CN202875734U - Device capable of forming gait curves of people - Google Patents
Device capable of forming gait curves of people Download PDFInfo
- Publication number
- CN202875734U CN202875734U CN 201220387295 CN201220387295U CN202875734U CN 202875734 U CN202875734 U CN 202875734U CN 201220387295 CN201220387295 CN 201220387295 CN 201220387295 U CN201220387295 U CN 201220387295U CN 202875734 U CN202875734 U CN 202875734U
- Authority
- CN
- China
- Prior art keywords
- length
- connecting rod
- point
- crank
- gait
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
Provided is a device capable of forming gait curves of people. The device is formed by a crank and rocker mechanism and a link mechanism in a combination mode, and is characterized in that the crank and rocker mechanism forms a closed cycle track, the upper portion of the closed cycle track is a part of an arc, the lower portion of the closed cycle track is a track similar to a straight line, and the tail end of the link mechanism forms an imitated gait curve of people under the driving of the crank and rocker mechanism forming the closed cycle track. The device capable of forming the gait curves of people mainly aims at the gait training of lower limbs, and people capable of standing independently or standing with help are enabled to walk with biomimetic gait curves. Rehabilitation training from toes, soles, ankle joints, knee joints and hip joints is completed under a normal walking mode.
Description
Technical field
This utility model relates to human body recovery armarium structural design and applied technical field, and a kind of device that can form people's gait curve is provided especially.
Background technology
Mainly because there is no effective ways in present worldwide, paralysis due to a variety of causes such as cerebral thrombosis, cerebral hemorrhage can cure, and limbs of patient is because long-term useless using, can cause muscle, skeleton, neural further atrophy, also can cause complication owing to the reason of paralysis simultaneously increases, therefore the limbs of hemiplegia or paralysis must reasonably move in the amplitude range, thus promote the paralysis side blood circulation, improve immunity of organisms, strengthen cardio-pulmonary function, reduce sick.
Application number be the track that forms of mechanism that 200710072265.2 Chinese patent application file (patent name: gait image training robot, particular content is omitted at this) provides as shown in Figure 1.As can be seen from Figure 1 it does not form people's gait curve.The product of Switzerland HOCOMA company only has the swing of thigh and shank, does not have toe, sole, ankle joint, knee joint to the coordination in hip joint, and the product of German LOKOHELP company only has the track under the sole of fixing elliptical orbit.
Existing auxiliary device can not be simulated people's gait well, and people urgently wish to obtain the good device that can form people's gait curve of a kind of technique effect.
Summary of the invention
The purpose of this utility model provides the good device that can form people's gait curve of a kind of technique effect.
This utility model provides a kind of device that can form people's gait curve, and is synthetic by crank and rocker mechanism and linkage; It is characterized in that: described crank and rocker mechanism forms following closed circulation track: its top is the part of circular arc, and the bottom is the track of near linear;
Under the crank and rocker mechanism of above-mentioned formation closed circulation track drove, the end of linkage formed bionical gait curve;
This utility model is synthetic by crank and rocker mechanism and linkage, by the calculating of rod member length computation and rod member rotating shaft position degree, the top that has formed connecting rod end by the rotation of crank be if shown in irregular curve and to be basic trend be in bottom straight line and also curve and straight line be the gait curve of closed sealing;
The described device that can form people's gait curve is constructed as follows: support 1, crank rotation disc 2, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26; Wherein:
End F point of connecting rod 1 and the upper articulation of support 1, an end of the other end of connecting rod 1 and connecting rod 26 is hinged, and hinge is the E point; One end of rocking bar 3 is hinged on the A point of the disalignment of crank rotation disc 2; Hinged and the hinge of the other end of rocking bar 3 and connecting rod 26 is the D point;
Point articulated support 1 bottom that is fixed on of one end B of support bar 4 is near the somewhere of crank rotation disc 2, and the other end C of support bar 4 is point articulated to be fixed on the rocking bar 3;
The other end G point of ordering away from E on the connecting rod 26 forms the apery gait curve; Particularly: connecting rod 1 is connected the end that is connected to connecting rod 2 with crank and rocker mechanism after connecting and is formed the gait curve of mankind's walking with connecting rod.
In the described device that can form people's gait curve, effective radius of turn OA of crank rotation disc 2 is 34-210mm; OB length in the horizontal direction is between 51-234mm; OB in the length of vertical direction between 0-60mm; AC length is between 60-240mm; CD length is between 80-320mm; The effective length BC of support bar 4 is between 60-240mm; The effective length EF of connecting rod 1 is between 210-640mm; The effective length EG of connecting rod 26 is between 210-640mm; DE length is between 60-340mm; OF length in the horizontal direction is between 0-340mm; OF in the length of vertical direction between 370-1140mm.
