CN208710413U - A lower limb rehabilitation training machine - Google Patents
A lower limb rehabilitation training machine Download PDFInfo
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- CN208710413U CN208710413U CN201721078748.9U CN201721078748U CN208710413U CN 208710413 U CN208710413 U CN 208710413U CN 201721078748 U CN201721078748 U CN 201721078748U CN 208710413 U CN208710413 U CN 208710413U
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- 238000012549 training Methods 0.000 title claims abstract description 47
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 147
- 230000033001 locomotion Effects 0.000 claims abstract description 95
- 210000002414 leg Anatomy 0.000 claims abstract description 62
- 210000004394 hip joint Anatomy 0.000 claims abstract description 33
- 210000000629 knee joint Anatomy 0.000 claims abstract description 32
- 210000002683 foot Anatomy 0.000 claims description 26
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000005096 rolling process Methods 0.000 claims description 16
- 210000003423 ankle Anatomy 0.000 claims description 13
- 230000003993 interaction Effects 0.000 claims description 13
- 210000003127 knee Anatomy 0.000 claims description 6
- 238000012545 processing Methods 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 3
- 238000004804 winding Methods 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 claims description 2
- 239000007787 solid Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 15
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 210000001503 joint Anatomy 0.000 abstract 1
- 230000006870 function Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 210000003205 muscle Anatomy 0.000 description 6
- 208000027418 Wounds and injury Diseases 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 208000006011 Stroke Diseases 0.000 description 4
- 206010033799 Paralysis Diseases 0.000 description 3
- 208000020431 spinal cord injury Diseases 0.000 description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 description 2
- 244000309466 calf Species 0.000 description 2
- 230000002490 cerebral effect Effects 0.000 description 2
- 230000009514 concussion Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000009916 joint effect Effects 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 210000003169 central nervous system Anatomy 0.000 description 1
- 210000003710 cerebral cortex Anatomy 0.000 description 1
- 230000001447 compensatory effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- 230000000116 mitigating effect Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000036301 sexual development Effects 0.000 description 1
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Abstract
一种下肢康复训练机，包括外部框架、两套踝关节运动机构、两套平行布置的腿部伸缩机构、两套膝关节运动机构、两套髋关节运动机构、可调椅背机构和控制器，踝关节运动机构、腿部伸缩机构、膝关节运动机构、髋关节运动机构一一对应；踝关节运动机构与对应的所述腿部伸缩机构的下部相连，腿部伸缩机构的上部与可调椅背机构的座板前沿铰接；膝关节运动机构安装在外部框架上，并且膝关节运动机构的动力输出端与对应的腿部伸缩机构相接；两套所述髋关节运动机构安装在所述外部框架上；踝关节运动机构、膝关节运动机构、髋关节运动机构分别与控制器相应的引脚电连。本实用新型的有益效果在于：减少劳动力投入，能够实现家中被动安全地锻炼腿部三个关节。
A lower limb rehabilitation training machine, comprising an external frame, two sets of ankle joint motion mechanisms, two sets of parallelly arranged leg telescopic mechanisms, two sets of knee joint motion mechanisms, two sets of hip joint motion mechanisms, an adjustable backrest mechanism and a controller , the ankle joint movement mechanism, the leg telescopic mechanism, the knee joint movement mechanism, and the hip joint movement mechanism correspond one by one; the ankle joint movement mechanism is connected with the lower part of the corresponding leg telescopic mechanism, and the upper part of the leg telescopic mechanism is adjustable The front edge of the seat plate of the seat back mechanism is hinged; the knee joint movement mechanism is installed on the outer frame, and the power output end of the knee joint movement mechanism is connected with the corresponding leg telescopic mechanism; two sets of the hip joint movement mechanism are installed on the On the external frame; the ankle joint movement mechanism, the knee joint movement mechanism and the hip joint movement mechanism are respectively electrically connected with the corresponding pins of the controller. The beneficial effect of the utility model is that the labor input is reduced, and the three joints of the legs can be exercised passively and safely at home.
Description
Technical field
The utility model relates to a kind of lower limb rehabilitation training machines.
