CN204352127U - A kind of ectoskeleton supplemental training robot - Google Patents
A kind of ectoskeleton supplemental training robot Download PDFInfo
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- CN204352127U CN204352127U CN201420749772.0U CN201420749772U CN204352127U CN 204352127 U CN204352127 U CN 204352127U CN 201420749772 U CN201420749772 U CN 201420749772U CN 204352127 U CN204352127 U CN 204352127U
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- hip joint
- synchronous pulley
- thigh
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Abstract
The purpose of this utility model is to provide a kind of ectoskeleton supplemental training robot, comprise ankle motion module, motion of knee joint module, hip joint motion module, drive motors and the encoder of hip joint are arranged in boot, knee joint drive motors and encoder are positioned at thigh and shank junction, ankle motion module is positioned at bottom and is connected with shank, and bracing frame to be positioned at below boot and to be attached thereto together; Drived control module arranges two servomotors and two encoders.Joint motions module arranges vertical rotating mechanism, and vertical rotating mechanism is connected with drived control module.This utility model, by controlling the movement locus of thigh and shank, can realize the rehabilitation exercise training of leg.When carrying out rehabilitation training, patient is by holding boot the right and left handrail, and exoskeleton rehabilitation robot on wearing, arranges relevant rehabilitation modality, carries out rehabilitation training under the support of two universal wheels later.
Description
Technical field
The utility model relates to a kind of robot, specifically recovery exercising robot.
Background technology
The paraplegia that spinal cord injury causes is a kind of deformity seriously, has a strong impact on the ability of minimal invasive treatment's self-care ability and participation social activity.Theory of medicine and clinical medicine practise prove, this kind of patient is except early stage operative treatment and necessary Drug therapy.A kind of effective rehabilitation maneuver, also can enable patient recover the function lost to a certain extent, helps patient stand by rehabilitation equipment and walk.This is not only conducive to the quality of life of improving patient itself, also can alleviate the burden of family and society.Therefore, be urgent for paralytic patient designs its rehabilitation equipment of standing and walking of a help and be necessary.
This exoskeleton robot belongs to the robot of Wearable, and training is convenient, can carry out body gait simulation training, and not by under other carriers such as wheelchair, patient can be helped to carry out auxiliary walking.People can also be helped to bear a heavy burden simultaneously, alleviate the physical exertion pressure of the mankind.
Summary of the invention
The purpose of this utility model is to provide a kind of ectoskeleton supplemental training robot that can realize leg joint recovering.
The purpose of this utility model is achieved in that
A kind of ectoskeleton supplemental training of this utility model robot, it is characterized in that: comprise bracing frame, ankle motion module, motion of knee joint module, hip joint motion module, bracing frame top arranges bending place, boot is installed in bending place, left handrail and right handrail are set above bending place respectively, left universal wheel and right universal wheel are installed below bracing frame respectively, hip joint motion module comprises the first hip joint drived control motor, second hip joint drived control motor, first hip joint planetary reduction gear, second hip joint planetary reduction gear, first synchronous pulley, second synchronous pulley, 3rd synchronous pulley, 4th synchronous pulley, first thigh, second thigh, first waist connecting plate, second waist connecting plate, first hip joint drived control motor and the second hip joint drived control motor are positioned in boot, first synchronous pulley and the 3rd synchronous pulley lay respectively at the both sides outside boot, first hip joint drived control motor connects the first synchronous pulley by the first hip joint planetary reduction gear, second synchronous pulley is connected by the first hip joint bearing pin with the first thigh and the first waist connecting plate, second synchronous pulley is connected without key by expansion sleeve with the first hip joint bearing pin, first thigh and the first hip joint bearing pin are connected by screw, first synchronous pulley and the second synchronous pulley are wound around the first Timing Belt, first hip joint bearing pin is supported by the first end of bearing by the first waist connecting plate, second end of the first waist connecting plate is fixed on boot, second hip joint drived control motor connects the 3rd synchronous pulley by the second hip joint planetary reduction gear, 4th synchronous pulley is connected by the second hip joint bearing pin with the second thigh and the second waist connecting plate, 4th synchronous pulley is connected without key by expansion sleeve with the second hip joint bearing pin, second thigh and the second hip joint bearing pin are connected by screw, 3rd synchronous pulley and the 4th synchronous pulley are wound around the second Timing Belt, second hip joint bearing pin is supported by the first end of bearing by the second waist connecting plate, second end of the second waist connecting plate is fixed on boot, motion of knee joint module comprises the first knee joint drived control motor, the second knee joint drived control motor, the first shank, the second shank, first shank and the first knee joint bearing pin are fixed, first thigh is supported by the first knee joint bearing pin by bearing, first knee joint drived control motor connects the first knee joint bearing pin by knee joint shaft coupling, second shank and the second knee joint bearing pin are fixed, second thigh is supported by the second knee joint bearing pin by bearing, and the second knee joint drived control motor connects the second knee joint bearing pin by knee joint shaft coupling, ankle motion module comprises the first ankle joint step support, the second ankle joint step support, the first pedal, the second pedal, first ankle joint step support connects the first ankle joint bearing pin, first shank is supported by the first ankle joint bearing pin by bearing, first pedal is arranged on the first ankle joint step support, second ankle joint step support connects the second ankle joint bearing pin, second shank is supported by the second ankle joint bearing pin by bearing, and the second pedal is arranged on the second ankle joint step support.
