CN103126851A - Gait training mechanical leg - Google Patents
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- CN103126851A CN103126851A CN2013100607325A CN201310060732A CN103126851A CN 103126851 A CN103126851 A CN 103126851A CN 2013100607325 A CN2013100607325 A CN 2013100607325A CN 201310060732 A CN201310060732 A CN 201310060732A CN 103126851 A CN103126851 A CN 103126851A
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Abstract
本发明涉及一种步态训练机械腿。它包括一台跑步机和两套单腿模拟装置，两个单腿模拟装置左右对称并排安置在一个机架上，该机架与跑步机固定连接，使两套单腿模拟装置下端的训练鞋能踩踏在所述跑步机的踏板上；髋关节、膝关节和踝关节各跨接一个驱动器，三个驱动器结构相同。本发明的六个关节的相互协调转动即可实现完整的人体步态训练，模拟出人在行走时髋关节、膝关节和踝关节的运动轨迹。该装置能有效模拟人体步态训练时髋关节、膝关节和踝关节的运动轨迹，且整体结构紧凑，重量轻，性能稳定，控制易实现。
The invention relates to a gait training mechanical leg. It includes a treadmill and two sets of single-leg simulation devices, and the two single-leg simulation devices are placed symmetrically side by side on a frame, which is fixedly connected with the treadmill, so that the training shoes at the lower end of the two sets of single-leg simulation devices The pedals of the treadmill can be stepped on; the hip joint, the knee joint and the ankle joint are respectively connected with a driver, and the three drivers have the same structure. The coordinated rotation of the six joints of the present invention can realize complete human body gait training, simulating the motion tracks of hip joints, knee joints and ankle joints when people are walking. The device can effectively simulate the motion trajectory of the hip joint, knee joint and ankle joint during human gait training, and has the advantages of compact overall structure, light weight, stable performance and easy control.
Description
Technical field
The present invention relates to a kind of gait training machinery lower limb, can simulate normal person's walking step state, comprise hip joint, knee joint, ankle joint movement locus when walking.Belong to the electromechanical integrated product technical field.
Technical background
Along with the rapid development of China's economy, living standards of the people improve constantly in recent years, and are also more and more to people's research.Research about upper limb gait training and local joint image training robot both at home and abroad starts to walk early, and theory and technology is relatively ripe, and about lower limb gait training machinery lower limb, research institution mainly concentrates on abroad, and domestic research in this direction is also less.Due to the balance that is subjected to human body walking and concerted mechanism still the factor such as indefinite affect, the research of lower limb gait training machinery lower limb has larger difficulty than the upper limb image training robot, progress is always slower.Therefore, research and development lower limb gait training machinery lower limb technology seems particularly important to strengthening the gait training effect.
Device for the human body lower limbs gait training mainly contains two classes at present: pedal plate type gait image training robot and exoskeleton-type gait image training robot.These two kinds of devices all can play the effect of human body lower limbs gait training, but obvious difference is arranged between the two.
The movement locus of ankle joint when the pedal gait image training robot can be simulated human locomotion, satisfy the gait training requirement of various human bodies, but hip joint and kneed movement locus in the time of can not simulating walking well in its gait training, the effect of lower limb gait training is more single.
The exoskeleton-type gait image training robot adopts and simulates the structure of human body lower limbs fully, and domestic and international existing most of lower limb exoskeleton gait image training robot can only be simulated hip joint and kneed movement locus.Aspect the gait training effect, it can not simulate the gait training of ankle joint, the movement locus of ankle joint when the gait training effect can not meet human locomotion fully.
Summary of the invention
The object of the invention is to the defective for the prior art existence, a kind of gait training machinery lower limb is provided, and it can not only simulate hip joint and kneed movement locus, can also simulate the movement locus of ankle joint simultaneously, the movement locus of hip joint, knee joint and ankle joint when the gait training effect meets human locomotion fully, and it has compact conformation, and is lightweight, low cost of manufacture, safety, reliably, comfortable, the characteristics such as easy to control.
