CN209519072U - Step device and walking rehabilitation training robot - Google Patents
Step device and walking rehabilitation training robot Download PDFInfo
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- CN209519072U CN209519072U CN201821397352.5U CN201821397352U CN209519072U CN 209519072 U CN209519072 U CN 209519072U CN 201821397352 U CN201821397352 U CN 201821397352U CN 209519072 U CN209519072 U CN 209519072U
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- 238000012549 training Methods 0.000 title claims abstract description 23
- 210000002414 leg Anatomy 0.000 claims abstract description 39
- 210000000689 upper leg Anatomy 0.000 claims abstract description 35
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 23
- 230000003028 elevating effect Effects 0.000 claims abstract description 14
- 210000003423 ankle Anatomy 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 12
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 6
- 210000003127 knee Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 239000013013 elastic material Substances 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000005021 gait Effects 0.000 abstract description 10
- 230000009286 beneficial effect Effects 0.000 abstract description 5
- 230000033001 locomotion Effects 0.000 description 8
- 206010033799 Paralysis Diseases 0.000 description 5
- 244000309466 calf Species 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 210000002683 foot Anatomy 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The utility model provides a kind of step device, including bottom plate, two pedal travel components and two leg support frames, pedal travel component includes sliding panel, support plate, pedal, front and rear sliding mechanism, rotation elevating mechanism and ankle-joint driving mechanism, sliding panel is slideably positioned on bottom plate, the bottom end of support plate is articulated with one end of sliding panel, the top of support plate is articulated with the position in the middle part of the bottom surface of pedal later, front and rear sliding mechanism is installed on bottom plate, rotation elevating mechanism is installed on sliding panel, ankle-joint driving mechanism is installed in support plate, leg support frame includes lower beam on the connecting rod being arranged in pairs and the shank being arranged in pairs, thigh support bar, the bottom end of two connecting rods is fixedly installed in the two sides of pedal and respectively at ankle, each connecting rod and each shank lower beam are hinged, each shank upper boom and each thigh support bar limit Position is hinged.This step device makes ambulation training closer to normal gait mode and normal gait, is beneficial to improve the rehabilitation efficacy of patient's walking-function.
Description
Technical field
The utility model relates to gait rehabilitation training equipment, in particular to step device and walking rehabilitation training robot.
Background technique
Numerous paralysed patients cannot walk because of weakness of the lower extremities, seriously affect its quality of life.Ambulation training is to restore paralysis
The major way of paralysis patient's walking-function.Ambulation training is presently mainly expert along training and equipment training, the former cannot be used for paralysis
The heavier patient of paralysis and human cost height, the latter is mainly walking rehabilitation training robot, and most representative at present is 2001
The lower limb rehabilitation robot LOKOMAT of year Zurich polytechnical university, federation research and development is turn that thigh, shank are assisted by machine
The simulation to realize walking posture is moved, the motion profile of ankle-joint when can not simulate mankind's walking, and level walking mould is only provided
Formula, ambulation training environment is dull, and wearing bothers when patient's upper machine, is more time-consuming.
Utility model content
In view of the above, the utility model provides a kind of step device, which makes ambulation training closer
Normal gait mode and normal gait, ankle when driving pedal simulation mankind level land, climb and fall, stair activity especially by machine
Proper motion track, while the strength that thigh and calf lift walks will be converted into from foot-operated strength by leg support frame, to have
Beneficial to improving the rehabilitation efficacy of patient's walking-function.