The particular contents such as concrete structure length of various piece are preferably as follows in the described device that can form people's gait curve:
The described device that can form people's gait curve is constructed as follows: OA=42mm; OB length=89.73mm in the horizontal direction, OB is at the length=3.59mm of vertical direction (the B point is under the O point); AC=120mm; CD=180mm; BC=120mm; EF=450mm; EG=450mm; DE=188mm; OF length=200.54mm in the horizontal direction; OF at the length of vertical direction=818.71mm(F point on the O point);
H is OA track by the G dot generation behind at least one circle of O point rotation: the gait curve.
This utility model is mainly for the gait training in the lower limb, so that independence or the assistance crowd under standing can walk out bionical gait curve.Finish from the toe to the sole, ankle joint, knee joint, the rehabilitation training under the normal row walking modes of hip joint.
Description of drawings
Below in conjunction with drawings and the embodiments this utility model is described in further detail:
Fig. 1 is gait image training robot principle simplified schematic diagram corresponding to the Chinese patent application file of application number 200710072265.2;
Fig. 2 is for forming the principle of device simplified schematic diagram of people's gait curve;
Fig. 3 forms closed circulation track principle schematic by crank and rocker mechanism.
The specific embodiment
Additional disclosure about Figure of description:
Put formed movement locus (being the closed curve that the black heavy line among Fig. 3 consists of) take the hinge in the upper right corner of rocking bar 3 as Typical Representative among Fig. 3 and be the closed circulation track that crank and rocker mechanism forms.
A kind of device that can form people's gait curve, synthetic by crank and rocker mechanism and linkage; Described crank and rocker mechanism forms following closed circulation track: its top is the part of circular arc, and the bottom is the track of near linear;
Under the crank and rocker mechanism of above-mentioned formation closed circulation track drove, the end of linkage formed the apery gait curve.
Present embodiment is synthetic by crank and rocker mechanism and linkage, by the calculating of rod member length computation and rod member rotating shaft position degree, the top that has formed connecting rod end by the rotation of crank be if shown in irregular curve and to be basic trend be in bottom straight line and also curve and straight line be the gait curve of closed sealing.
The described device that can form people's gait curve is constructed as follows: support 1, crank rotation disc 2, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26; Wherein:
End F point of connecting rod 1 and the upper articulation of support 1, an end of the other end of connecting rod 1 and connecting rod 26 is hinged, and hinge is the E point; One end of rocking bar 3 is hinged on the A point of the disalignment of crank rotation disc 2; Hinged and the hinge of the other end of rocking bar 3 and connecting rod 26 is the D point;
Point articulated support 1 bottom that is fixed on of one end B of support bar 4 is near the somewhere of crank rotation disc 2, and the other end C of support bar 4 is point articulated to be fixed on the rocking bar 3;
The other end G point of ordering away from E on the connecting rod 26 forms the apery gait curve; Particularly: connecting rod 1 is connected the end that is connected to connecting rod 2 with crank and rocker mechanism after connecting and is formed the gait curve of mankind's walking with connecting rod.
The described device that can form people's gait curve is constructed as follows: OA=42mm; OB length=89.73mm in the horizontal direction, OB is at the length=3.59mm of vertical direction (the B point is under the O point); AC=120mm; CD=180mm; BC=120mm; EF=450mm; EG=450mm; DE=188mm; OF length=200.54mm in the horizontal direction; OF at the length of vertical direction=818.71mm(F point on the O point);
H is OA track by the G dot generation behind at least one circle of O point rotation: the gait curve.
Present embodiment is mainly for the gait training in the lower limb, so that independence or the assistance crowd under standing can walk out bionical gait curve.Finish from the toe to the sole, ankle joint, knee joint, the rehabilitation training under the normal row walking modes of hip joint.
A kind of device that can form people's gait curve, synthetic by crank and rocker mechanism and linkage; Described crank and rocker mechanism forms following closed circulation track: its top is the part of circular arc, and the bottom is the track of near linear;
Under the crank and rocker mechanism of above-mentioned formation closed circulation track drove, the end of linkage formed the apery gait curve.
Present embodiment is synthetic by crank and rocker mechanism and linkage, by the calculating of rod member length computation and rod member rotating shaft position degree, the top that has formed connecting rod end by the rotation of crank be if shown in irregular curve and to be basic trend be in bottom straight line and also curve and straight line be the gait curve of closed sealing.
The described device that can form people's gait curve is constructed as follows: support 1, crank rotation disc 2, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26; Wherein:
End F point of connecting rod 1 and the upper articulation of support 1, an end of the other end of connecting rod 1 and connecting rod 26 is hinged, and hinge is the E point; One end of rocking bar 3 is hinged on the A point of the disalignment of crank rotation disc 2; Hinged and the hinge of the other end of rocking bar 3 and connecting rod 26 is the D point;
Point articulated support 1 bottom that is fixed on of one end B of support bar 4 is near the somewhere of crank rotation disc 2, and the other end C of support bar 4 is point articulated to be fixed on the rocking bar 3;
The other end G point of ordering away from E on the connecting rod 26 forms the apery gait curve; Particularly: connecting rod 1 is connected the end that is connected to connecting rod 2 with crank and rocker mechanism after connecting and is formed the gait curve of mankind's walking with connecting rod.
