CN102697622B - Sitting and lying lower limb rehabilitation robot - Google Patents
Sitting and lying lower limb rehabilitation robot Download PDFInfo
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- CN102697622B CN102697622B CN2012101906599A CN201210190659A CN102697622B CN 102697622 B CN102697622 B CN 102697622B CN 2012101906599 A CN2012101906599 A CN 2012101906599A CN 201210190659 A CN201210190659 A CN 201210190659A CN 102697622 B CN102697622 B CN 102697622B
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Abstract
The invention discloses a sitting and lying lower limb rehabilitation robot. Structures of a left leg (3) and a right leg (5) of the robot are completely symmetrical, wherein the left leg (3) comprises a left rack (12), a left width adjusting part (13) and a left mechanical leg (2); a rod rack (42) and a cylinder rack (47) on a quick locking assembly I (27) are fixedly connected with the left rack (12) by screws; a connecting pin II (93) is matched with a quick locking assembly II (25); a left traversing push rod assembly (28) is fixedly connected with the left rack (12) by screws through a bearing sleeve I (57) and a bearing sleeve II (62); and a positioning pin (86) on a seat frame (89) is matched with a positioning hole (31) in the left rack (12). The robot is convenient to disassemble, carry and assemble. The whole robot can be automatically adjusted, has double limitation of electric appliances and machinery, can be used for rehabilitation training of sitting posture and lying posture, and ensures comfort and safety of patients.
Description
Technical field
The present invention relates to a kind of sitting and lying formula lower limb rehabilitation robot, belong to field of medical.
Background technology
Along with the development of Chinese society, aged tendency of population more and more seriously reaches the lower limb body sporting functionality impaired patients that various diseases and contingency cause and grows with each passing day.And these patients are except needs carry out medicine and operative treatment, the rehabilitation training of carrying out science by rehabilitation mechanical is also particularly important.Along with the raising of social progress and people's living standard, people also more and more pay close attention to health care in addition, and this development that is lower limb rehabilitation robot provides necessary objective condition.
The country maintained the leading position in the lower limb rehabilitation robot field at present mainly contains Japan, the U.S., Canada, Switzerland and Britain.And China is more late in the research work starting in healing robot field, be in now the initial development stage, wherein the device for rehabilitation robot comparison of results of assisted class is many, possesses recovery exercising robot multi-functional, multiple training mode relatively less.
The built all types disability rehabilitation in the whole nation trains nearly 20,000 of service organization at present, very large to the demand of rehabilitation equipment.Therefore yet import equipment is expensive, the home equipment function singleness, can not meet patient demand far away, develops a kind of high technology content, intelligentized lower limbs rehabilitation training robot is very necessary and urgent.
Summary of the invention
The object of the present invention is to provide a kind of sitting and lying formula lower limb rehabilitation robot, this invention adopts modularization idea, complete machine is divided into to independence and the left lower limb that is mutually related, right lower limb and three parts of seat separately, under the lower limb of left and right, universal caster wheel is housed simultaneously, be convenient to dismounting, carrying and install.Complete machine can be regulated the width of left and right lower limb automatically, and shank and thigh can be regulated length automatically, is convenient to adapt to the patient of the different builds of different height, makes rehabilitation training more comfortable.
The technical solution adopted for the present invention to solve the technical problems is: described sitting and lying formula lower limb rehabilitation robot, comprise left lower limb, seat and right lower limb, and the structure full symmetric of described left lower limb and right lower limb is therefore only made an explanation to left lower limb herein.Described left lower limb comprises left, left width adjusting section and left pedipulator, described left upper fast lock grip assembly I and the fast lock grip assembly II of installing, on fast lock grip assembly I, bridge and cylinder frame are connected firmly by screw and left, connecting pin coordinates with fast lock grip assembly I, left traversing push-rod assembly is connected firmly by screw and left by bearing holder (housing, cover) I and bearing holder (housing, cover) II, on chair frame, alignment pin coordinates with left upper locating hole, and four universal caster wheels and left connect firmly.