The utility model relates to technical solution:
A kind of step device including bottom plate, is arranged in pairs in the pedal travel component on bottom plate and is set to each step on
Leg support frame on plate moving parts；
Pedal travel component includes that sliding panel, support plate, pedal, front and rear sliding mechanism, rotation elevating mechanism and ankle close
Driving mechanism is saved, sliding panel is slideably positioned on bottom plate, and the bottom end of support plate is articulated with one end of sliding panel, the top of support plate
It is articulated with position later, front and rear sliding mechanism in the middle part of the bottom surface of pedal to be installed on bottom plate, for driving sliding panel front and back past
Multiple sliding, rotation elevating mechanism are installed on sliding panel, for drive support plate relative to the hinged end rotation on sliding panel with
Realize pedal lifting；
Leg support frame is used for people's thigh support in pedal, and ensures that people leg joint has normally in leg support frame
Freedom of movement, leg support frame include the connecting rod being arranged in pairs and the shank lower beam being arranged in pairs, the bottom end point of two connecting rods
It is not fixedly installed at the two sides of pedal and close ankle, each connecting rod and each shank lower beam are hinged, ankle-joint driving machine
Structure is installed in support plate, is rotated for driving pedal to simulate the rotation of the ankle-joint of people.
Further, the leg support frame further include the shank upper boom being arranged in pairs, it is the thigh support bar being arranged in pairs, small
Leg bandage and thigh bandage, each shank upper boom are connect with each shank lower beam, each thigh support bar and each shank upper boom
Hingedly, so as to knee joint rotation, shank bandage is equipped with two, is bundled on shank lower beam and shank upper boom respectively, thigh bandage
It is bundled on thigh support bar.
Further, each shank upper boom and each shank lower beam junction are provided with extension adjustment device, for adjusting
The total length of each shank upper boom and each shank lower beam.
Further, extension adjustment device includes that the stubborn nut of at least one hand and at least one screw rod, each screw rod are affixed
On the outside of each shank upper boom, each shank lower beam vertically offers regulating tank, and each screw rod is from the inside of each shank lower beam
Across regulating tank, every proficiency twists the extension end that nut is bolted in each screw rod, and the end wall that every proficiency twists nut is held in each small
On leg lower beam, so that each shank lower beam and each shank upper boom is relatively fixed.
Further, the hinged place of each thigh support bar and each shank upper boom is provided with angle locking structure, each
The side that the hinged end of shank upper boom is located at leg direction of advance has supporting surface, and angle locking structure includes a limited block, limit
Position block is fixed in the hinged end of each thigh support bar, and shank upper boom turns relative to the hinged end of thigh support bar to leg front direction
During dynamic, supporting surface is held on limited block and limits rotational angle of the shank upper boom relative to thigh support bar.
Further, the pedal is divided into three pieces, respectively front left block, front right block and back-end block, and passes through elastic material
Material links together, and to flexibly support three impetus of sole, front left block, front right block and back-end block are respectively equipped with pressure biography
Sensor.
Further, the ankle-joint driving mechanism includes one, two guide rail one of push-rod electric machine, sliding block hinged seat and company
Bar, push-rod electric machine one are installed on support plate bottom end, and two guide rails one are fixed in support plate in parallel, and the sliding of sliding block hinged seat is set
It is placed on two guide rails one, the push rod end of push-rod electric machine one is connect with sliding block hinged seat, and it is hinged that the bottom end of connecting rod is articulated with sliding block
On seat, the top of connecting rod be articulated with pedal bottom surface it is close followed by place.
Further, the front and rear sliding mechanism include two guide rails two, motor, belt wheels, band wheel seat and transmission belt, two
Guide rail two is fixed on bottom plate in parallel to each other, and motor on bottom plate and is located at the side of two guide rails two with being fixed in wheel seat,
Belt wheel is rotatably installed on band wheel seat, and transmission belt is set around on the driving wheel and belt wheel of motor, the uplink section of transmission belt
Part is affixed with sliding panel, so that transmission belt drives sliding panel to reciprocatingly slide.
Further, the rotation elevating mechanism includes two, two screw rodb bases of push-rod electric machine, screw rod, two guide rails three, slides
Dynamic seat and swing rod, push-rod electric machine two are installed on one end opposite with support plate on sliding panel, and two screw rodb bases are relatively fixed to slide
On movable plate in the output axis direction of push-rod electric machine two, one end of screw rod and the output axis connection of push-rod electric machine two simultaneously be can be rotated
It is arranged in a screw rodb base, the other end of screw rod is rotatably arranged in another screw rodb base, and two guide rails three are relatively parallel
Ground is fixed in the side on sliding panel and being located at screw rod, and the side of sliding seat is sheathed on screw rod, and the other side is slidably mounted
In on two guide rails three, the bottom end of swing rod is articulated on sliding seat, and swing rod top is articulated in support plate and close to support plate
Top.