For achieving the above object, design of the present invention is:
Gait training machinery lower limb, comprise the two single lower limb analog of cover, because being simulates human body in the gait run trace of sagittal plane, therefore, the single lower limb analog of every cover has designed rotation in the sagittal plane in hip joint, knee joint and ankle, thereby hip joint, knee joint and ankle joint respectively have a rotational freedom, formed single leg device three degree of freedom, both legs device six-freedom degree.Gait training machinery lower limb is characterised in that: the two single lower limb analog of cover are arranged on frame symmetrically, and do gait training on treadmill, and every cover list lower limb analog comprises a pedipulator framing structure and three activation configurations.
Described pedipulator framing structure is formed by fixedly connecting by fixed part, thigh parts, shank parts and foot parts four major parts.The hip joint fixed bar is horizontally fixed on frame, and be fixedly connected with in vertical state in the hip joint fixed block, hip joint fixed block, joint shaft and hip joint driver contiguous block form the hip joint structure, and the following structure of hip joint driver contiguous block and thigh can be rotated around joint shaft in the sagittal plane; The lower end of hip joint driver contiguous block is fixedly connected with the thigh parts, in the thigh parts, on the knee joint of its lower end, contiguous block, joint shaft and knee joint driver contiguous block form knee joint structure, and the following structure of knee joint driver contiguous block and shank can be rotated around joint shaft in the sagittal plane; In like manner, the lower end of knee joint driver contiguous block is fixedly connected with the shank parts, in the shank parts, on the ankle joint of its lower end, contiguous block, joint shaft and ankle joint driver contiguous block form ankle joint structure, and ankle joint driver contiguous block and foot structure can be rotated around joint shaft in the sagittal plane; The lower end of ankle joint driver contiguous block is fixedly connected with the foot contiguous block, connects the foot connecting axle by guide bearing chock afterwards, thereby trainer shoe is installed; Piece is respectively installed a driver hanging block under piece and shank under hip joint fixed bar, thigh, jointly is used for the installation of driver structure with separately joint driver contiguous block; At three joints, the encoder frame makes the rotating shaft of encoder coordinate with the joint shaft of an end hollow on the encoder installation sheet, is close to decide the synchronous rotation that screw in compression guarantees diaxon, thereby consists of joint motions angle and driving force detection system; Limited block is fixedly mounted on hip joint fixed block, knee joint contiguous block on contiguous block and ankle joint, the electric limiting bar is fixedly mounted on the other end of joint shaft, the electric limiting switch is fixedly mounted in oscillating bearing and covers, and has jointly formed joint safe spacing structure; The form that thigh and calf up and down piece is pegged graft with latch is regulated pedipulator thigh and calf length, and the fastening thigh and calf of fixed handle is piece up and down.
Described activation configuration, its motor is arranged on supporting plate, by the band transmission, motor output is passed to ball screw, thereby the gyration of motor output is converted into the rectilinear motion of ball screw, thereby push-and-pull joint driver contiguous block makes it rotate around joint shaft, the movement locus in each joint during the simulation human locomotion.Screw mandrel one end connects oscillating bearing, is connected with the joint driver contiguous block, and the other end is installed fairlead, guarantees that screw mandrel is along the axial traveling priority of self.Force transducer is connected between the hanging block and end cap of driver rear end, is used for measuring motor driver and promotes pulling force or the pressure that pedipulator provides.
According to the design of foregoing invention, the present invention adopts following technical proposals:
A kind of gait training machinery lower limb, comprise a treadmill and the two single lower limb analog of cover, described two single lower limb analog left-right symmetric are placed on a frame side by side, this frame is fixedly connected with treadmill, and the trainer shoe of two cover single lower limb analog lower ends can be trampled on the pedal of described treadmill; The described single lower limb analog of every cover is: hip joint fixed bar piece on a hip joint and thigh is hinged, the flexible socket of piece under piece and thigh on thigh, under thigh, piece is by piece hinge on knee joint and a shank, the flexible socket of piece under piece and shank on shank, under shank, piece is by an ankle joint and a foot contiguous block hinge; Driver of each cross-over connection of described hip joint, knee joint and ankle joint, three activation configurations are identical.