Described fast lock grip assembly I is identical with fast lock grip assembly II structure, wherein, the upper block of described fast lock grip assembly I is welded on pull bar, crotch is connected by screw with large slip cap, big spring and large slip cap are enclosed within on a frame, big spring one end heads on large slip cap, the other end heads on the buckle closure be buckled on a frame, buckle closure is connected with screw plate by screw, screw plate is spacing by circlip, place little spring and little slip cap in the cylinder frame, little spring one end withstands on screw plate, the other end withstands in little slip cap, place respectively steel ball I and steel ball II in two holes on large slip cap body, steel ball I and steel ball II are stuck in the groove of connecting pin, connecting pin and chair frame connect firmly by screw thread.
The motor of the traversing push-rod assembly in a described left side is fixed on motor rack, and motor rack and bearing holder (housing, cover) connect firmly, and motor shaft is connected by trip bolt with leading screw, square feed screw nut is placed in screw nut sleeve, and coordinate with leading screw, the leading screw other end has bearing holder (housing, cover), and half-clutch device I is connected by key with leading screw.
Described left width adjusting section left legportion bracing frame is connected firmly by screw and left width adjusting section underframe.The rail plate axle sleeve is fixed on left, the rail plate axle is through left width adjusting section underframe PATENT left side via, then through the rail plate axle sleeve, be stuck in the shrinkage pool of left width adjusting section's underframe right side, the guide rail end cap is fixed on left width adjusting section's underframe PATENT left side via position by screw, and the restriction lead rail axis shifts out left; Slidably guide wheel bracing frame and left width adjusting section underframe connect firmly, and are supported on the guide wheel gripper shoe be welded on left.On left traversing push-rod assembly, screw nut sleeve and cover plate are connected by screw with the guide rail frame plate on being welded in left width adjusting section underframe.
Unthreaded hole plate and the screw plate of described left legportion bracing frame upper limit retaining device are fixed on the left legportion bracing frame by screw, but the electric magnet of Double-directional rotary connects firmly by electromagnetism brandreth and unthreaded hole plate, thereby electric magnet comes back rotation to drive swing arm, thereby swing arm is stirred driving lever and is impelled plug to move back and forth; Block I and block II connect firmly by screw and left legportion bracing frame; Limit switch, photoelectricity approach switch I, photoelectricity approach switch II connect firmly with the screw plate of block I, left legportion bracing frame, limiting block mechanism respectively.
On described left pedipulator, ankle joint and driving device thereof are connected with the shank adjusting device by large alignment pin, shank adjusting device and knee joint connect firmly, knee joint and thigh adjusting device connect firmly, knee joint driving device and thigh adjusting device connect firmly, thigh adjusting device and hip joint connect firmly, hip joint is fixed on the left legportion bracing frame by screw, and the hip joint driving device is fixed on left width adjusting section underframe, and the hip joint driving device rotates by the belt drives hip joint.Positive stop is fixed on the thigh adjusting device by screw, and forearm guard shield and large arm guard shield connect firmly with shank adjusting device and thigh adjusting device respectively.
The chair with back support I of described chair frame and chair with back support II coordinate with the circular shaft of seat back weld holder; The bearing holder (housing, cover) of pitching adjusting mechanism be fixed on chair frame on free bearing by bearing pin, be connected, the feed screw nut of pitching adjusting mechanism is connected with seat back weld holder top nut frame I and nut frame II; Drive motors on pitching adjusting mechanism is fixed on connecting plate, and drives the travelling gear I, and travelling gear I and the engagement of travelling gear II, drive feed screw nut through leading screw and move, thereby drive the seat back weld holder, around circular shaft, rotates; Guard shield connects firmly by screw and connecting plate and bearing holder (housing, cover).
Described left the I of the bearing block by screw and traversing lock unit and bearing block II connect firmly, traversing lock unit left and right symmetrical configuration, the axle I is connected by universal coupling with the axle II, wherein half-clutch device II is connected with axle key, spring one end withstands on half-clutch device II, the other end withstands on check ring, and check ring is spacing by jump ring, and half-clutch device II is bonding through the circular hole on chair frame and left the half-clutch device I gone up on traversing push-rod assembly.