A kind of walking rehabilitation training robot, including pedestal, the walking rehabilitation training robot are provided with described mark time
Device, the step device are set on pedestal.
To sum up, the utility model step device on each pedal travel component in by being arranged leg support frame, leg branch
The connecting rod and shank lower beam of frame hingedly form ankle-joint rotational structure, under the driving of ankle-joint driving mechanism, so that patient
Ankle-joint adequately taken exercise, under the cooperation of front and rear sliding mechanism and rotation elevating mechanism, realize patient it is more true to nature
Stride motion meets ergonomic designs, and easy to wear quick, Patient Experience is more preferably；Pass through the detectable patient of pressure sensor
Walking information, make ambulation training of the patient on the walking rehabilitation training robot closer to normal gait mode and normal step
State；By ankle-joint driving mechanism, front and rear sliding mechanism and rotation elevating mechanism drive pedal simulate mankind level land, climb and fall,
Ankle proper motion track when stair activity, while thigh and calf lift step will be converted into from foot-operated strength by leg support frame
Strength, thus be beneficial to improve patient's walking-function rehabilitation efficacy.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of the utility model step device preferred embodiment；
Fig. 2 is the pedal travel component of the utility model step device and the assembling figure of leg support frame；
Fig. 3 is the main view of Fig. 2；
Fig. 4 is the three-dimensional structure diagram of the leg support frame of the utility model step device；
Fig. 5 is the three-dimensional structure diagram for the walking rehabilitation training robot that the utility model is provided with step device.
Specific embodiment
Below with reference to the attached drawing in the utility model embodiment, the technical scheme in the embodiment of the utility model is carried out clear
Chu is fully described by.It should be appreciated that specific embodiment described herein is only used to explain the utility model, it is not used to
Limit scope of protection of the utility model.
Referring to Fig. 1, the utility model provides a kind of step device, including bottom plate 1, it is arranged in pairs in stepping on bottom plate 1
Plate moving parts 2 and the leg support frame 3 being set on each pedal travel component 2；
Referring to Fig. 2, pedal travel component 2 includes sliding panel 21, support plate 22, pedal 23, front and rear sliding mechanism 24, pendulum
Turn elevating mechanism 25 and ankle-joint driving mechanism 26, bottom plate 1 is fixedly installed, and sliding panel 21 is slideably positioned on bottom plate 1, supports
The bottom end of plate 22 is articulated with one end of sliding panel 21, and the top of support plate 22 is articulated with the position in the middle part of the bottom surface of pedal 23 later
It sets, front and rear sliding mechanism 24 is installed on bottom plate 1, is reciprocatingly slided before and after sliding panel 21 for driving, rotation elevating mechanism 25 is pacified
Loaded on sliding panel 21, for driving support plate 22 relative to the hinged end rotation on sliding panel 21 to realize that pedal 23 is gone up and down；
Referring to Fig. 3, leg support frame 3 is used for people's thigh support in pedal 23, and people leg joint is had and is lived
Dynamic freedom degree, leg support frame 3 include the connecting rod 31 being arranged in pairs and the shank lower beam 32 being arranged in pairs, the bottom of two connecting rods 31
End is fixedly installed in the two sides of pedal 23 and respectively at ankle, and each connecting rod 31 and each shank lower beam 32 are hinged, ankle
Joint driving mechanism 26 is installed in support plate 22, is rotated for driving pedal 23 to simulate the rotation of the ankle-joint of people.