Background technique
The many reasons such as cerebral apoplexy, spinal cord injury can all cause human body lower limbs to paralyse, and aggravate with the aging of population, brain
Patients with stroke is increasing.Further, since traffic accident, industrial injury, sports damage and some other Risk Factors are made
At spinal cord injury all show a increasing trend, the number of lower limb paralysis patient is also being continuously increased.Since central nervous system has
Compensatory and function integrity ability, can promote the plastic sexual development of cerebral cortex function by carrying out retraining to it, make to lose
The nervous function of mistake is able to improve again or restore.Therefore, early stage continuous passive motion is carried out to Post-stroke hemiplegia patient
(CONTINUES PASSIVE MOTION, abbreviation CPM) takes exercise, and to the disability rate for mitigating patient, restores patient and regains one's feet
Confidence, the life quality for improving patient plays positive effect.If only carrying out hand to patient by the experience of therapist
Dynamic rehabilitation training is not only inefficient, and therapeutic effect is also undesirable.Utilize lower limb rehabilitation training device auxiliary rehabilitation exercise
Therapist can be freed from heavy training mission, and there is training process stabilization, data automatic feedback, personalization
The characteristics of setting training content.But popular lower limb rehabilitation training machine has a single function on the market, exist simultaneously pull it is improper and
The case where causing training to injure.
Summary of the invention
To solve the above-mentioned problems, it is suitable for many reasons such as cerebral apoplexy, spinal cord injury the utility model proposes one kind to make
At lower limb paralysis patient, the lower limb rehabilitation training of the specific aim rehabilitation demands of different patients is realized with safe and effective mode
Machine.
A kind of lower limb rehabilitation training machine described in the utility model, it is characterised in that: including external frame, two sets of ankle-joints
Movement mechanism, two sets parallel arrangement leg telescoping mechanism, Liang Tao motion of knee joint mechanism, two sets of hip joint movement mechanisms, can
Adjust chair back mechanism and controller, the ankle motion mechanism, leg telescoping mechanism, motion of knee joint mechanism, hip joint movement
Mechanism corresponds；The ankle motion mechanism is connected with the lower part of the corresponding leg telescoping mechanism, and the leg is stretched
The top of contracting mechanism and the seat board forward position of the adjustable chair back mechanism are hinged；The motion of knee joint mechanism is mounted on the outside
On frame, and the power output end of the motion of knee joint mechanism connects with the corresponding leg telescoping mechanism；Two sets of institutes
Hip joint movement mechanism is stated to be mounted in the external frame；The ankle motion mechanism, motion of knee joint mechanism, hip joint
Pin corresponding with the controller is electrically connected movement mechanism respectively；
The external frame includes chassis and supporting seat frame, and the supporting seat frame is mounted on the rear portion of the chassis, institute
It states and adjustable chair back mechanism is installed on supporting seat frame；
The ankle motion mechanism includes line handspike and foot pedal, and the bottom of the line handspike is fixed in described outer
The chassis front of portion's frame, the push rod end face of the line handspike and the front end bottom surface of the foot pedal connect, described to step on
The rear end of sole is hinged by the pull plate of hinge and the leg telescoping mechanism, and the rear portion of the foot pedal is shelved on institute
It states on the corresponding component of hip joint movement mechanism；
The leg telescoping mechanism includes for shelving the leg baffle of leg, the drawer for adjusting leg baffle length
Track and the side baffle for being used to support leg, leg baffle include articulated slab and pull plate, the upper edge of the articulated slab
Hinged with the seat board forward position of the adjustable chair back mechanism, fixation of the articulated slab along its length with the drawer rail is led
Rail is affixed；The bottom edge of the pull plate passes through the hinged foot pedal of hinge, the slide rail of the pull plate and the drawer rail