The left outside shell lower box body of left lower limb is fixed on left width adjusting section underframe, and left outside shell upper shell is fixed on left outside shell lower box body, and left outside shell lower box side cover is fixed on left outside shell lower box body, on the fixing left outside shell upper shell of left handrail.
Photoelectricity approach switch III, photoelectricity approach switch IV and photoelectricity approach switch V are installed on described chair frame.
The invention has the beneficial effects as follows: this invention adopts modularization idea, complete machine is divided into to independence and the left lower limb of the volume and weight less that is mutually related, right lower limb and three parts of seat separately, under the lower limb of left and right, universal caster wheel is housed simultaneously, is convenient to dismounting, carrying and installs.Complete machine can be regulated the width of left and right lower limb automatically, and shank and thigh can be regulated length automatically, is convenient to adapt to the patient of the different builds of different height, makes rehabilitation training more comfortable.Chair with back can carry out pitch regulation, pedipulator hip joint corner and seat back weld holder corner are interrelated, and have electrical equipment and mechanical dual spacing, can carry out the rehabilitation training under sitting posture and prone position, both guarantee the comfortable and safe of patient, also guaranteed the safety of mechanism.The present invention can realize the passive exercise of any complicated track, power-assisting training and monarthric active training based on active force and electricity irritation at the human body sagittal plane.
The accompanying drawing explanation
Fig. 1 is the schematic diagram of sitting and lying formula lower limb rehabilitation robot;
Fig. 2 a is the schematic diagram of the outward appearance of left lower limb;
Fig. 2 b is the structural representation of left lower limb;
Fig. 3 is the structural representation of left;
Fig. 4 is the structural representation of left width adjusting section;
Fig. 5 a is the structural representation of fast lock grip assembly;
Fig. 5 b is the phantom of fast lock grip assembly;
Fig. 6 is the structural representation of left traversing push-rod assembly;
Fig. 7 is the partial structurtes schematic diagram of left pedipulator;
Fig. 8 is the structural representation of limiting block mechanism;
Fig. 9 is the partial structurtes schematic diagram at hip joint place;
Figure 10 a is the schematic appearance of seat;
Figure 10 b is the structural representation I of seat;
Figure 10 c is the structural representation II of seat;
Figure 11 is seat back weld holder structural representation;
Figure 12 is the structural representation of pitching adjusting mechanism;
The structural representation of the traversing lock unit of Figure 13.
In above-mentioned accompanying drawing, 1. right pedipulator, 2. left pedipulator, 3. left lower limb, 4. seat, 5. right lower limb, 6. left outside shell lower box body, 7. left outside shell upper shell, 8. left handrail, 9. large arm guard shield, 10. forearm guard shield, 11. left outside shell lower box side cover, 12. left, 13. left width adjusting section, 14. belt, 15. ankle joint and driving device thereof, 16. large alignment pin, 17. limiting block mechanism, 18. shank adjusting device, 19. knee joint, 20. hip joint, 21. thigh adjusting device, 22. knee joint driving device, 23. hip joint driving device, 24. universal caster wheel I, 25. fast lock grip assembly II, 26. universal caster wheel II, 27. fast lock grip assembly I, 28. left traversing push-rod assembly, 29. universal caster wheel III, 30. universal caster wheel IV, 31. locating hole, 32. rail plate axle sleeve, 33. guide wheel gripper shoe, 34. left legportion bracing frame, 35. block I, 36. limit switch, 37. guide wheel bracing frame, 38. left width adjusting section underframe, 39. rail plate axle, 40. left end guide rail end cap, 41. little block, 42. bridge, 43. pull bar, 44. crotch, 45. buckle closure, 46. large slip cap, 47. cylinder frame, 48. connecting