In the present embodiment, referring to Fig. 4, leg support frame 3 further include the shank upper boom 33 being arranged in pairs, be arranged in pairs it is big
Leg support rod 34, shank bandage 35 and thigh bandage 36, each shank upper boom 33 are connect with each shank lower beam 32, each thigh
Support rod 34 and each shank upper boom 33 are hinged, and so as to knee joint rotation, shank bandage 35 is equipped with two, is bundled in shank respectively
On lower beam 32 and shank upper boom 33, thigh bandage 36 is bundled on thigh support bar 34.
Further, each shank upper boom 33 is provided with extension adjustment device with each 32 junction of shank lower beam, is used for
The total length of each shank upper boom 33 and each shank lower beam 32 is adjusted, long people uses so as not to same leg.Extension adjustment device
Nut 37 and at least one screw rod 38 are twisted including at least one hand, each screw rod 38 is fixed in each 33 outside of shank upper boom, compared with
Goodly, it in the present embodiment, is set on each shank upper boom 33 there are two screw rod 38, each shank lower beam 32 vertically offers regulating tank
321, each screw rod 38 passes through regulating tank 321 from the inside of each shank lower beam 32, and every proficiency twists nut 37 and is bolted in each spiral shell
The extension end of bar 38, the end wall that every proficiency twists nut 37 is held on each shank lower beam 32, thus by each shank lower beam 32
It is relatively fixed with each shank upper boom 33, nut 37 is twisted by rotation hand, it can be achieved that on each shank lower beam 32 and each shank
Bar 33 slides flexible and the two is relatively fixed relatively.
Further, the hinged place of each thigh support bar 34 and each shank upper boom 33 is provided with angle locking structure,
It is that hemiplegic patient is standing to prevent knee hyperextension, knee hyperextension i.e. knee anti-sheet to limit shank around kneed rotation angle
In vertical gait processes, the phenomenon that knee extension is more than normal range (NR).The hinged end of each shank upper boom 33 is located at leg advance side
To side there is supporting surface 331, angle locking structure includes a limited block 341, and limited block 341 is fixed in each thigh branch
The hinged end of strut 34, shank upper boom 33 relative to thigh support bar 34 hinged end into leg direction of advance rotation process, support
Face 331 is held to be held on limited block 341 and limit rotational angle of the shank upper boom 33 relative to thigh support bar 34.
Referring to Fig. 2, it is three pieces that pedal 23, which divides, respectively front left block, front right block and back-end block, and pass through elastic material
It links together, to flexibly support three impetus of sole, meets ergonomic designs, improve patient's comforts of use,
Front left block, front right block and back-end block are respectively equipped with pressure sensor, to monitor real-time foot force, analyze the gait of people.
Please refer to figs. 2 and 3, and ankle-joint driving mechanism 26 includes one 261, two guide rails 1 of push-rod electric machine, sliding block hinge
Joint chair 263 and connecting rod 264, push-rod electric machine 1 are installed on 22 bottom end of support plate, and two guide rails 1 are fixed in parallel
In support plate 22, sliding block hinged seat 263 is slideably positioned on two guide rails 1, the push rod end and sliding block of push-rod electric machine 1
Hinged seat 263 connects, and to push sliding block hinged seat 263 to reciprocatingly slide along two guide rails 1, the bottom end of connecting rod 264 is articulated with
On sliding block hinged seat 263, the top of connecting rod 264 be articulated with 23 bottom surface of pedal it is close followed by place.It is pushed by push-rod electric machine 1
Sliding block hinged seat 263 reciprocatingly slides along two guide rails 1, and the connecting rod 264 that slides through of sliding block hinged seat 263 drives pedal 23
The articulated shaft of top articulated shaft and each connecting rod 31 rotating around support plate 22 rotates, and can so simulate people in normal walking
Ankle-joint rotation in the process is beneficial to improve patient's walking-function so that the joint motion of patient legs is more flexible freely
Rehabilitation efficacy.