In the described device that can form people's gait curve, effective radius of turn OA of crank rotation disc 2 is 34mm; OB length in the horizontal direction is at 51mm; OB is at the length 0mm of vertical direction; AC length 60mm; CD length 80mm; The length BC of support bar 4 is 60mm; Connecting rod one 5 length EF are 210mm; The length EG of connecting rod 26 is 210mm; DE length is 60mm; OF length in the horizontal direction is 0mm; OF is 370mm in the length of vertical direction.
Present embodiment is mainly for the gait training in the lower limb, so that independence or the assistance crowd under standing can walk out bionical gait curve.Finish from the toe to the sole, ankle joint, knee joint, the rehabilitation training under the normal row walking modes of hip joint.
A kind of device that can form people's gait curve, synthetic by crank and rocker mechanism and linkage; Described crank and rocker mechanism forms following closed circulation track: its top is the part of circular arc, and the bottom is the track of near linear;
Under the crank and rocker mechanism of above-mentioned formation closed circulation track drove, the end of linkage formed the apery gait curve.
Present embodiment is synthetic by crank and rocker mechanism and linkage, by the calculating of rod member length computation and rod member rotating shaft position degree, the top that has formed connecting rod end by the rotation of crank be if shown in irregular curve and to be basic trend be in bottom straight line and also curve and straight line be the gait curve of closed sealing.
The described device that can form people's gait curve is constructed as follows: support 1, crank rotation disc 2, rocking bar 3, support bar 4, connecting rod 1, connecting rod 26; Wherein:
End F point of connecting rod 1 and the upper articulation of support 1, an end of the other end of connecting rod 1 and connecting rod 26 is hinged, and hinge is the E point; One end of rocking bar 3 is hinged on the A point of the disalignment of crank rotation disc 2; Hinged and the hinge of the other end of rocking bar 3 and connecting rod 26 is the D point;
Point articulated support 1 bottom that is fixed on of one end B of support bar 4 is near the somewhere of crank rotation disc 2, and the other end C of support bar 4 is point articulated to be fixed on the rocking bar 3;
The other end G point of ordering away from E on the connecting rod 26 forms the apery gait curve; Particularly: connecting rod 1 is connected the end that is connected to connecting rod 2 with crank and rocker mechanism after connecting and is formed the gait curve of mankind's walking with connecting rod.
In the described device that can form people's gait curve, effective radius of turn OA of crank rotation disc 2 is 210mm; OB length in the horizontal direction is 234mm; OB is 60mm in the length of vertical direction; AC length is 240mm; CD length is 320mm; The effective length BC of support bar 4 is 240mm; The effective length EF of connecting rod 1 is 640mm; The effective length EG of connecting rod 26 is 640mm; DE length is 340mm; OF length in the horizontal direction is 340mm; OF is 1140mm in the length of vertical direction.
Present embodiment is mainly for the gait training in the lower limb, so that independence or the assistance crowd under standing can walk out bionical gait curve.Finish from the toe to the sole, ankle joint, knee joint, the rehabilitation training under the normal row walking modes of hip joint.
Claims (4)
1. the device that can form people's gait curve is synthetic by crank and rocker mechanism and linkage; It is characterized in that: described crank and rocker mechanism forms following closed circulation track: its top is the part of circular arc, and the bottom is the track of near linear;
Under the crank and rocker mechanism of above-mentioned formation closed circulation track drove, the end of linkage formed the apery gait curve.
2. according to the described device that can form people's gait curve of claim 1, it is characterized in that: the described device that can form people's gait curve is constructed as follows: support (1), crank rotation disc (2), rocking bar (3), support bar (4), connecting rod one (5), connecting rod two (6); Wherein:
Crank rotation disc (2) is fixed on support (1) bottom and can rotates around himself axis; The axis of crank rotation disc (2) is the O point perpendicular to the described formed free cheek of device and the intersection point that can form people's gait curve;
End F point of connecting rod one (5) and the upper articulation of support (1), an end of the other end of connecting rod one (5) and connecting rod two (6) is hinged, and hinge is the E point; One end of rocking bar (3) is hinged on the A point of the disalignment of crank rotation disc (2); Hinged and the hinge of the other end of rocking bar (3) and connecting rod two (6) is the D point;
Point articulated support (1) bottom that is fixed on of one end B of support bar (4) is near the somewhere of crank rotation disc (2), and the other end C of support bar (4) is point articulated to be fixed on the rocking bar (3);
Connecting rod two (6) upper other end G points of ordering away from E form the apery gait curve.