pin I, 49. screw plate, 50. big spring, 51. little spring, 52. little slip cap, 53. steel ball I, 54. steel ball II, 55. motor, 56. motor rack, 57. bearing holder (housing, cover) I, 58. leading screw, 59. cover plate, 60. square feed screw nut, 61. screw nut sleeve, 62. bearing holder (housing, cover) II, 63. half-clutch device I, 64. positive stop, 65. electric magnet, 66. electromagnetism brandreth, 67. swing arm, 68. driving lever, 69. plug, 70. unthreaded hole plate, 71. screw plate, 72. photoelectricity approach switch I, 73. photoelectricity approach switch II, 74. block II, 75. chair back cushion, 76. chair with back arc shell, 77. seat cushions, 78. chair frame back of the body case, 79. chair frame fore shell, 80. the left shell of chair frame, 81. the right shell of chair frame, 82. seat back weld holder, 83. chair with back support I, 84. photoelectricity approach switch V, 85. upper free bearing, 86. alignment pin, 87. pitching adjusting mechanism, 88. lifting foot I, 89. chair frame, 90. lifting foot II, 91. traversing lock unit, 92. photoelectricity approach switch IV, 93. connecting pin II, 94. lifting foot III, 95. large castor I, 96. lifting foot IV, 97. large castor II, 98. bearing pin, 99. photoelectricity approach switch III, 100. chair with back support II, 101. circular shaft, 102. nut frame I, 103. nut frame II, 104. travelling gear II, 105. guard shield, 106. travelling gear I, 107. connecting plate, 108. bearing holder (housing, cover), 109. drive motors, 110. leading screw, 111. feed screw nut, 112. axle I, 113. half-clutch device II, 114. spring, 115. check ring, 116. bearing block I, 117. universal coupling, 118. bearing block II, 119. check ring II, 120. spring II, 121. half-clutch device III, 122. axle II.
Specific embodiments
Below according to the specific embodiment of the invention scheme, and by reference to the accompanying drawings the present invention is further illustrated.
In the present invention, sitting and lying formula lower limb rehabilitation robot population structure schematic diagram as shown in Figure 1, mainly comprises left lower limb 3 and right lower limb 5 and seat 4, and therefore its left lower limb 3 and right lower limb 5 structure full symmetrics only make an explanation to left lower limb herein.
Described left lower limb mainly comprises left 12, left width adjusting section 13 and left pedipulator 2(be shown in shown in Fig. 2 a, Fig. 2 b).Universal caster wheel I 30, universal caster wheel II 29, universal caster wheel III 26, universal caster wheel IV 24 connect firmly with the base of frame of left 12.The fast lock grip assembly I 27 that structure is identical and fast lock grip assembly II 25 are fixed on the framework of left 12.The little block 41 of fast lock grip assembly I 27 is welded on pull bar 43 (sees Fig. 5 a, Fig. 5 b), pull bar 43 is through bridge 42 and crotch 44, the motion of circlip and split pin restriction crotch 44, crotch 44 is connected by screw with large slip cap 46, big spring 50 and large slip cap 46 are enclosed within on a frame 47, and big spring 50 1 ends head on large slip cap 46, and the other end heads on the buckle closure 45 be buckled on a frame 47, buckle closure 45 is connected with screw plate 49 by screw, and screw plate 49 is spacing by circlip; The cylinder interior placement little spring 51 of frame 47 and little slip cap 52, little spring 51 1 ends withstand on screw plate 49, the other end withstands in little slip cap 52, two holes on large slip cap 46 bodies, place respectively steel ball I 53 and steel ball II 54, under released state, steel ball I 53 and steel ball II 54 are withstood by little slip cap 52 under the elastic force of little spring 51, during locking state, steel ball I 53 and steel ball II 54 are stuck in the groove of connecting pin I 48, connecting pin I 48 is threaded connection with chair frame 89, and on fast lock grip assembly I 27, bridge 42 and cylinder frame 47 are connected firmly by screw and left 12.Connecting pin II 93 coordinates with fast lock grip assembly II 25 in addition, and on chair frame 89, alignment pin 86 coordinates (seeing Fig. 3, Figure 10 b) with locating hole 31 on left 12.