It is affixed, realize being slidably connected for the articulated slab and the pull plate；The side of the articulated slab and pull plate is installed respectively
Staggered side baffle surrounds the groove for shelving shank；
The motion of knee joint mechanism includes for providing the decelerating motor of driving force, for transmitting the incomplete of driving force
Gear mechanism, crank and rocker mechanism, support rod, idler wheel and rolling wheel guide rails, the output shaft of the decelerating motor pass through incomplete
Gear mechanism is connected with the eccentric wheel of the crank and rocker mechanism, the power output end of the crank and rocker mechanism and the support
Bar is hinged；One end of the support rod and the chassis of the external frame are hinged, and the other end is installed for rolling with rolling guide
The idler wheel of cooperation；The rolling wheel guide rails are mounted on the leg baffle of the leg telescoping mechanism, and the two is axially parallel；Institute
State incomplete gear mechanism include first bevel gear, second bevel gear, first connecting rod, the second connecting rod, partial gear with
And transmission gear, the output shaft of the first bevel gear and the decelerating motor are keyed, the second bevel gear and described the
The engagement of one bevel gear；The second bevel gear and the partial gear are coaxially packed on the first connecting rod, the biography
Moving gear and the eccentric wheel are packed in, and the partial gear is nibbled with the transmission gear
It closes；Partially circumferentially arc-shaped side of the partial gear towards transmission gear is along with the engagement for engaging with transmission gear
Tooth, and the corresponding central angle of engaging tooth is the security standpoint of knee joint adjustment；
The hip joint movement mechanism includes stepper motor, linear guide, sliding block and angle clip, the linear guide
Upper end and the front top of the supporting seat frame are affixed, and the lower end of the linear guide and the front end of the chassis are affixed, described
It is furnished with the block piece that guide rail is skidded off for anti-limited slip block in the end of linear guide；One end of the angle clip and the sliding block are solid
It connects, the angle clip is horizontally disposed, and the angle clip is equipped with the groove for shelving foot pedal；The stepper motor installation
On the supporting seat frame, and the output shaft of the stepper motor is keyed with for the shaft of cable winds thereon, the rope
One end of son ties up in winding shaft, and the other end is bypassed to be tied up on sliding block after the fixed pulley on supporting seat frame；
The adjustable chair back mechanism includes seat board, handrail and backboard, and the seat board bottom is mounted on the supporting seat frame
Top, and the two sides of the seat board are respectively equipped with a handrail；It is cut with scissors respectively with corresponding armrest rear end the two sides of the backboard
It connects；
The controller includes data acquisition module, data transmission module, data processing module and human-computer interaction module,
The signal output end of the human-computer interaction module and the signal input part of the data acquisition module are electrically connected, the data acquisition module
The signal output end of block and the signal input part of the data transmission module are electrically connected, the signal output end of the data processing module
The control terminal with the control terminal of the decelerating motor, the control terminal of stepper motor and linear motor is electrically connected respectively.
The crank link mechanism includes eccentric wheel and drive rod, and the eccentric wheel, which is packed in, is in the second connecting rod,
One end of the drive rod and the eccentric wheel are hinged, and the other end is hinged by connector and support rod.
The steering of two stepper motors is reversed always, i.e., the direction of motion of two sets leg telescoping mechanisms is opposite always.
The articulated slab is hinged by the forward position of hinge and the seat board.
The angle of the linear guide and the chassis is 45 °.
The central axis of first bevel gear and the central axis of second bevel gear, first connecting rod, the second connecting rod are horizontal
Arrangement.
Only have half cycle to be equipped with gear on the partial gear.