described single lower limb analog is by fixed part, the thigh parts, shank parts and foot parts four major parts are formed by fixedly connecting, comprise the hip joint fixed bar, the hip joint fixed block, the oscillating bearing inner cap, angular contact ball bearing, joint shaft, piece on thigh, piece under thigh, knee joint driver contiguous block, driver front end rotating shaft, the electrical equipment limit switch, the electric limiting bar, piece on shank, driver rear end rotating shaft, the driver hanging block, contiguous block on ankle joint, ankle joint driver contiguous block, the foot connecting axle, guide bearing chock, trainer shoe, the footwear fixing head, the foot contiguous block, piece under shank, driver rear end bearing lid, deep groove ball bearing 2, rear end back-up ring axle sleeve, end bearing cover before driver, deep groove ball bearing 1, front end back-up ring axle sleeve, contiguous block on knee joint, latch, fixed handle, hip joint driver contiguous block, the oscillating bearing enclosing cover, limited block, encoder and encoder installation sheet, described structure namely makes hip joint fixed bar level be fixedly mounted on frame, fixedly mount in vertical state with the hip joint fixed block, hip joint fixed block, joint shaft and hip joint driver contiguous block form the hip joint structure, at joint shaft two ends established angle contact ball bearing, angular contact ball bearing with oscillating bearing enclosing cover and oscillating bearing inner cap capping two ends makes hip joint driver contiguous block rotate around joint shaft, piece fixed installation on the lower end of hip joint driver contiguous block and thigh, under thigh, piece is enclosed within on thigh on piece, regulates thigh length by the form that latch is pegged graft, by the fastening thigh of fixed handle piece up and down, on knee joint, contiguous block is fixedly mounted under thigh on piece, form knee joint structure with joint shaft and knee joint driver contiguous block, the also established angle contact ball bearing at joint shaft two ends, angular contact ball bearing with oscillating bearing enclosing cover and oscillating bearing inner cap capping two ends makes knee joint driver contiguous block rotate around joint shaft, piece fixed installation on the lower end of knee joint driver contiguous block and shank, under shank, piece is enclosed within on shank on piece, regulates shank length by the form that latch is pegged graft, by the fastening shank of fixed handle piece up and down, on ankle joint, contiguous block is fixedly mounted under shank on piece, form ankle joint structure with joint shaft and ankle joint driver contiguous block, the also established angle contact ball bearing at joint shaft two ends, angular contact ball bearing with oscillating bearing enclosing cover and oscillating bearing inner cap capping two ends makes ankle joint driver contiguous block rotate around joint shaft, the lower end of ankle joint driver contiguous block and the fixed installation of foot contiguous block, guide bearing chock is fixedly mounted on the foot contiguous block, foot connecting axle and guide bearing chock screw, footwear fixing head and the fixed installation of foot connecting axle, and trainer shoe side and footwear fixing head cunning are joined, piece one side fixed installation driver hanging block under piece one side and shank under hip joint fixed bar lower end, thigh, driver rear end rotating shaft, deep groove ball bearing 2, driver rear end bearing lid, rear end back-up ring axle sleeve are assemblied on the driver hanging block, are used for hanging block one end of installation of driver structure rear end, before driver front end rotating shaft, deep groove ball bearing 1, driver, end bearing cover, front end back-up ring axle sleeve are assemblied on hip joint driver contiguous block, knee joint driver contiguous block and ankle joint driver contiguous block, are used for oscillating bearing one end of installation of driver structure front end, in the outside, three joints, the encoder installation sheet is fixedly mounted on oscillating bearing and covers outward, and encoder is fixedly mounted on the rotating shaft that makes encoder on the encoder installation sheet and coordinates with the joint shaft of an end hollow, is close to and decides the synchronous rotation that screw in compression guarantees diaxon, in inboard, three joints, the electric limiting bar is fixedly mounted on inboard one end of joint shaft, and the electric limiting switch is fixedly mounted in oscillating bearing and covers, limited block is fixedly mounted on hip joint fixed block, knee joint on contiguous block and ankle joint on contiguous block.