3. according to the described device that can form people's gait curve of claim 2, it is characterized in that: in the described device that can form people's gait curve, effective radius of turn OA of crank rotation disc (2) is 34-210mm; OB length in the horizontal direction is between 51-234mm; OB in the length of vertical direction between 0-60mm; AC length is between 60-240mm; CD length is between 80-320mm; The effective length BC of support bar (4) is between 60-240mm; The effective length EF of connecting rod one (5) is between 210-640mm; The effective length EG of connecting rod two (6) is between 210-640mm; DE length is between 60-340mm; OF length in the horizontal direction is between 0-340mm; OF in the length of vertical direction between 370-1140mm.
4. according to the described device that can form people's gait curve of claim 3, it is characterized in that: the described device that can form people's gait curve is constructed as follows: OA=42mm; OB length=89.73mm in the horizontal direction, OB is at the length=3.59mm of vertical direction; AC=120mm; CD=180mm; BC=120mm; EF=450mm; EG=450mm; DE=188mm; OF length=200.54mm in the horizontal direction; OF is at the length=818.71mm of vertical direction;
H is OA behind at least one circle of O point rotation by the track of G dot generation bionical gait curve namely.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220387295 CN202875734U (en) | 2012-08-07 | 2012-08-07 | Device capable of forming gait curves of people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220387295 CN202875734U (en) | 2012-08-07 | 2012-08-07 | Device capable of forming gait curves of people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202875734U true CN202875734U (en) | 2013-04-17 |
Family
ID=48067205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220387295 Expired - Fee Related CN202875734U (en) | 2012-08-07 | 2012-08-07 | Device capable of forming gait curves of people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202875734U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852741A (en) * | 2018-04-10 | 2018-11-23 | 北京空间飞行器总体设计部 | A kind of double leval jib power-assistant running mechanism |
| CN114044099A (en) * | 2021-12-21 | 2022-02-15 | 广东岭南职业技术学院 | Structure for converting circular motion track into approximate elliptical motion track |
-
2012
- 2012-08-07 CN CN 201220387295 patent/CN202875734U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108852741A (en) * | 2018-04-10 | 2018-11-23 | 北京空间飞行器总体设计部 | A kind of double leval jib power-assistant running mechanism |
| CN108852741B (en) * | 2018-04-10 | 2020-08-18 | 北京空间飞行器总体设计部 | Four-bar linkage helping hand running gear |
| CN114044099A (en) * | 2021-12-21 | 2022-02-15 | 广东岭南职业技术学院 | Structure for converting circular motion track into approximate elliptical motion track |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202128671U (en) | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer | |
| CN104758142B (en) | A kind of assistance exoskeleton robot | |
| KR101184547B1 (en) | Knee joint assistive device having length variable mechanism | |
| CN103505342A (en) | External skeleton type gait rehabilitation training device | |
| CN103845186A (en) | Exercise support apparatus and exercise support method | |
| CN103126851A (en) | Gait training mechanical leg | |
| CN105616113A (en) | Passive energy storage foot mechanism for power assisting exoskeletons for lower limbs | |
| CN104490568A (en) | Human lower extremity exoskeleton walking aid rehabilitation robot | |
| CN107997927B (en) | Foot rehabilitation training device | |
| ITMI20112325A1 (en) | DEVICE AND METHOD FOR REHABILITATION OF FOOT MOVEMENTS | |
| CN105167959A (en) | Multifunctional gait rehabilitation training device | |
| CN106901949B (en) | Full lower limb exoskeleton and its operating method | |
| CN205163560U (en) | Multi -functional gait rehabilitation training device | |
| Yan et al. | A novel adaptive oscillators-based control for a powered multi-joint lower-limb orthosis | |
| CN104055650B (en) | Interactive paraplegia walking aid external skeleton with horizontal swinging function | |
| CN109925164B (en) | Rope-driven inner foot mechanism for lower limb rehabilitation robot | |
| CN107174488A (en) | A kind of vola in-wheel driving self-balancing power exoskeleton for Patients of Spinal | |
| CN102218005B (en) | Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer | |
| CN108852741B (en) | Four-bar linkage helping hand running gear | |
| CN203749802U (en) | Exoskeleton walking aiding and rehabilitation robot | |
| CN202875734U (en) | Device capable of forming gait curves of people | |
| CN111671624B (en) | Wearable metatarsophalangeal joint walking power assisting device | |
| CN103908395A (en) | Exoskeleton walking aid and rehabilitation robot | |
| CN106112989B (en) | The wearable decompression power-assisted machinery exoskeleton device of human body | |
| CN103566542A (en) | Device for driving person to carry out gait training by binding feet and shanks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130417 Termination date: 20130807 |