Front and rear sliding mechanism 24 include two guide rails 2 241, motor 242, belt wheel 243, band wheel seat 244 and transmission belt 245,
Two guide rails 2 241 are fixed in parallel to each other on bottom plate 1, and motor 242 is fixed on bottom plate 1 with wheel seat 244 positioned at two
The side of guide rail 2 241, belt wheel 243 are rotatably installed on band wheel seat 244, and transmission belt 245 is set around the active of motor 242
For wheel on belt wheel 243, the part of the uplink section of transmission belt 245 and sliding panel 21 are affixed, so that transmission belt 245 drives sliding panel 21
It reciprocatingly slides.
Rotation elevating mechanism 25 include 2 251, two screw rodb bases 252 of push-rod electric machine, 253, two guide rails 3 254 of screw rod,
Sliding seat 255 and swing rod 256, push-rod electric machine 2 251 are installed on one end opposite with support plate 22 on sliding panel 21, two screw rods
Seat 252 is relatively fixed on sliding panel 21 in the output axis direction of push-rod electric machine 2 251, one end of screw rod 253 and push rod
The output axis connection of motor 2 251 is simultaneously rotatably arranged in a screw rodb base 252, and the other end of screw rod 253 is rotatably worn
In in another screw rodb base 252, two guide rails 3 254 are fixed in the side for being located at screw rod 253 on sliding panel 21 in parallel relatively,
The side of sliding seat 255 is sheathed on screw rod 253, and the other side is slidably mounted on two guide rails 3 254, swing rod 256
Bottom end is articulated on sliding seat 255, and 256 top of swing rod is articulated with the top in support plate 22 close to support plate 22.Pass through push rod
Motor 2 251 drives 253 positive and negative rotation of screw rod, and the positive and negative rotation of screw rod 253 drives sliding seat 255 past along two guide rails 3 254
Multiple sliding, sliding seat 255 drives hinged end rotation of the support plate 22 on sliding panel 21 by swing rod 256, and then realizes hinged
Pedal 23 in 22 top of support plate is gone up and down.
Referring to Fig. 5, the utility model also provides a kind of walking rehabilitation training robot for being provided with above-mentioned step device,
Walking rehabilitation training robot includes pedestal 10, and above-mentioned step device is installed on pedestal 10.
To sum up, the utility model step device on each pedal travel component 2 in by being arranged leg support frame 3, leg
The connecting rod 31 and shank lower beam 32 of bracket 3 hingedly form ankle-joint rotational structure, under the driving of ankle-joint driving mechanism 26,
So that the ankle-joint of patient is adequately taken exercise, under the cooperation of front and rear sliding mechanism 24 and rotation elevating mechanism 25, realize
Patient's stride motion more true to nature meets ergonomic designs, and easy to wear quick, Patient Experience is more preferably；Pass through pressure sensing
The walking information of the detectable patient of device makes ambulation training of the patient on the walking rehabilitation training robot closer to normal gait
Mode and normal gait；Pedal 23 is driven by ankle-joint driving mechanism 26, front and rear sliding mechanism 24 and rotation elevating mechanism 25
Ankle proper motion track when simulating mankind level land, climb and fall, stair activity, while will be from foot-operated by leg support frame 3
Strength be converted into thigh and calf lift step strength, thus be beneficial to improve patient's walking-function rehabilitation efficacy.
The above description is only the embodiments of the present invention, and therefore it does not limit the scope of the patent of the utility model, all
Using equivalent structure or equivalent flow shift made by the utility model description, it is applied directly or indirectly in other phases
The technical field of pass, is also included in the patent protection scope of the utility model.