The course of work of the present apparatus:
1) ankle-joint training: training airplane is transferred to by ankle-joint training mode by human-computer interaction interface, at this time line handspike
Linear reciprocating motion is carried out, when line handspike stretches out, foot pedal is pushed to swing by axis of hinged hinge, and straight line pushes away
When bar is shunk, line handspike and foot pedal are detached from, but foot pedal trampling with user, are set back, when encountering straight line
Stop motion after push rod, to realize the training to ankle-joint；
2) leg telescoping mechanism: leg telescoping mechanism realizes the integrated of three major functions, and first function is to realize
The stretching of hip joint activity and thigh muscle group, second function are the activity for realizing ankle-joint and the stretching of Calf muscle, third
A function is to realize kneed activity, and key of the knee joint as reconditioning acts on muscle groups of lower extremitates huge；Drawer sliding rail
Flexible drive expansion plate it is flexible；
3) kneed training: training airplane is transferred to by knee joint training mode by human-computer interaction interface, decelerating motor is opened
Begin rotation, drives first bevel gear rotation, and then drive the rotation of second bevel gear, and the rotation of ground Russia day bevel gear drives the
One connecting rod rotates synchronously, at this time with the partial gear rotation on first connecting rod, so that the driving cog being engaged with
Wheel rotation is further driven to the eccentric wheel rotation of crank and rocker mechanism, and drive rod also makees corresponding periodic motion simultaneously, and is driven
The movement of bar drives idler wheel to slide along rolling wheel guide rails, closes so that leg telescoping mechanism lifts or fall through two sets of knees of control
On the direction of motion and the movement opportunity for saving the corresponding decelerating motor of training mode, control the kneed movement of user；, it is worth
The unlatching it is noted that the corresponding decelerating motor of two sets of knee joint training modules is staggered the time guarantees that two legs replace rehabilitation exercise, realizes
The case where knee articulation mechanism is swung up and down, and idler wheel is light and rolls gently, prevents stuck and concussion, ensure that trouble
The benign rehabilitation of person；
4) training of hip joint: training airplane is transferred to by hip joint training mode by human-computer interaction interface, the mode is by two
It is a to turn to step motor control opposite always, by taking one of stepper motor main story rope rolling as an example, rolled up when stepper motor rotates forward
When rope, the rope being wound on fixed pulley pulls sliding block along linear guide upward sliding, and angle clip is driven to transport simultaneously along linear guide
Dynamic direction moves upwards, and is shelved on the thrust upward by one of the foot pedal on angle clip, while drawer sliding rail compresses
Pull plate is driven to shrink, and simultaneously, another set of hip joint movement mechanism counter motion, i.e., for rope is put in stepper motor anti-pass, when
When rope is put in stepper motor anti-pass, the rope being wound on fixed pulley loosens, and sliding block drives angle clip same along linear guide slide downward
When moved downward along the linear guide direction of motion, and be shelved on the foot pedal on angle clip and move downward under the effect of gravity, directly
Until the groove for setting aside to angle clip again, two processes carry out simultaneously in two sets of hip joint movement mechanisms, process on the contrary,
To realize lift leg movement, hip joint is trained.
The beneficial effects of the utility model are:
1, proposing a kind of three critical activity links when walking with people, there are three independent power modules to gather around according to design
Can carry out targetedly lower limb rehabilitation training device to lower limb hemiplegic patient, have good rehabilitation efficacy to patient；
2, the pick of of three main actions is realized by sliding block or idler wheel, ensure that the stability of transmission and smooth
Property, guarantee patient using when there is no security risk；
3, the control of three self-movement molds is integrated with a controller, and by one piece of human-computer interaction interface, independently
The training time of different motion module is set, man-computer relation is good.
Detailed description of the invention
Fig. 1 is one of the structure chart of the utility model；
Fig. 2 is two (omitting rope) of the structure chart of the utility model；
Fig. 3 is the three of the structure chart of the utility model；
Fig. 4 is the schematic diagram of the whole side view part of the utility model；Fig. 5 is that the line handspike of the utility model is driven ankle
Joint motions modular structure schematic diagram；
Fig. 6 is the leg telescoping mechanism schematic diagram of the utility model；
Fig. 7 is the structural schematic diagram (omitting frame) of the isometric part of the motion of knee joint module of the utility model；
Fig. 8 is the structural schematic diagram (omitting frame) of the forward viewing portion of the motion of knee joint module of the utility model；
Fig. 9 is the partial schematic diagram of the hip joint movement mechanism of the utility model；
Figure 10 is that the adjustable chair back module of the utility model faces partial schematic diagram.
Specific embodiment
The utility model is further illustrated with reference to the accompanying drawing
Referring to attached drawing:
A kind of lower limb rehabilitation training machine described in the utility model of embodiment 1, including 1, two set of ankle-joint fortune of external frame
2, two sets of motivation structure parallel arrangement leg telescoping mechanism 3,4, two sets of hip joint movement mechanisms 5 of Liang Tao motion of knee joint mechanism,
Adjustable chair back mechanism 6 and controller, the ankle motion mechanism 2, leg telescoping mechanism 3, motion of knee joint mechanism 4, hip close
Movement mechanism 5 is saved to correspond；The ankle motion mechanism 2 is connected with the lower part of the corresponding leg telescoping mechanism 3, institute
The top for stating leg telescoping mechanism 3 and the seat board forward position of the adjustable chair back mechanism 6 are hinged；The motion of knee joint mechanism 4 is pacified
In the external frame 1, and the power output end of the motion of knee joint mechanism 4 and the corresponding leg telescopic machine
Structure 3 connects；Two sets of hip joint movement mechanisms 5 are mounted in the external frame 1；The ankle motion mechanism 2, knee close
Section movement mechanism 4, pin corresponding with the controller is electrically connected hip joint movement mechanism 5 respectively；
The external frame 1 includes chassis 11 and supporting seat frame 12, and the supporting seat frame 12 is mounted on the chassis 11
Rear portion, adjustable chair back mechanism 6 is installed on the supporting seat frame 12；
The ankle motion mechanism 2 includes line handspike 21 and foot pedal 22, and the bottom of the line handspike 21 is affixed
In 11 front of chassis of the external frame 1, the front end bottom surface of the push rod end face of the line handspike 21 and the foot pedal 22
It connects, the rear end of the foot pedal 22 is hinged by the pull plate of hinge and the leg telescoping mechanism 3, and described steps on
The rear portion of sole 22 is shelved on the corresponding component of the hip joint movement mechanism 5；
The leg telescoping mechanism 3 includes for shelving the leg baffle 31 of leg, for adjusting leg baffle length
Drawer rail 32 and the side baffle 33 for being used to support leg, the leg baffle 31 include articulated slab 311 and pull plate 312,
The upper edge of the articulated slab 312 and the seat board forward position of the adjustable chair back mechanism 6 are hinged, and the articulated slab 312 is square along its length
To affixed with the fixation guide rail of the drawer rail 32；The bottom edge of the pull plate 312 is described by the hinged foot pedal 22 of hinge
Pull plate 312 and the slide rail of the drawer rail 32 are affixed, realize the cunning of the articulated slab 311 and the pull plate 312
Dynamic connection；Staggered side baffle is installed in the side of the articulated slab and pull plate 312 respectively, surrounds for shelving shank
Groove；
The motion of knee joint mechanism 4 includes for providing the decelerating motor 41 of driving force, for transmitting driving force not
Complete gear mechanism 42, crank and rocker mechanism 43, support rod 44, idler wheel 45 and rolling wheel guide rails 46, the decelerating motor 41
Output shaft is connected by incomplete gear mechanism 42 with the eccentric wheel of the crank and rocker mechanism 43, the crank and rocker mechanism 43
Power output end and the support rod 44 it is hinged；The chassis 11 of one end of the support rod 44 and the external frame 1 is hinged,
Other end installation is for rolling the idler wheel 45 of cooperation with rolling guide 46；The rolling wheel guide rails 46 are mounted on the leg telescopic machine
On the leg baffle 31 of structure 3, and the two is axially parallel；The incomplete gear mechanism 42 includes first bevel gear 421, second
Bevel gear 422, first connecting rod 423, the second connecting rod 424, partial gear 425 and transmission gear 426, first cone
The output shaft of gear 421 and the decelerating motor 41 is keyed, and the second bevel gear 422 is nibbled with the first bevel gear 421
It closes；The second bevel gear 422 is coaxially packed on the first connecting rod 423 with the partial gear 425, the transmission
Gear 426 and the eccentric wheel are packed in, and the partial gear 425 and the transmission
Gear 426 engages；Partially circumferentially arc-shaped side of the partial gear 425 towards transmission gear is along with being used for and transmission gear
The engaging tooth of engagement, and the corresponding central angle of engaging tooth is the security standpoint of knee joint adjustment；
The hip joint movement mechanism 5 includes stepper motor, linear guide 51, sliding block 52 and angle clip 53, described straight
The upper end of line guide rail 51 and the front top of the supporting seat frame 12 are affixed, the lower end of the linear guide 51 and the chassis 11
Front end it is affixed, the end of the linear guide 51 is furnished with the block piece that guide rail is skidded off for anti-limited slip block 52；The angle clip
53 one end and the sliding block 52 are affixed, and the angle clip 53 is horizontally disposed, and the angle clip 53 is equipped with and steps on for shelving
The groove of sole 22；The stepper motor is mounted on the supporting seat frame 12, and the output shaft of the stepper motor and confession
The shaft key connection of cable winds thereon, one end of the rope tie up in winding shaft, and the other end, which bypasses, is mounted in supporting seat frame
It is tied up to after fixed pulley on 12 on sliding block 52；