described driver comprises oscillating bearing, ball screw, feed screw nut's cover, sleeve, fairlead, lead, lead baffle plate, end cap, force transducer, hanging block, supporting plate, large belt wheel, small pulley, Timing Belt, tensioning shaft, tensioning bearing and motor, described structure is arranged on the pedipulator framing structure, its motor is fixedly mounted on supporting plate, feed screw nut cover and sleeve are fixedly mounted on supporting plate both sides, end cap and sleeve fixed installation, force transducer screws between hanging block and end cap, small pulley is fixedly mounted on the output shaft of motor, small pulley is connected with large belt wheel by Timing Belt, large belt wheel is fixedly mounted on the feed screw nut and puts, fairlead is fixedly mounted on sleeve inner, screw mandrel one end and lead screw, the lead baffle plate is fixedly mounted on lead, the screw mandrel other end and oscillating bearing screw, tensioning shaft is fixedly mounted on supporting plate, the tensioning bearing is fixedly mounted on tensioning shaft.Described driver front end rotating shaft is arranged on oscillating bearing, and described driver rear end rotating shaft is arranged on hanging block.
The comparison of the present invention and prior art has following apparent outstanding substantive distinguishing features and significantly technological progress:
The shortcomings such as 1, existing gait training machinery lower limb complex structure, volume are greatly, integral body is heavy, manufacturing cost is high.And the present invention's design has overcome above shortcoming, has designed a pedipulator framing structure and an activation configuration, and then they combine and form single leg device, forms complete gait training machinery lower limb by two single leg devices more at last.
2, existing pedal plate type gait image training robot can only be simulated the gait motion track of ankle joint, and training mode is fewer, and motion amplitude is less, and the ambulation training of thigh and shank is had limitation.And the gait motion track in each joint of the gait training of the present invention design machinery lower limb can simulate people's walking the time, training mode is pressed close to the human locomotion training more.
3, existing gait training machinery lower limb has been ignored the gait training simulation to ankle joint, is not obvious especially to hip joint and kneed gait training simulate effect.And the gait training machinery lower limb of the present invention's design both can have been simulated hip joint and kneed gait motion track, can simulate again the gait motion track of ankle joint, and the training effect meets the human locomotion training more.
Description of drawings
Fig. 1 is gait training machinery lower limb installation diagram
Fig. 2 is pedipulator framing structure installation diagram
To be Fig. 2 bind composition at A place suspended axle to Fig. 3
Fig. 4 is Fig. 2 at B place connection axle series structure chart
Fig. 5 is that Fig. 2 is at the C articulation structure figure of place
Fig. 6 is the activation configuration schematic diagram
Fig. 7 is that the A of Fig. 6 is to cutaway view
Fig. 8 is that Fig. 6 is in the partial left side view at B-B place
Fig. 9 is single lower limb analog figure
The specific embodiment
Below in conjunction with accompanying drawing and preferred embodiment, the present invention is described further.
Embodiment one:
1. referring to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, gait training machinery lower limb comprises that a treadmill (I) and two overlaps single lower limb analog (II), is characterized in that:
1) described two single lower limb analog (II) left-right symmetric is placed on a frame (54) side by side, this frame (54) is fixedly connected with treadmill (I), and the trainer shoe (19) of two cover single lower limb analog (II) lower ends can be trampled on the pedal (55) of described treadmill (I);
2) the described single lower limb analog of every cover is: a hip joint fixed bar (1) piece (6) on a hip joint and thigh is hinged, the flexible socket of piece (7) under piece on thigh (6) and thigh, piece under thigh (7) is by piece (12) hinge on knee joint and a shank, the flexible socket of piece (22) under piece on shank (12) and shank, piece under shank (22) is by an ankle joint and a foot contiguous block (21) hinge;
3) described hip joint, a knee joint and ankle joint driver of each cross-over connection (III), three drivers (III) structure is identical.
The two single lower limb analog of cover are combined by the push-and-pull action of six activation configurations to hip joint driver contiguous block, knee joint driver contiguous block and ankle joint driver contiguous block, and the mutual coordination in six joints is rotated and can be realized complete body gait training.