Claims (10)
1. a kind of step device including bottom plate (1) and is arranged in pairs in the pedal travel component (2) on bottom plate (1), feature exists
In the step device further includes the leg support frame (3) being set on each pedal travel component (2)；
Pedal travel component (2) includes sliding panel (21), support plate (22), pedal (23), front and rear sliding mechanism (24), rotation liter
Descending mechanism (25) and ankle-joint driving mechanism (26), sliding panel (21) are slideably positioned on bottom plate (1), the bottom of support plate (22)
End is articulated with one end of sliding panel (21), and the top of support plate (22) is articulated with the position in the middle part of the bottom surface of pedal (23) later,
Front and rear sliding mechanism (24) is installed on bottom plate (1), for driving sliding panel (21) front and back to reciprocatingly slide, rotation elevating mechanism
(25) it is installed on sliding panel (21), for driving support plate (22) relative to the hinged end rotation on sliding panel (21) to realize
Pedal (23) lifting；
Leg support frame (3) is used for people's thigh support in pedal (23), and ensures that people leg joint has in leg support frame (3)
There is a normal activity freedom degree, leg support frame (3) includes the connecting rod (31) being arranged in pairs and the shank lower beam (32) being arranged in pairs,
The bottom end of two connecting rods (31) is fixedly installed in the two sides of pedal (23) and respectively at the ankle, each connecting rod (31) and every
Hingedly, ankle-joint driving mechanism (26) is installed on support plate (22) one shank lower beam (32), is rotated for driving pedal (23)
To simulate the ankle-joint rotation of people.
2. step device according to claim 1, which is characterized in that the leg support frame (3) further includes being arranged in pairs
Shank upper boom (33), the thigh support bar (34) being arranged in pairs, shank bandage (35) and thigh bandage (36), each shank upper boom
(33) connect with each shank lower beam (32), each thigh support bar (34) and each shank upper boom (33) hingedly, so as to knee pass
Section rotation, shank bandage (35) are equipped with two, are bundled on shank lower beam (32) and shank upper boom (33) respectively, thigh bandage
(36) it is bundled on thigh support bar (34).
3. step device according to claim 1, which is characterized in that each shank upper boom (33) and each shank lower beam
(32) junction is provided with extension adjustment device, for adjusting the overall length of each shank upper boom (33) Yu each shank lower beam (32)
Degree.
4. step device according to claim 3, which is characterized in that extension adjustment device includes that at least one hand twists nut
(37) and at least one screw rod (38), each screw rod (38) are fixed on the outside of each shank upper boom (33), each shank lower beam
(32) it vertically offers regulating tank (321), each screw rod (38) passes through regulating tank from the inside of each shank lower beam (32)
(321), every proficiency twists the extension end that nut (37) are bolted in each screw rod (38), and the end wall that every proficiency twists nut (37) is held in
On each shank lower beam (32), so that each shank lower beam (32) and each shank upper boom (33) is relatively fixed.
5. step device according to claim 2, which is characterized in that each thigh support bar (34) and each shank upper boom
(33) hinged place is provided with angle locking structure, and the hinged end of each shank upper boom (33) is located at the side tool of leg direction of advance
Have supporting surface (331), angle locking structure includes a limited block (341), and limited block (341) is fixed in each thigh support bar
(34) hinged end, shank upper boom (33) relative to thigh support bar (34) hinged end into leg front direction rotation process, support
Face (331) is held to be held on limited block (341) and limit rotational angle of the shank upper boom (33) relative to thigh support bar (34).
6. step device according to claim 1, which is characterized in that the pedal (23) is divided into three pieces, respectively front left
Block, front right block and back-end block, and linked together by elastic material, to flexibly support three impetus of sole, front left
Block, front right block and back-end block are respectively equipped with pressure sensor.
7. step device according to claim 1, which is characterized in that the ankle-joint driving mechanism (26) includes push rod electricity
Machine one (261), two guide rails one (262), sliding block hinged seat (263) and connecting rod (264), push-rod electric machine one (261) are installed on
Support plate (22) bottom end, two guide rails one (262) are fixed in parallel on support plate (22), and sliding block hinged seat (263) sliding is set
It is placed on two guide rails one (262), the push rod end of push-rod electric machine one (261) is connect with sliding block hinged seat (263), connecting rod (264)
Bottom end be articulated on sliding block hinged seat (263), the top of connecting rod (264) be articulated with pedal (23) bottom surface it is close followed by place.