The adjustable chair back mechanism 6 includes seat board 61, handrail 62 and backboard 63, and 61 bottom of seat board is mounted on described
The top of supporting seat frame 12, and the two sides of the seat board 61 are respectively equipped with a handrail 62；The two sides of the backboard 63 respectively with
Corresponding armrest rear end is hinged；
The controller includes data acquisition module, data transmission module, data processing module and human-computer interaction module,
The signal output end of the human-computer interaction module and the signal input part of the data acquisition module are electrically connected, the data acquisition module
The signal output end of block and the signal input part of the data transmission module are electrically connected, the signal output end of the data processing module
The control terminal with the control terminal of the decelerating motor, the control terminal of stepper motor and linear motor is electrically connected respectively.
The crank link mechanism 43 includes eccentric wheel 431 and drive rod 432, and it is that the eccentric wheel 431, which is packed in,
In two connecting rods 424, one end of the drive rod 432 and the eccentric wheel 431 are hinged, and the other end passes through connector and support rod
44 is hinged.
The steering of two stepper motors is reversed always, i.e., the direction of motion of two sets leg telescoping mechanisms is opposite always.
The articulated slab is hinged by the forward position of hinge and the seat board.
The angle of the linear guide and the chassis is 45 °.
The central axis of first bevel gear and the central axis of second bevel gear, first connecting rod, the second connecting rod are horizontal
Arrangement.
Only have half cycle to be equipped with gear on the partial gear.
The course of work of the present apparatus:
1) ankle-joint training: training airplane is transferred to by ankle-joint training mode by human-computer interaction interface, at this time line handspike
Linear reciprocating motion is carried out, when line handspike stretches out, foot pedal is pushed to swing by axis of hinged hinge, and straight line pushes away
When bar is shunk, line handspike and foot pedal are detached from, but foot pedal trampling with user, are set back, when encountering straight line
Stop motion after push rod, to realize the training to ankle-joint；
2) leg telescoping mechanism: leg telescoping mechanism realizes the integrated of three major functions, and first function is to realize
The stretching of hip joint activity and thigh muscle group, second function are the activity for realizing ankle-joint and the stretching of Calf muscle, third
A function is to realize kneed activity, and key of the knee joint as reconditioning acts on muscle groups of lower extremitates huge；Drawer sliding rail
Flexible drive expansion plate it is flexible；
3) kneed training: training airplane is transferred to by knee joint training mode by human-computer interaction interface, decelerating motor is opened
Begin rotation, drives first bevel gear rotation, and then drive the rotation of second bevel gear, and the rotation of ground Russia day bevel gear drives the
One connecting rod rotates synchronously, at this time with the partial gear rotation on first connecting rod, so that the driving cog being engaged with
Wheel rotation is further driven to the eccentric wheel rotation of crank and rocker mechanism, and drive rod also makees corresponding periodic motion simultaneously, and is driven
The movement of bar drives idler wheel to slide along rolling wheel guide rails, closes so that leg telescoping mechanism lifts or fall through two sets of knees of control
On the direction of motion and the movement opportunity for saving the corresponding decelerating motor of training mode, control the kneed movement of user；, it is worth
The unlatching it is noted that the corresponding decelerating motor of two sets of knee joint training modules is staggered the time guarantees that two legs replace rehabilitation exercise, realizes
The case where knee articulation mechanism is swung up and down, and idler wheel is light and rolls gently, prevents stuck and concussion, ensure that trouble
The benign rehabilitation of person；
4) training of hip joint: training airplane is transferred to by hip joint training mode by human-computer interaction interface, the mode is by two
It is a to turn to step motor control opposite always, by taking one of stepper motor main story rope rolling as an example, rolled up when stepper motor rotates forward
When rope, the rope being wound on fixed pulley pulls sliding block along linear guide upward sliding, and angle clip is driven to transport simultaneously along linear guide
Dynamic direction moves upwards, and is shelved on the thrust upward by one of the foot pedal on angle clip, while drawer sliding rail compresses
Pull plate is driven to shrink, and simultaneously, another set of hip joint movement mechanism counter motion, i.e., for rope is put in stepper motor anti-pass, when
When rope is put in stepper motor anti-pass, the rope being wound on fixed pulley loosens, and sliding block drives angle clip same along linear guide slide downward
When moved downward along the linear guide direction of motion, and be shelved on the foot pedal on angle clip and move downward under the effect of gravity, directly
Until the groove for setting aside to angle clip again, two processes carry out simultaneously in two sets of hip joint movement mechanisms, process on the contrary,
To realize lift leg movement, hip joint is trained.
