block, and a plurality of positioning grooves matched with the positioning protrusion are correspondingly arranged at the lower end of the tiptoe hanging rod.
6. The lower limb joint rehabilitation robot according to claim 5, wherein an unlocking device for unlocking the automatic locking device is further arranged in the tiptoe rack, the unlocking device comprises a lower pressing block, the lower pressing block extends downwards to the upper end of the first reset block to be abutted against the upper end of the first reset block, and the upper end of the lower pressing block extends out of the tiptoe rack and is connected with the button.
7. The lower limb joint rehabilitation robot of claim 6, wherein the lower pressing block is made of channel steel, and two arms of the lower pressing block are clamped outside the tiptoe hanging rod and have a length greater than the height of the tiptoe hanging rod.
8. The lower limb joint rehabilitation robot according to claim 7, wherein the toe hanger is provided with a through hole for mounting a toe strap along a traveling direction thereof.
9. The lower limb joint rehabilitation robot according to claim 1, wherein a limiting module is arranged at the hinged part of the fixed mounting frame and the tiptoe hanging rod, and a placing cavity matched with the limiting module is correspondingly arranged on the fixed mounting frame; the limiting module is internally provided with a mounting groove, a lever is hinged in the mounting groove through a hinge pin shaft, one end of the lever is abutted against a pressure rod with a pressure cap above the lever, and the other end of the lever is clamped with a positioning pin below the lever; the locating pin is arranged for the level, locating pin one end is passed through second reset spring and is placed intracavity wall connection, the locating pin other end extends to fixed mounting frame and contradicts with tiptoe peg tip outside, it is provided with the locating hole that matches with the locating pin to correspond on the tiptoe peg tip.
10. The lower limb joint rehabilitation robot of claim 9, wherein the end of the toe link provided with the positioning hole is inclined in the direction of rotation thereof so as to be gradually away from the positioning pin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034939.9A CN110743134A (en) | 2019-10-29 | 2019-10-29 | Lower limb joint rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911034939.9A CN110743134A (en) | 2019-10-29 | 2019-10-29 | Lower limb joint rehabilitation robot |
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| CN110743134A true CN110743134A (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911034939.9A Pending CN110743134A (en) | 2019-10-29 | 2019-10-29 | Lower limb joint rehabilitation robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2278461Y (en) * | 1996-06-05 | 1998-04-15 | 高瑞亭 | Walking aid |
| CN204446516U (en) * | 2015-02-03 | 2015-07-08 | 中国人民解放军总医院 | The postoperative self-service toronto lower limb cbm of Patella fracture |
| CN205041720U (en) * | 2015-09-16 | 2016-02-24 | 蔡建 | Suffer from limb and temper area |
| CN205849721U (en) * | 2016-06-08 | 2017-01-04 | 戴淑旦 | A kind of ankle joint function exercise band |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN211301942U (en) * | 2019-10-29 | 2020-08-21 | 安庆中船柴油机有限公司 | Lower limb joint rehabilitation robot |
-
2019
- 2019-10-29 CN CN201911034939.9A patent/CN110743134A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2278461Y (en) * | 1996-06-05 | 1998-04-15 | 高瑞亭 | Walking aid |
| CN204446516U (en) * | 2015-02-03 | 2015-07-08 | 中国人民解放军总医院 | The postoperative self-service toronto lower limb cbm of Patella fracture |
| CN205041720U (en) * | 2015-09-16 | 2016-02-24 | 蔡建 | Suffer from limb and temper area |
| CN205849721U (en) * | 2016-06-08 | 2017-01-04 | 戴淑旦 | A kind of ankle joint function exercise band |
| CN108969306A (en) * | 2018-09-10 | 2018-12-11 | 安庆中船柴油机有限公司 | A kind of lower limb exoskeleton device of healing robot |
| CN211301942U (en) * | 2019-10-29 | 2020-08-21 | 安庆中船柴油机有限公司 | Lower limb joint rehabilitation robot |
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