8. step device according to claim 1, which is characterized in that the front and rear sliding mechanism (24) includes two guide rails
Two (241), motor (242), belt wheel (243), band wheel seat (244) and transmission belt (245), two guide rails two (241) are parallel to each other
Ground is fixed on bottom plate (1), motor (242) be fixed on bottom plate (1) with wheel seat (244) and be located at two guide rails two (241)
Side, belt wheel (243) be rotatably installed on band wheel seat (244) on, transmission belt (245) is set around the active of motor (242)
For wheel on belt wheel (243), the part of the uplink section of transmission belt (245) and sliding panel (21) are affixed, for transmission belt (245) drive
Sliding panel (21) reciprocatingly slides.
9. step device according to claim 1, which is characterized in that the rotation elevating mechanism (25) includes push-rod electric machine
Two (251), two screw rodb bases (252), screw rod (253), two guide rails three (254), sliding seat (255) and swing rod (256), push rod
Motor two (251) is installed on one end opposite with support plate (22) on sliding panel (21), and two screw rodb bases (252) are relatively fixed to
On sliding panel (21) in the output axis direction of push-rod electric machine two (251), one end of screw rod (253) and push-rod electric machine two
(251) output axis connection is simultaneously rotatably arranged in a screw rodb base (252), and the other end of screw rod (253) is rotatably worn
In another screw rodb base (252), two guide rails three (254) are fixed on sliding panel (21) in parallel relatively and are located at screw rod
(253) side, the side of sliding seat (255) are sheathed on screw rod (253), and the other side is slidably mounted on two guide rails three
(254) on, the bottom end of swing rod (256) is articulated on sliding seat (255), swing rod (256) top be articulated on support plate (22) and
Close to the top of support plate (22).
10. a kind of walking rehabilitation training robot, including pedestal (10), which is characterized in that the walking rehabilitation training robot
It is provided with step device as described in any one of claim 1 to 9, the step device is set on pedestal (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821397352.5U CN209519072U (en) | 2018-08-27 | 2018-08-27 | Step device and walking rehabilitation training robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821397352.5U CN209519072U (en) | 2018-08-27 | 2018-08-27 | Step device and walking rehabilitation training robot |
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| Publication Number | Publication Date |
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| CN209519072U true CN209519072U (en) | 2019-10-22 |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
| CN111067764A (en) * | 2019-12-12 | 2020-04-28 | 上海长征医院 | A walking aid training device for patients with spinal injury |
| CN111223375A (en) * | 2020-01-16 | 2020-06-02 | 京东方科技集团股份有限公司 | Grips that simulate limb movements |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
-
2018
- 2018-08-27 CN CN201821397352.5U patent/CN209519072U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108904225A (en) * | 2018-08-27 | 2018-11-30 | 广州市章和智能科技有限责任公司 | Step device and walking rehabilitation training robot |
| CN111067764A (en) * | 2019-12-12 | 2020-04-28 | 上海长征医院 | A walking aid training device for patients with spinal injury |
| CN111223375A (en) * | 2020-01-16 | 2020-06-02 | 京东方科技集团股份有限公司 | Grips that simulate limb movements |
| CN111223375B (en) * | 2020-01-16 | 2021-10-29 | 京东方科技集团股份有限公司 | Grips that simulate limb movements |
| CN112315735A (en) * | 2020-10-27 | 2021-02-05 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Electronic multi-functional rehabilitation training frame of integration |
| CN112315735B (en) * | 2020-10-27 | 2023-12-29 | 宜昌市中心人民医院(三峡大学第一临床医学院、三峡大学附属中心人民医院) | Integrated electric multifunctional rehabilitation training frame |
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Effective date of registration: 20200925 Address after: 510006 room 905, engineering building, Guangzhou University of Chinese Medicine, 232 Wai Wai Road East, Panyu District, Guangzhou, Guangdong. Patentee after: GUANGZHOU XIAOKANG MEDICAL TECHNOLOGY Co.,Ltd. Address before: Room 327-332, building a, No.2, Yiheng Road, 2nd Avenue, tiantougang Industrial Zone, Tianhe District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU ZHANGHE INTELLIGENT TECHNOLOGY Co.,Ltd. |