Advantage of the present utility model is: this utility model, by controlling the movement locus of thigh and shank, can realize the rehabilitation exercise training of leg.When carrying out rehabilitation training, patient is by holding boot the right and left handrail, and exoskeleton rehabilitation robot on wearing, arranges relevant rehabilitation modality, carries out rehabilitation training under the support of two universal wheels later.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model;
Fig. 2 is front view of the present utility model;
Fig. 3 is top view of the present utility model;
Fig. 4 is side view of the present utility model;
Fig. 5 is this utility model hip joint schematic internal view a;
Fig. 6 is this utility model hip joint schematic internal view b;
Fig. 7 is this utility model knee joint internal structure schematic diagram;
Fig. 8 is this utility model ankle joint internal structure schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, this utility model is described in more detail:
Composition graphs 1 ~ 8, this utility model comprises bracing frame and the boot 1, thigh device for healing and training and the driving control device thereof that are positioned on bracing frame, shank device for healing and training and driving control device thereof, thigh control device is arranged in boot 1, and shank control device is connected on thigh 9.Ankle joint, knee joint, hip joint are connected by bearing pin.
This device for healing and training waist and support frame module comprise boot 1 and bracing frame, and bracing frame two bottom is connected with universal wheel 41 respectively, can realize the motion of any direction, and bracing frame upper end is left and right handrail, for patient provides support power.In the middle part of bracing frame, bending place is fixed wtih boot, and patient can lean against boot, and patient can enter training mode easily by left and right handrail.
With reference to Fig. 2, Fig. 4, Fig. 5 and Fig. 6, thigh hip joint drived control motor 37 and encoder 36 are arranged in boot, encoder 36 controls the rotating speed of motor 37, by outputting to synchronous pulley 25 after hip joint planetary reduction gear 38, belt wheel 25 axial restraint screw 20, drive hip joint bearing pin 17 to rotate by Timing Belt 39 afterwards, synchronous pulley 25 is connected without key by expansion sleeve 19 with hip joint bearing pin 17, then drive the motion of thigh 9, thigh 9 is connected by screw 18 with hip joint bearing pin 17.Bearing pin 17 one end is supported by waist connecting plate 21 one end by bearing 22, hip joint bearing washer 23, and axially fix with nut 24 and circlip 27, waist connecting plate 21 other end is fixed on boot 1 left and right sides.
With reference to Fig. 2, Fig. 4 and Fig. 7, knee joint drived control motor 14 and knee joint encoder 16 are fixed on knee joint fixing head 15 side by screw 26, knee joint fixing head 15 screw 8 and thigh lower end are fixed together, knee joint bearing pin 7 is supported by thigh 9 knee joint one end by bearing 10, circlip 11 and nut 12, knee joint drived control motor 14 output shaft is connected with knee joint bearing pin 7 by knee joint shaft coupling 13, bearing pin 7 is driven to rotate, together with knee joint bearing pin 7 is fixing by screw with shank 2, thus bearing pin 7 drives shank 2 swing.
With reference to Fig. 1, Fig. 2, Fig. 4 and Fig. 8, together with shank 2 upper end is fixing with knee joint bearing pin 7 by screw, ankle joint bearing pin 4 is supported by shank 2 by bearing 5, axial restraint is made with circlip 6 and pin 28, ankle joint bearing pin 4 other end is connected with ankle joint foot stand 3, foot can rotate around ankle joint bearing pin 4, together with footwear 40 are connected with ankle joint foot stand 3 bottom.