Embodiment two:
the present embodiment and embodiment one are basic identical, special feature is: hip joint fixed bar (1) level is fixedly mounted on frame (54), fixedly mount in vertical state with hip joint fixed block (2), hip joint fixed block (2), joint shaft (5) and hip joint driver contiguous block (32) form the hip joint structure, at joint shaft two ends established angle contact ball bearings (4), angular contact ball bearing (4) with oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends, make hip joint driver contiguous block (32) rotate around joint shaft (5), piece (6) fixed installation on the lower end of hip joint driver contiguous block (32) and thigh, piece under thigh (7) is enclosed within on piece on thigh (6), regulates thigh length by latch (30), by the fastening thigh of fixed handle (31) up and down piece, contiguous block on knee joint (29) is fixedly mounted on piece under thigh (7), form knee joint structure with joint shaft (5) and knee joint driver contiguous block (8), the also established angle contact ball bearing (4) at joint shaft (5) two ends, angular contact ball bearing (4) with oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends makes knee joint driver contiguous block (8) rotate around joint shaft (5), piece (12) fixed installation on the lower end of knee joint driver contiguous block (8) and shank, piece under shank (22) is enclosed within on piece on shank (12), regulates shank length by latch (30), by the fastening shank of fixed handle (31) up and down piece, contiguous block on ankle joint (15) is fixedly mounted on piece under shank (22), form ankle joint structure with joint shaft (5) and ankle joint driver contiguous block (16), the also established angle contact ball bearing (4) at joint shaft (5) two ends, angular contact ball bearing (4) with oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends makes ankle joint driver contiguous block (16) rotate around joint shaft (5), the lower end of ankle joint driver contiguous block (16) and foot contiguous block (21) fixed installation, guide bearing chock (18) is fixedly mounted on foot contiguous block (21), foot connecting axle (17) screws with guide bearing chock (18), footwear fixing head (20) and foot connecting axle (17) fixed installation, trainer shoe (19) side and footwear fixing head (20) are sliding joins, piece (22) one sides fixed installation driver hanging blocks (14) under piece (7) one sides and shank under hip joint fixed bar (1) lower end, thigh, driver rear end rotating shaft (13), deep groove ball bearing 2(24), driver rear end bearing lid (23), rear end back-up ring axle sleeve (25) be assemblied on driver hanging block (14), is used for hanging block (46) one ends of installation of driver structure rear end, driver front end rotating shaft (9), deep groove ball bearing 1(27), end bearing cover (26), front end back-up ring axle sleeve (28) are assemblied on hip joint driver contiguous block (32), knee joint driver contiguous block (8) and ankle joint driver contiguous block (16) before driver, for oscillating bearing (37) one ends of installation of driver structure front end, in the outside, three joints, encoder installation sheet (36) is fixedly mounted on oscillating bearing enclosing cover (33), encoder (35) is fixedly mounted on its rotating shaft is coordinated with the joint shaft (5) of an end hollow, is close to decide the synchronous rotation that screw in compression guarantees diaxon, in inboard, three joints, electric limiting bar (11) is fixedly mounted on inboard one end of joint shaft (5), and electric limiting switch (10) is fixedly mounted on oscillating bearing inner cap (3), limited block (34) is fixedly mounted on hip joint fixed block (2), knee joint on contiguous block (29) and ankle joint on contiguous block (15).
Embodiment three:
the present embodiment and embodiment one are basic identical, special feature is: described activation configuration is arranged on the pedipulator framing structure, its motor (53) is fixedly mounted on supporting plate (47), feed screw nut cover (39) and sleeve (40) are fixedly mounted on supporting plate (47) both sides, end cap (44) and sleeve (40) fixed installation, force transducer (45) screws between hanging block (46) and end cap (44), small pulley (49) is fixedly mounted on the output shaft of motor (53), small pulley (49) is connected with large belt wheel (48) by Timing Belt (50), large belt wheel (48) is fixedly mounted on feed screw nut's cover (39), fairlead (41) is fixedly mounted on sleeve (40) inside, ball screw (38) one ends and lead (42) screw, lead baffle plate (43) is fixedly mounted on lead (42), ball screw (38) other end and oscillating bearing (37) screw, tensioning shaft (51) is fixedly mounted on supporting plate (47), tensioning bearing (52) is fixedly mounted on tensioning shaft (51).Above-mentioned driver front end rotating shaft (9) is arranged on oscillating bearing (37), and driver rear end rotating shaft (13) is arranged on hanging block (46).