In left traversing push-rod assembly 28, motor 55 is fixed on motor rack 56, motor rack 56 and bearing holder (housing, cover) I 57 connect firmly, motor 55 axles are connected by marking closely nail with leading screw 58, square feed screw nut 60 is placed in screw nut sleeve 61, and coordinates with leading screw 58, and leading screw 58 other ends have bearing holder (housing, cover) II 62, half-clutch device I 63 is connected by key with leading screw 58, and left traversing push-rod assembly 28 connects firmly (see figure 6) by bearing holder (housing, cover) I 57 and bearing holder (housing, cover) II 62 by screw and left 12.Left width adjusting section 13 mainly comprises left width adjusting section's underframe 38 and left legportion bracing frame 34, and left legportion bracing frame 34 is connected firmly by screw and left width adjusting section underframe 38.Rail plate axle sleeve 32 is fixed on left 12, rail plate axle 39 is through left width adjusting section underframe 38 PATENT left side via, then through rail plate axle sleeve 32, be stuck in left width adjusting section underframe 38 right side shrinkage pools, lead rail axis end cap 40 is fixed on left width adjusting section's underframe 38 PATENT left side via positions by screw; Slidably guide wheel bracing frame 37 connects firmly with left width adjusting section underframe 38, and is supported on the guide wheel gripper shoe be welded on left.On left traversing push-rod assembly 28, screw nut sleeve 61 and cover plate 60 are connected (seeing Fig. 3, Fig. 4) with left width adjusting section underframe 38 by screw.
Left legportion bracing frame 34 upper limit retaining devices 17 are comprised of electric magnet 65, electromagnetism brandreth 66, swing arm 67, driving lever 68, plug 69, unthreaded hole plate 70, screw plate 71, wherein unthreaded hole plate 70 and screw plate 71 are fixed on left legportion bracing frame 34 by screw, but the electric magnet 65 of Double-directional rotary connects firmly by electromagnetism brandreth 66 and unthreaded hole plate 70, thereby electric magnet 65 comes back rotation to drive swing arm 67, thereby swing arm 67 is stirred driving lever 68 and is impelled plug 69 to move back and forth; Block I 35 connects firmly by screw and left legportion bracing frame 34 with block II 74; Limit switch 36, photoelectricity approach switch I 72, photoelectricity approach switch II 73 connect firmly (seeing Fig. 4, Fig. 8, Fig. 9) with the screw plate 71 of block I 35, left legportion bracing frame 34, limiting block mechanism 17 respectively.
On left pedipulator 2, ankle joint and driving device 15 thereof are connected with shank adjusting device 18 by large alignment pin 16, shank adjusting device 18 connects firmly with knee joint 19, knee joint 19 connects firmly with thigh adjusting device 21, knee joint driving device 22 connects firmly with thigh adjusting device 21, thigh adjusting device 21 connects firmly with hip joint 20, hip joint 20 is fixed on the left legportion bracing frame 32 by screw, hip joint driving device 23 is fixed on left width adjusting section underframe 36, and hip joint driving device 23 drives hip joints 20 to rotate by belt 14.Positive stop 61 is fixed on thigh adjusting device 21 by screw.Forearm guard shield 10 and large arm guard shield 9 connect firmly (seeing Fig. 2 b) with shank adjusting device 18 and thigh adjusting device 21 respectively.
On left lower limb, 3 shells are comprised of left outside shell upper shell 7, left outside shell lower box body 6, left outside shell lower box side cover 11, left handrail 8.Left outside shell lower box body 6 is fixed on left width adjusting section underframe 36, left outside shell upper casing 7 bodies are fixed on left outside shell lower box body 6, left outside shell lower box side cover 11 is fixed on left outside shell lower box body 6, and on the fixing left outside shell upper shell of left handrail 8,7(is shown in Fig. 2 a).
In seat 4, lifting foot I 88, lifting foot II 90, lifting foot III 94, lifting foot IV 96 and large castor I 95 and large castor II 97 are fixed on the bottom (seeing Figure 10 b) of chair frame 89.
Chair frame fore shell 79, the left shell 80 of chair frame, the right shell 81 of chair frame, chair frame back of the body case 78, seat cushions 77 connect firmly with chair frame 89, and chair back cushion 75, chair with back arc shell 77 connect firmly and (see Figure 10 a) with seat back weld holder 82.
Photoelectricity approach switch III 99, photoelectricity approach switch IV 92, photoelectricity approach switch V 84 are arranged on chair frame 89 (sees Figure 10 c).
Traversing lock unit 91 left and right symmetrical configuration, axle I 112 is connected by universal coupling 117 with axle II 122.Wherein half-clutch device II 113 is connected with axle I 112 keys, spring 114 1 ends withstand on half-clutch device II 113, the other end withstands on check ring 115, check ring 115 is spacing by jump ring, whole traversing lock unit is connected firmly with left by screw by bearing block I 116 and bearing block II 118, and half-clutch device II 113 is passed the half-clutch device I 63 bonding (seeing Figure 10 c, Figure 13) on traversing push-rod assembly 28 on circular hole on chair frame and left 12.
On seat back weld holder 82 circular shaft 101 with and chair frame 89 the chair with back support I 83, the chair with back support II 100 that connect firmly coordinate; Pitching adjusting mechanism 87 upper bearing sleeves 106 be fixed on chair frame 89 on free bearing 82 by bearing pin 95, be connected; Feed screw nut 111 on pitching adjusting mechanism 87 is connected with seat back weld holder 82 top nut frame I 102 and nut frame II 103; Drive motors on pitching adjusting mechanism 87 is fixed on connecting plate 107, and drive travelling gear I 106, travelling gear I 106 and 104 engagements of travelling gear II, drive feed screw nut 111 through leading screw 110 and move, thereby drive seat back weld holder 82, around circular shaft 101, rotates; Guard shield 105 connects firmly by screw and connecting plate 107 and bearing holder (housing, cover) 108.(seeing Figure 10 b, Figure 12).
Hip joint 20 corners and seat back weld holder 82 corners of described pedipulator are interrelated.When left pedipulator 2, along counterclockwise rotating, and hip joint 20 corners are during horizontal by 30 °, limit switch 36 responses, and hip joint stops operating, if limit switch lost efficacy, by block I 35, blocks limited block 64 and carries out mechanical position limitation.When left pedipulator 2 rotates clockwise, and hip joint 20 corners are during horizontal by 90 °, 72 responses of photoelectricity approach switch I, if photoelectricity approach switch I 72 lost efficacy, by the latch 69 of limiting block mechanism 17, block limited block 64 and carry out mechanical position limitation, if now seat back weld holder 82 corners are more than or equal to 120 °, limiting block mechanism 17 latches 69 are in extracting state, photoelectricity approach switch I 72 quits work simultaneously, and hip joint 20 can be rotated further.When the corner of hip joint 20, during horizontal by 110 °, 73 responses of photoelectricity approach switch II, if photoelectricity approach switch II 73 lost efficacy carried out mechanical position limitation by block II 74.
Corner according to seat back weld holder 82, the maximum rotation angle of hip joint 20 can be divided into mechanical position limitation under sitting posture and the mechanical position limitation under prone position, when seat back weld holder 82 rotates in 90 ° of-120 ° of scopes,, under the sitting posture state, the range of movement of hip joint 20 is 60 °; When seat back weld holder 82 rotates in 120 ° of-150 ° of scopes, under the prone position state, hip joint 20 range of movement expand to 80 °, and above-mentioned limit method had both guaranteed that the patient carries out rehabilitation training under comfortable attitude, had guaranteed again the safety of patient and mechanism.