Drive motors and the encoder of lower limb exoskeleton robot hip joint are arranged in boot, knee joint drive motors and encoder are positioned at thigh and shank junction, it is fixed on thigh, ankle motion module is positioned at bottom and is connected with shank, and bracing frame to be positioned at below boot and to be attached thereto together; Described recovery set for lower limbs comprises drived control module and joint motions module, and drived control module arranges two servomotors and two encoders.Joint motions module arranges vertical rotating mechanism, and vertical rotating mechanism is connected with drived control module.
Boot is positioned on bracing frame fixing, and bracing frame top connects handrail, and bottom connects universal wheel, can realize any direction and rotate.
The drive motors of hip joint connects together in rear-box, and hip joint drives direct current generator to be connected with synchronous pulley by decelerator, and belt wheel is fixed on boot by waist connecting plate, and belt wheel is connected with thigh and drives thigh to swing.
Decelerator is planet wheel decelerator.
Synchronous pulley is synchromesh gear belt.
Knee joint drive motors is fixed on thigh by connecting plate, drives shank swing by shaft coupling.
Ankle joint foot stand is connected with shank by bearing pin, foot can around rotation.
Claims (1)
1. an ectoskeleton supplemental training robot, it is characterized in that: comprise bracing frame, ankle motion module, motion of knee joint module, hip joint motion module, bracing frame top arranges bending place, boot is installed in bending place, left handrail and right handrail are set above bending place respectively, left universal wheel and right universal wheel are installed below bracing frame respectively, hip joint motion module comprises the first hip joint drived control motor, second hip joint drived control motor, first hip joint planetary reduction gear, second hip joint planetary reduction gear, first synchronous pulley, second synchronous pulley, 3rd synchronous pulley, 4th synchronous pulley, first thigh, second thigh, first waist connecting plate, second waist connecting plate, first hip joint drived control motor and the second hip joint drived control motor are positioned in boot, first synchronous pulley and the 3rd synchronous pulley lay respectively at the both sides outside boot, first hip joint drived control motor connects the first synchronous pulley by the first hip joint planetary reduction gear, second synchronous pulley is connected by the first hip joint bearing pin with the first thigh and the first waist connecting plate, second synchronous pulley is connected without key by expansion sleeve with the first hip joint bearing pin, first thigh and the first hip joint bearing pin are connected by screw, first synchronous pulley and the second synchronous pulley are wound around the first Timing Belt, first hip joint bearing pin is supported by the first end of bearing by the first waist connecting plate, second end of the first waist connecting plate is fixed on boot, second hip joint drived control motor connects the 3rd synchronous pulley by the second hip joint planetary reduction gear, 4th synchronous pulley is connected by the second hip joint bearing pin with the second thigh and the second waist connecting plate, 4th synchronous pulley is connected without key by expansion sleeve with the second hip joint bearing pin, second thigh and the second hip joint bearing pin are connected by screw, 3rd synchronous pulley and the 4th synchronous pulley are wound around the second Timing Belt, second hip joint bearing pin is supported by the first end of bearing by the second waist connecting plate, second end of the second waist connecting plate is fixed on boot, motion of knee joint module comprises the first knee joint drived control motor, the second knee joint drived control motor, the first shank, the second shank, first shank and the first knee joint bearing pin are fixed, first thigh is supported by the first knee joint bearing pin by bearing, first knee joint drived control motor connects the first knee joint bearing pin by knee joint shaft coupling, second shank and the second knee joint bearing pin are fixed, second thigh is supported by the second knee joint bearing pin by bearing, and the second knee joint drived control motor connects the second knee joint bearing pin by knee joint shaft coupling, ankle motion module comprises the first ankle joint step support, the second ankle joint step