The present invention is a kind of gait training machinery lower limb, its compact conformation, lightweight, stable performance, easy to control.On function, can accurately simulate the movement locus of people's hip joint, knee joint and ankle joint when gait training, the movement locus of hip joint, knee joint and ankle joint when the gait training effect meets human locomotion has more solved the problem that the outer human body gait training device of Present Domestic exists well.
Claims (3)
1. a gait training machinery lower limb, comprise a treadmill (I) and two cover single lower limb analog (II), it is characterized in that:
1) described two single lower limb analog (II) left-right symmetric is placed on a frame (54) side by side, this frame (54) is fixedly connected with treadmill (I), and the trainer shoe (19) of two cover single lower limb analog (II) lower ends can be trampled on the pedal (55) of described treadmill (I);
2) the described single lower limb analog of every cover is: a hip joint fixed bar (1) piece (6) on a hip joint and thigh is hinged, the flexible socket of piece (7) under piece on thigh (6) and thigh, piece under thigh (7) is by piece (12) hinge on knee joint and a shank, the flexible socket of piece (22) under piece on shank (12) and shank, piece under shank (22) is by an ankle joint and a foot contiguous block (21) hinge;
3) described hip joint, a knee joint and ankle joint driver of each cross-over connection (III), three drivers (III) structure is identical.
2. gait training according to claim 1 machinery lower limb, it is characterized in that: the structure of described single lower limb analog is: comprise described hip joint fixed bar (1), hip joint fixed block (2), oscillating bearing inner cap (3), angular contact ball bearing (4), three joint shafts (5), piece on described thigh (6), piece under described thigh (7), knee joint driver contiguous block (8), three driver front end rotating shafts (9), electrical equipment limit switch (10), electric limiting bar (11), piece on described shank (12), three driver rear end rotating shafts (13), driver hanging block (14), contiguous block on ankle joint (15), ankle joint driver contiguous block (16), foot connecting axle (17), guide bearing chock (18), described trainer shoe (19), footwear fixing head (20), described foot contiguous block (21), piece under described shank (22), driver rear end bearing lid (23), deep groove ball bearing 2(24), rear end back-up ring axle sleeve (25), end bearing cover (26) before driver, deep groove ball bearing 1(27), front end back-up ring axle sleeve (28), contiguous block on knee joint (29), latch (30), fixed handle (31), hip joint driver contiguous block (32), oscillating bearing enclosing cover (33), limited block (34), three encoders (35) and encoder installation sheet (36), described structure hip joint fixed bar (1) level is fixedly mounted on frame (54), fixedly mount in vertical state with hip joint fixed block (2), hip joint fixed block (2), joint shaft (5) and hip joint driver contiguous block (32) consist of hip joint, at joint shaft (5) two ends established angle contact ball bearings (4), with the angular contact ball bearing (4) at oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends, piece (6) fixed installation on the lower end of hip joint driver contiguous block (32) and thigh, piece under thigh (7) is enclosed within on piece on thigh (6), pegs graft by latch (30) and regulates thigh length, by the fastening thigh of fixed handle (31) piece up and down, contiguous block on knee joint (29) is fixedly mounted on piece under thigh (7), form knee joint with joint shaft (5) and knee joint driver contiguous block (8), at joint shaft (5) two ends established angle contact ball bearings (4), with the angular contact ball bearing (4) at oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends, piece (12) fixed installation on the lower end of knee joint driver contiguous block (8) and shank, piece under shank (22) is enclosed within on piece on shank (12), pegs graft by latch (30) and regulates shank length, by the fastening shank of fixed handle (31) piece up and down, contiguous block on ankle joint (15) is fixedly mounted on piece under shank (22), form ankle joint with joint shaft (5) and ankle joint driver contiguous block (16), at joint shaft (5) two ends established angle contact ball bearings (4), with the angular contact ball bearing (4) at oscillating bearing enclosing cover (33) and oscillating bearing inner cap (3) capping two ends, the lower end of ankle joint driver contiguous block (16) and foot contiguous block (21) fixed installation, guide bearing chock (18) is fixedly mounted on foot contiguous block (21), foot connecting axle (17) screws with guide bearing chock (18), footwear fixing head (20) and foot connecting axle (17) fixed installation, described trainer shoe (19) side and footwear fixing head (20) are sliding joins, piece (22) one sides fixed installation driver hanging blocks (14) under piece (7) one sides and shank under hip joint fixed bar (1) lower end, thigh, driver rear end rotating shaft (13), deep groove ball bearing 2(24), driver rear end bearing lid (23), rear end back-up ring axle sleeve (25) be assemblied on driver hanging block (14), driver front end rotating shaft (9), deep groove ball bearing 1(27), end bearing cover (26), front end back-up ring axle sleeve (28) are assemblied on hip joint driver contiguous block (32), knee joint driver contiguous block (8) and ankle joint driver contiguous block (16) before driver, encoder installation sheet (36) is fixedly mounted on oscillating bearing enclosing cover (33), and encoder (35) is fixedly mounted on its rotating shaft is coordinated with the joint shaft (5) of an end hollow, electric limiting bar (11) is fixedly mounted on inboard one end of joint shaft (5), and electric limiting switch (10) is fixedly mounted on oscillating bearing inner cap (3), limited block (34) is fixedly mounted on hip joint fixed block (2), knee joint on contiguous block (29) and ankle joint on contiguous block (15).