Claims (8)
1. a sitting and lying formula lower limb rehabilitation robot, comprise left lower limb (3), right lower limb (5) and seat (4), it is characterized in that: the structure full symmetric of described left lower limb (3) and right lower limb (5), its left lower limb (3) comprises left (12), left width adjusting section (13) and left pedipulator (2):
Described left (12) upper identical fast lock grip assembly I (27) and fast lock grip assembly II (25) of mounting structure, wherein the upper bridge (42) of fast lock grip assembly I (27) and cylinder frame (47) are connected firmly by the framework of screw and left (12) respectively, the connecting pin I (48) that is fixed on left 12 coordinates with fast lock grip assembly I (27), left traversing push-rod assembly (28) connects firmly by bearing holder (housing, cover) I (57) and the framework of bearing holder (housing, cover) II (65) by screw and left (12), the upper alignment pin (86) of chair frame (89) coordinates with left (12) upper locating hole (32), universal caster wheel I (30), universal caster wheel II (29), universal caster wheel III (26), universal caster wheel IV (24) connects firmly with the bottom of left (12),
The left legportion bracing frame (34) of described left width adjusting section (13) is connected firmly by screw and left width adjusting section's underframe (38), rail plate axle sleeve (32) is fixed on left (12), rail plate axle (39) is through left width adjusting section's underframe (38) PATENT left side via, then through rail plate axle sleeve (32), be stuck in the shrinkage pool of left width adjusting section's underframe (38) right side, lead rail axis end cap (40) is fixed on left width adjusting section's underframe (38) PATENT left side via position by screw; Slidably guide wheel bracing frame (37) connects firmly with left width adjusting section's underframe (38), and be supported on the guide wheel gripper shoe be welded on left, the upper screw nut sleeve (61) of left traversing push-rod assembly (28) is connected by screw with left width adjusting section's underframe (38) with cover plate (60);
The upper ankle joint of described left pedipulator (2) and driving device (15) thereof are connected with shank adjusting device (18) by large alignment pin (16), shank adjusting device (18) connects firmly with knee joint (19), knee joint (19) connects firmly with thigh adjusting device (21), knee joint driving device (22) connects firmly with thigh adjusting device (21), thigh adjusting device (21) connects firmly with hip joint (20), hip joint (20) is fixed on left legportion bracing frame (34) by screw, hip joint driving device (23) is fixed on left width adjusting section's underframe (38), hip joint driving device (23) drives hip joint (20) to rotate by belt (14), positive stop (61) is fixed on thigh adjusting device (21) by screw, forearm guard shield (10) and large arm guard shield (9) connect firmly with shank adjusting device (18) and thigh adjusting device (21) respectively.
2. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: described fast lock grip assembly I (27) is identical with fast lock grip assembly II (25) structure, wherein, the little block (41) of described fast lock grip assembly I (27) is welded on pull bar (43), crotch (44) is connected by screw with large slip cap (46), big spring (50) and large slip cap (46) are enclosed within on a frame (47), big spring (50) one ends head on large slip cap (46), the other end heads on the buckle closure (45) be buckled on a frame (47), buckle closure (45) is connected with screw plate (49) by screw, screw plate (49) is spacing by circlip, place little spring (51) and little slip cap (52) in cylinder frame (47), little spring (51) one ends withstand on screw plate (49), the other end withstands in little slip cap (52), place respectively steel ball I (55) and steel ball II (54) in two holes on large slip cap (46) body, steel ball I (55) and steel ball II (54) are stuck in the groove of connecting pin I (48), connecting pin I (48) is connected firmly by screw thread with chair frame (89).
3. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: the motor (55) of the traversing push-rod assembly in a described left side (28) is fixed on motor rack (56), motor rack (56) and bearing holder (housing, cover) I (57) connect firmly, motor (55) axle is connected by trip bolt with leading screw (58), square feed screw nut (60) is placed in screw nut sleeve (61), and coordinate with leading screw (58), leading screw (58) other end has bearing holder (housing, cover) II (65), and half-clutch device I (63) is connected by key with leading screw (58).
4. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: the unthreaded hole plate (70) of the upper limit retaining device (17) of described left legportion bracing frame (34) and screw plate (71) are fixed on left legportion bracing frame (34) by screw, but the electric magnet of Double-directional rotary (65) connects firmly by electromagnetism brandreth (66) and unthreaded hole plate (70), electric magnet (65) thus come back rotation to drive swing arm (67), swing arm (67) is stirred driving lever (68) thereby is impelled plug (72) to move back and forth; Block I (35) connects firmly by screw and left legportion bracing frame (34) with block II (74); Limit switch (36), photoelectricity approach switch I (72), photoelectricity approach switch II (73) connect firmly with the screw plate (71) of block I (35), left legportion bracing frame (34), limiting block mechanism (17) respectively.
5. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: the chair with back support I (83) of described chair frame (89) and chair with back support II (100) coordinate with the circular shaft (101) of seat back weld holder (82); The bearing holder (housing, cover) (106) of pitching adjusting mechanism (87) be fixed on the upper free bearing (82) of chair frame (89) and be connected by bearing pin (95), the feed screw nut (111) of pitching adjusting mechanism (87) is connected with seat back weld holder (82) top nut frame I (102) and nut frame II (103); Drive motors on pitching adjusting mechanism (87) is fixed on connecting plate (107), and drive travelling gear I (106), travelling gear I (106) and travelling gear II (104) engagement, drive feed screw nut (111) through leading screw (110) mobile, rotate around circular shaft (101) thereby drive seat back weld holder (82); Guard shield (105) connects firmly by screw and connecting plate (107) and bearing holder (housing, cover) (108).
6. sitting and lying formula lower limb rehabilitation robot according to claim 5 is characterized in that: the bottom of described chair frame (89) connects firmly lifting foot I (88), lifting foot II (90), lifting foot III (94), the large castor I (95) of lifting foot IV (96) and large castor II (97); Photoelectricity approach switch V (84), photoelectricity approach switch IV (92) and photoelectricity approach switch III (99) also are housed on chair frame (89).
7. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: described left (12) connect firmly by bearing block I (116) and the bearing block II (118) of screw and traversing lock unit (91), traversing lock unit (91) left and right symmetrical configuration, axle I (112) is connected by universal coupling (117) with axle II (122), wherein the half-clutch device II in the left side (113) is connected with axle I (112) key, spring (114) one ends withstand on half-clutch device II (113), the other end withstands on check ring (115), check ring (115) is spacing by jump ring, half-clutch device II (113) is through half-clutch device I (63) engagement on the circular hole on chair frame and left (12) upper traversing push-rod assembly (28).
8. sitting and lying formula lower limb rehabilitation robot according to claim 1, it is characterized in that: the left outside shell lower box body (6) of left lower limb (3) is fixed on left width adjusting section's underframe (38), left outside shell upper casing (7) body is fixed on left outside shell lower box body (6), it is upper that left outside shell lower box side cover (11) is fixed on left outside shell lower box body (6), on the fixing left outside shell upper shell (7) of left handrail (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101906599A CN102697622B (en) | 2012-06-12 | 2012-06-12 | Sitting and lying lower limb rehabilitation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012101906599A CN102697622B (en) | 2012-06-12 | 2012-06-12 | Sitting and lying lower limb rehabilitation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102697622A CN102697622A (en) | 2012-10-03 |
| CN102697622B true CN102697622B (en) | 2013-12-11 |
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| CN2012101906599A Active CN102697622B (en) | 2012-06-12 | 2012-06-12 | Sitting and lying lower limb rehabilitation robot |
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| CN104287939A (en) * | 2014-08-20 | 2015-01-21 | 燕山大学 | Sitting type lower limb rehabilitation robot |
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| CN102697622A (en) | 2012-10-03 |
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Effective date of registration: 20191008 Address after: 315400 No. 175 Anshan Road, Chengdong New District, Yuyao Economic Development Zone, Zhejiang Province Patentee after: Zhejiang Yu Yu intelligent robot Co., Ltd. Address before: Hebei Street West Harbor area, 066004 Hebei city of Qinhuangdao province No. 438 Co-patentee before: Wuxi Youren Technology Co.,Ltd. Patentee before: Yanshan University |
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