support, the first pedal, the second pedal, first ankle joint step support connects the first ankle joint bearing pin, first shank is supported by the first ankle joint bearing pin by bearing, first pedal is arranged on the first ankle joint step support, second ankle joint step support connects the second ankle joint bearing pin, second shank is supported by the second ankle joint bearing pin by bearing, and the second pedal is arranged on the second ankle joint step support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420749772.0U CN204352127U (en) | 2014-12-03 | 2014-12-03 | A kind of ectoskeleton supplemental training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420749772.0U CN204352127U (en) | 2014-12-03 | 2014-12-03 | A kind of ectoskeleton supplemental training robot |
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| Publication Number | Publication Date |
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| CN204352127U true CN204352127U (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420749772.0U Withdrawn - After Issue CN204352127U (en) | 2014-12-03 | 2014-12-03 | A kind of ectoskeleton supplemental training robot |
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| CN (1) | CN204352127U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434472A (en) * | 2014-12-03 | 2015-03-25 | 哈尔滨工程大学 | Training aiding robot for exoskeletons |
| CN105640743A (en) * | 2015-12-17 | 2016-06-08 | 吉林大学 | Multifunctional gait correcting and walking burden alleviating device |
| CN107874981A (en) * | 2017-12-21 | 2018-04-06 | 天津工业大学 | A kind of wearable exoskeleton-type lower limb ambulation training healing robot |
| CN108294915A (en) * | 2017-01-12 | 2018-07-20 | 朱世强 | Standing and lying dual-purpose hand waist-leg athletic rehabilitation booster |
| CN109091283A (en) * | 2018-08-27 | 2018-12-28 | 王新 | A kind of medical arthrodesis device convenient for adjusting |
| CN110170985A (en) * | 2019-05-14 | 2019-08-27 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
| CN110185759A (en) * | 2019-05-14 | 2019-08-30 | 北京铁甲钢拳科技有限公司 | A kind of energy storage drive module |
| CN110179631A (en) * | 2019-06-25 | 2019-08-30 | 北京石油化工学院 | A kind of hip joint training institution of two-freedom |
| CN112438859A (en) * | 2020-10-23 | 2021-03-05 | 河南医学高等专科学校 | Autonomic swing ankle rehabilitation training device |
| EP3777811A4 (en) * | 2018-04-10 | 2021-05-26 | Guangzhou Zubu Medical Technology Co., Ltd. | Walking assistant robot |
-
2014
- 2014-12-03 CN CN201420749772.0U patent/CN204352127U/en not_active Withdrawn - After Issue
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104434472B (en) * | 2014-12-03 | 2016-08-03 | 哈尔滨工程大学 | A kind of ectoskeleton supplemental training robot |
| CN104434472A (en) * | 2014-12-03 | 2015-03-25 | 哈尔滨工程大学 | Training aiding robot for exoskeletons |
| CN105640743A (en) * | 2015-12-17 | 2016-06-08 | 吉林大学 | Multifunctional gait correcting and walking burden alleviating device |
| CN105640743B (en) * | 2015-12-17 | 2017-07-25 | 吉林大学 | Multi-functional gait rectifys appearance and walking Reduction of Students' Study Load device |
| CN108294915A (en) * | 2017-01-12 | 2018-07-20 | 朱世强 | Standing and lying dual-purpose hand waist-leg athletic rehabilitation booster |
| CN107874981A (en) * | 2017-12-21 | 2018-04-06 | 天津工业大学 | A kind of wearable exoskeleton-type lower limb ambulation training healing robot |
| EP3777811A4 (en) * | 2018-04-10 | 2021-05-26 | Guangzhou Zubu Medical Technology Co., Ltd. | Walking assistant robot |
| US11419781B2 (en) | 2018-04-10 | 2022-08-23 | Guangzhou Zubu Medical Technology Co., Ltd. | Walking assitant robot |
| CN109091283A (en) * | 2018-08-27 | 2018-12-28 | 王新 | A kind of medical arthrodesis device convenient for adjusting |
| CN110185759A (en) * | 2019-05-14 | 2019-08-30 | 北京铁甲钢拳科技有限公司 | A kind of energy storage drive module |
| CN110170985A (en) * | 2019-05-14 | 2019-08-27 | 北京铁甲钢拳科技有限公司 | A kind of exoskeleton system |
| CN110179631A (en) * | 2019-06-25 | 2019-08-30 | 北京石油化工学院 | A kind of hip joint training institution of two-freedom |
| CN110179631B (en) * | 2019-06-25 | 2021-12-10 | 北京石油化工学院 | Two-degree-of-freedom hip joint training mechanism |
| CN112438859A (en) * | 2020-10-23 | 2021-03-05 | 河南医学高等专科学校 | Autonomic swing ankle rehabilitation training device |
| CN112438859B (en) * | 2020-10-23 | 2023-09-19 | 河南医学高等专科学校 | Self-swinging ankle rehabilitation training 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: 20150527 Effective date of abandoning: 20160803 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |