CN203598183U - Riding type lower limb rehabilitation robot capable of achieving elliptical orbit - Google Patents
Riding type lower limb rehabilitation robot capable of achieving elliptical orbit Download PDFInfo
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- CN203598183U CN203598183U CN201320689489.9U CN201320689489U CN203598183U CN 203598183 U CN203598183 U CN 203598183U CN 201320689489 U CN201320689489 U CN 201320689489U CN 203598183 U CN203598183 U CN 203598183U
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- elliptical orbit
- lower limb
- worm
- limb rehabilitation
- planetary gear
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Abstract
The utility model discloses a riding type lower limb rehabilitation robot capable of achieving an elliptical orbit. The riding type lower limb rehabilitation robot comprises a handlebar and a saddle, wherein the handlebar and the saddle are fixed to a frame. The frame is fixed to a base. A base is provided with a motor and an elliptical orbit movement device. The elliptical orbit movement device comprises two elliptical orbit achieving mechanisms. Each elliptical orbit achieving mechanism comprises a worm and worm wheel decelerating mechanism and a planetary gear transmission mechanism. An output shaft of the motor transfers power to a worm through a coupler, a worm wheel shaft drives a planet wheel to rotate through a tie bar, a center wheel and the worm wheel shaft are coaxial, the center wheel is fixedly connected with the base, and the reference diameter of the center wheel is two times that of the planet wheel, a pedal is arranged on the planet wheel and passes through the center of the planet wheel, and a footboard is arranged on the petal. The riding type lower limb rehabilitation robot can drive a patient to move according to the elliptical orbit for rehabilitation and conform to the normal gait of people to a higher degree, and is simple and compact in structure, small in occupied space, high in practicability, low in cost, and capable of meeting the requirements of medical institutions and families for routine lower limb rehabilitation of the patient.
Description
Technical field
This utility model belongs to the robot in a kind of rehabilitation medical instrument field, is specifically related to a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit.
Background technology
According to investigations, there are a considerable amount of people in China every year because the reason such as disease, vehicle accident causes lower limb disorder.Clinical practice shows, no matter is the motor dysfunction that disease or limb injury cause, and good lower limb rehabilitation training can improve lower limb exercise ability and promote function of nervous system to repair, and reduces complication rate.For this reason, the developed country such as American-European, Japanese has all developed multiple lower limb rehabilitation robot.But it is large, expensive to take up room, be difficult to meet the daily demand of ordinary people.
By existing relevant literature search is found, China Patent No. 200620140778.3 discloses a kind of wheel chair type robot for walking training, comprises wheelchair system, lower limb exoskeleton system, Damper Braces system and controller.This robot realizes the training of lower limb by controlling the rotation of each joint motor on ectoskeleton.This robot controls four motors simultaneously, the higher and difficult realization of cost.
China Patent No. 200620021269.9 discloses a kind of vertical lower limb rehabilitation training machine, comprises that base, left and right 2 overlap the gait mechanism, the left and right 2 that are arranged symmetrically with and overlap the ankle motion mechanism being arranged symmetrically with.Wherein motor makes bending rocking bar with handles swing around the upper end of column rocking bar core by drive mechanism, and then drives the hinged pedal of middle part and rod hinge connection, end and slide block to do plane motion again.Because patient's lower limb are lost locomotor activity wholly or in part, this requirement patient of mechanism is standing and is training, and has larger danger and negative interaction.
China Patent No. 200910075068.5 discloses a kind of lower limb rehabilitation medical robot used for paralytic patient, comprises base, rehabilitation leg training device and computer control system.The exoskeleton mechanism that this robot is suspended on outside by control reaches training objectives.Its less stable, algorithm complexity etc., and then cause cost high, be not suitable for extensive use.
China Patent No. 201110050479.6 discloses a kind of riding type robot for lower limb rehabilitation, comprises riding type seat, driving mechanism, exoskeleton mechanism and support.This robot, by driven by servomotor, drives foot motion, makes patient's and then motion of whole lower limb.Circular trace is walked with foot by this robot, and people's normal gait track is class ellipse, and difference is larger.
Utility model content
This utility model is for prior art above shortcomings, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit is provided, design according to the rehabilitation of patient's concrete size and medical science is theoretical, to make that it is simple and compact for structure, institute takes up space little, practical, cost is lower, can meet the needs to the daily lower limb rehabilitation of patient such as medical institutions, family.
In order to solve the problems of the technologies described above, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of this utility model, comprises vehicle frame, is fixed on handlebar and vehicle seat on vehicle frame, described vehicle frame is fixed on a base, and described base is provided with motor and elliptical orbit telecontrol equipment; Described elliptical orbit telecontrol equipment comprises that two cover elliptical orbits realize mechanism; Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor passes to the worm screw in described worm and wormwheel reducing gear by shaft coupling by power; The worm-wheel shaft of described worm and wormwheel reducing gear drives the planetary gear of described planetary gear mechanism by a tie-rod, the centre wheel of described planetary gear mechanism and described worm-wheel shaft are coaxially arranged, described centre wheel and described base are connected, and the reference diameter of described centre wheel equals the twice of the reference diameter of described planetary gear; Described planetary gear is provided with a pedal, and described pedal is crossed the center of described planetary gear, and described pedal is provided with pedal.
Compared with the rehabilitation institution of existing round track, this utility model can be realized by elliptical orbit and drive patient to carry out rehabilitation, more meet people's normal gait, and can carry out track adjusting according to different height patient's gait differences, that this utility model is simple and reasonable, compact in design takes up room is less, cost is little, simple to operate, can, according to s own situation adjustment, use so be applicable to individual family and ordinary people.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that this utility model can be realized the riding type robot for lower limb rehabilitation of elliptical orbit;
Fig. 2 is the side view of healing robot shown in Fig. 1;
Fig. 3 is man-machine interaction structural scheme of mechanism in this utility model;
Fig. 4 is elliptical orbit telecontrol equipment structural representation in this utility model.
In figure:
10-base, 20-elliptical orbit telecontrol equipment, 21-upper casing, 21 '-lower casing, 22-centre wheel, 23-worm screw, 24-worm-wheel shaft, 25-planetary gear, 26-pedal, 27-pedal, 28-tie-rod, 29-worm gear, 30-shaft coupling, 40-motor, 50-vehicle frame, 60-handlebar, 61-display, 62-holder, 70-vehicle seat.
The specific embodiment
Below in conjunction with the specific embodiment, this utility model is described in further detail.
As shown in Figure 2, a kind of riding type robot for lower limb rehabilitation that can realize elliptical orbit of this utility model, comprises vehicle frame 50, is fixed on handlebar 60 and vehicle seat 70 on vehicle frame 50, described vehicle frame 50 is fixed on a base 10, and described base 10 is provided with motor 40 and elliptical orbit telecontrol equipment 20.As shown in Figure 2 and Figure 4, for safety and good looking appearance, described elliptical orbit telecontrol equipment 20 is arranged in a housing, and described housing is made up of plug-in upper casing 21 and lower casing 21 '.
As shown in Figure 1 and Figure 4, this utility model lower limb rehabilitation robot is take bicycle as model, and described elliptical orbit telecontrol equipment 20 wherein comprises that two cover elliptical orbits realize mechanism, to replace bicycle to scrunch part, thereby drive patient foot to walk elliptical orbit, reach rehabilitation object.Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor 40 passes to the worm screw 23 in described worm and wormwheel reducing gear by shaft coupling 30 by power; The worm-wheel shaft 24 of described worm and wormwheel reducing gear drives the planetary gear 25 of described planetary gear mechanism by a tie-rod 28, the centre wheel 22 of described planetary gear mechanism is coaxially arranged with described worm-wheel shaft 28, described centre wheel 22 is connected with described base 10, and the reference diameter of described centre wheel 22 equals the twice of the reference diameter of described planetary gear 25; Described planetary gear 25 is provided with a pedal 27, and described pedal 27 is crossed described planetary gear 25 center, and described pedal 27 is provided with pedal 26.
Fig. 1 shows elliptical orbit realizes the schematic diagram of mechanism, and worm screw 23 is driven by motor 40, and worm gear 29 drives tie-rod 28 to rotate.In the time that the reference diameter of centre wheel 22 is the reference diameter twice of planetary gear 25, any point A being connected on the pedal 27 at planetary gear 25Bing Guoqi center just can realize elliptical orbit.
In order to grasp the training time of rehabilitation exercise and the speed of motion, this utility model healing robot also includes man-machine interaction mechanism, as shown in Figure 3, described man-machine interaction mechanism comprises display 61, described display 61 is fixing with described vehicle frame 50 by a holder 62, described handlebar 60 is also fixing with described vehicle frame 50 by holder 62, in order to be suitable for the user of different heights, between described holder 62 and vehicle frame 50, between described vehicle seat 70 and described vehicle frame 50, be provided with respectively locking mechanism, be used for adjusting display 61 according to the height of user, the height of handlebar 60 and vehicle seat 70.Certainly, in this utility model, must include the control device being connected with man-machine interaction mechanism, have in the prior art very ripe alternative control device, this utility model repeats no more.
Use when this utility model healing robot is installed, first according to the height size of rehabilitation, unclamp respectively the locking device that is positioned at holder 62 and vehicle seat 70 places on vehicle frame 50, the position adjustments of handlebar 60, display 61 and vehicle seat 70 is locked to locking device after patient feels the most comfortable position.Regulate the length of pedal 27 according to patient's step size, the elliptical orbit after healing robot is moved meets patient's normal gait track as far as possible.Allow patient ride and be seated on healing robot, patient foot is fixed on pedal 26.Turn on the power switch, set the parameters such as training time, speed by man-machine interaction mechanism, can drive patient to carry out rehabilitation training.Run into emergency, as track exceeds the movable scope of patient, nurse personnel or patient can press the scram button at handlebar place, and healing robot is quit work, and reach protection patient's object.
Fig. 4 shows the work process of elliptical orbit telecontrol equipment 20 in this utility model, motor 40 drives worm screw 23 to rotate, drive tie-rod 28 to rotate by turbine and worm decelerator, and then planetary gear 25 is moved, last pedal 26 drives patient foot to realize elliptical orbit, pedal 27 can be adjusted elliptical orbit within the specific limits according to different height patients' gait difference, makes it more meet people's normal gait track.
To sum up, this utility model healing robot is take bicycle as model, and the gear mechanism that employing can realize elliptical orbit replaces bicycle to scrunch part, drives patient foot to press elliptical orbit motion, reaches rehabilitation training.
Although this utility model is described in conjunction with figure above; but this utility model is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment is only schematic; rather than restrictive; those of ordinary skill in the art is under enlightenment of the present utility model; in the situation that not departing from this utility model aim, can also make a lot of distortion, within these all belong to protection of the present utility model.
Claims (4)
1. can realize a riding type robot for lower limb rehabilitation for elliptical orbit, comprise vehicle frame (50), be fixed on handlebar (60) and vehicle seat (70) on vehicle frame (50), it is upper that described vehicle frame (50) is fixed on a base (10), it is characterized in that,
Described base (10) is provided with motor (40) and elliptical orbit telecontrol equipment (20);
Described elliptical orbit telecontrol equipment (20) comprises that two cover elliptical orbits realize mechanism;
Described elliptical orbit is realized mechanism and is comprised worm and wormwheel reducing gear and planetary gear mechanism, and the output shaft of described motor (40) passes to the worm screw (23) in described worm and wormwheel reducing gear by shaft coupling (30) by power; The worm-wheel shaft (24) of described worm and wormwheel reducing gear drives the planetary gear (25) of described planetary gear mechanism by a tie-rod (28), the centre wheel (22) of described planetary gear mechanism is coaxially arranged with described worm-wheel shaft (24), described centre wheel (22) is connected with described base (10), and the reference diameter of described centre wheel (22) equals the twice of the reference diameter of described planetary gear (25); Described planetary gear (25) is provided with a pedal (27), and described pedal (27) is crossed the center of described planetary gear (25), and described pedal (27) is provided with pedal (26).
2. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, described elliptical orbit telecontrol equipment (20) is arranged in a housing, and described housing is made up of plug-in upper casing (21) and lower casing (21 ').
3. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, also comprise a man-machine interaction mechanism, described man-machine interaction mechanism comprises display (61), and described display (61) is fixing by a holder (62) and described vehicle frame (50).
4. can realize according to claim 1 the riding type robot for lower limb rehabilitation of elliptical orbit, it is characterized in that, described handlebar is fixing by holder (62) and described vehicle frame (50), between described holder (62) and vehicle frame (50), be provided with respectively locking mechanism between described vehicle seat (70) and described vehicle frame (50).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320689489.9U CN203598183U (en) | 2013-11-01 | 2013-11-01 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320689489.9U CN203598183U (en) | 2013-11-01 | 2013-11-01 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbit |
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| Publication Number | Publication Date |
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| CN203598183U true CN203598183U (en) | 2014-05-21 |
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| CN201320689489.9U Withdrawn - After Issue CN203598183U (en) | 2013-11-01 | 2013-11-01 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbit |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584977A (en) * | 2013-11-01 | 2014-02-19 | 天津大学 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits |
| CN105167958A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Lower limb rehabilitation training elliptical machine device |
-
2013
- 2013-11-01 CN CN201320689489.9U patent/CN203598183U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103584977A (en) * | 2013-11-01 | 2014-02-19 | 天津大学 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits |
| CN103584977B (en) * | 2013-11-01 | 2015-04-22 | 天津大学 | Riding type lower limb rehabilitation robot capable of achieving elliptical orbits |
| CN105167958A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Lower limb rehabilitation training elliptical machine device |
| CN105167958B (en) * | 2015-10-12 | 2017-08-04 | 哈尔滨工程大学 | A kind of lower limb rehabilitation training elliptical machine device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20140521 Effective date of abandoning: 20150422 |