Six degrees of freedom leg rehabilitation training robot
A rehabilitation training and degree of freedom technology, applied in the field of rehabilitation training robots, can solve the problems of high price, small activity space, complex mechanism, etc., and achieve the effect of low cost and simple structure
Inactive Publication Date: 2016-01-27
NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY
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Problems solved by technology
[0004] To sum up, the existing leg rehabilitation robots have problems such as small activity space for rehabilitation training, complex mechanism, high price, and high manufacturing cost.
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Embodiment Construction
[0022] The present invention is described in detail below in conjunction with accompanying drawing and embodiment:
[0023] A six-degree-of-freedom leg rehabilitation training robot, see appendix figure 1 To attach Figure 5 , in the figure: frame 1, support 101, first motion branch chain 2, second motion branch chain 3, training pedal 4, third motion branch chain 5, first servo motor 6, first coupling 7, The first motor mount 8, the Hooke hinge mechanism 9, the transmission mechanism 10, the second servo motor 11, the second coupling 12, the second motor mount 13, the ball joint 14, the first upper link 15, the fourth Rotary hinge 16, first lower link 17, fifth rotary hinge 18, lower ball hinge 19, second upper link 20, moving hinge 21, second lower link 22, sixth rotary hinge 23, seventh rotary hinge 24, U-shaped piece 25, Hooke hinge bearing 26, the 3rd rotating hinge 28, the second connecting rod 29, large pulley 30, the first rotating shaft 31, belt 32, small pulley 33,...
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The invention relates to a rehabilitation training robot, in particular to a six-degree-of-freedom leg rehabilitation training robot. Including rack, servo motor, three motion branch chains and training pedals, the motion branch chain is connected to the servo motor through the Hooke hinge mechanism, the first servo motor is connected to the third rotating hinge in the Hooke hinge mechanism, and the third rotating hinge passes through The second connecting rod is connected with the second rotary hinge, the second rotary hinge is connected with the first rotary hinge through the first connecting rod, and the second servo motor is connected with the U-shaped piece in the Hooke hinge mechanism; the first rotary hinge and the third The axes of the two rotating hinges are perpendicular and coplanar to each other, the axes of the second rotating hinge and the second servo motor are perpendicular and coplanar; the axes of the second servo motor and the first servo motor are vertically arranged. Compared with the prior art, the present invention can realize rotation and movement in X, Y, and Z directions, and recovers the leg muscles of patients through passive rehabilitation training.
Description
technical field [0001] The invention relates to a rehabilitation training robot, in particular to a six-degree-of-freedom leg rehabilitation training robot. Background technique [0002] With the aging of the population and the increase of patients with leg paralysis caused by diseases and disasters, medical theory proves that patients not only need early surgical treatment and drug treatment, but also scientific and correct rehabilitation training is essential for the recovery of leg joints. Motor function plays an extremely important and irreplaceable role. The six-degree-of-freedom leg rehabilitation training robot can effectively prevent joint contracture, maintain the range of motion of the joint, improve the rehabilitation of the patient's leg joint movement function, and realize the early recovery of leg joint function in the early stage of hemiplegia patients. . [0003] At present, the rehabilitation institutions for leg joint rehabilitation training mainly focus ...
Claims
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IPC IPC(8): A61H1/02
Inventor 崔冰艳陈丽文王志军李占贤
Owner NORTH CHINA UNIVERSITY OF SCIENCE AND TECHNOLOGY