3. gait training according to claim 1 machinery lower limb, it is characterized in that: described driver (III) structure is: comprise oscillating bearing (37), ball screw (38), feed screw nut's cover (39), sleeve (40), fairlead (41), lead (42), lead baffle plate (43), end cap (44), force transducer (45), hanging block (46), supporting plate (47), large belt wheel (48), small pulley (49), Timing Belt (50), tensioning shaft (51), tensioning bearing (52) and motor (53), described activation configuration is arranged on the pedipulator framing structure, its motor (53) is fixedly mounted on supporting plate (47), feed screw nut cover (39) and sleeve (40) are fixedly installed in supporting plate (47) both sides, end cap (44) and sleeve (40) fixed installation, force transducer (45) is screwed between hanging block (46) and end cap (44), small pulley (49) is fixedly mounted on the output shaft of motor (53), small pulley (49) is by Timing Belt (50) and large belt wheel (48) driving coupling, large belt wheel (48) is fixedly mounted on feed screw nut's cover (39), fairlead (41) is fixedly mounted on sleeve (40) inside, ball screw (38) one ends and lead (42) screw, lead baffle plate (43) is fixedly mounted on lead (42), ball screw (38) other end and oscillating bearing (37) screw, tensioning shaft (51) is fixedly mounted on supporting plate (47), tensioning bearing (52) is fixedly mounted on tensioning shaft (51), described driver front end rotating shaft (9) is arranged on oscillating bearing (37), and described driver rear end rotating shaft (13) is arranged on hanging block (46).
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| CN2013100607325A CN103126851A (en) | 2013-02-27 | 2013-02-27 | Gait training mechanical leg |
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| CN105835041A (en) * | 2016-05-23 | 2016-08-10 | 深圳先进技术研究院 | Exoskeleton robot hip joint, exoskeleton robot and control method of exoskeleton robot |
| CN106539668A (en) * | 2017-01-11 | 2017-03-29 | 刘建英 | A kind of gait rehabilitation training devicess |
| CN106539662A (en) * | 2015-09-17 | 2017-03-29 | 上海健康医学院 | Lower limb function recovery exercising robot |
| CN107361886A (en) * | 2017-06-21 | 2017-11-21 | 苏州博安捷机器人科技有限公司 | A kind of artificial leg structure |
| CN107690375A (en) * | 2017-06-22 | 2018-02-13 | 深圳市肯綮科技有限公司 | Portable power joint arrangement and lower limb assistance exoskeleton equipment and its control method |
| CN110057576A (en) * | 2019-05-17 | 2019-07-26 | 西北工业大学 | A kind of foot formula bio-robot leg joint dynamic test platform |
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| CN110812022B (en) * | 2019-11-25 | 2021-09-21 | 西安星球通智能装备技术有限公司 | Automatic wheelchair with lower limb rehabilitation training function |
| CN111616915A (en) * | 2020-05-07 | 2020-09-04 | 广西科技大学 | An exoskeleton flexible hip joint |
| CN114601679A (en) * | 2020-12-03 | 2022-06-10 | 山东天赐慧邦医养健康产业集团有限公司 | Old person uses hand foot harmony rehabilitation training device |
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