Content described in this specification embodiment is only an enumeration of the implementation forms of the utility model concept, this is practical new
The protection scope of type should not be construed as being limited to the specific forms stated in the embodiments, and the protection scope of the utility model is also wrapped
Include those skilled in the art according to the utility model design it is conceivable that equivalent technologies mean.
Claims (7)
1. a kind of lower limb rehabilitation training machine, it is characterised in that: including external frame, Liang Tao ankle motion mechanism, two sets it is parallel
Leg telescoping mechanism, Liang Tao motion of knee joint mechanism, two sets of hip joint movement mechanisms, adjustable chair back mechanism and the control of arrangement
Device, the ankle motion mechanism, leg telescoping mechanism, motion of knee joint mechanism, hip joint movement mechanism correspond；It is described
Ankle motion mechanism and the lower part of the corresponding leg telescoping mechanism are connected, the top of the leg telescoping mechanism with it is described
The seat board forward position of adjustable chair back mechanism is hinged；The motion of knee joint mechanism is mounted in the external frame, and the knee
The power output end of articulation mechanism connects with the corresponding leg telescoping mechanism；Two sets of hip joint movement mechanism peaces
In the external frame；The ankle motion mechanism, motion of knee joint mechanism, hip joint movement mechanism respectively with it is described
The corresponding pin of controller is electrically connected；
The external frame includes chassis and supporting seat frame, and the supporting seat frame is mounted on the rear portion of the chassis, the branch
Adjustable chair back mechanism is installed on support mounting；
The ankle motion mechanism includes line handspike and foot pedal, and the bottom of the line handspike is fixed in the external frame
The chassis front of frame, the push rod end face of the line handspike and the front end bottom surface of the foot pedal connect, the foot pedal
Rear end it is hinged by the pull plate of hinge and the leg telescoping mechanism, and the rear portion of the foot pedal is shelved on the hip
On the corresponding component of articulation mechanism；
The leg telescoping mechanism includes for shelving the leg baffle of leg, the drawer rail for adjusting leg baffle length
And it is used to support the side baffle of leg, the leg baffle includes articulated slab and pull plate, upper edge and the institute of the articulated slab
The seat board forward position for stating adjustable chair back mechanism is hinged, and the articulated slab is solid with the fixation guide rail of the drawer rail along its length
It connects；By the hinged foot pedal of hinge, the slide rail of the pull plate and the drawer rail is affixed on the bottom edge of the pull plate,
Realize being slidably connected for the articulated slab and the pull plate；Staggered row is installed in the side of the articulated slab and pull plate respectively
The side baffle of cloth surrounds the groove for shelving shank；
The motion of knee joint mechanism include for providing the decelerating motor of driving force, the partial gear for transmitting driving force
The output shaft of mechanism, crank and rocker mechanism, support rod, idler wheel and rolling wheel guide rails, the decelerating motor passes through partial gear
Mechanism is connected with the eccentric wheel of the crank and rocker mechanism, and the power output end of the crank and rocker mechanism and the support rod are cut with scissors
It connects；One end of the support rod and the chassis of the external frame are hinged, and other end installation cooperates for rolling with rolling guide
Idler wheel；The rolling wheel guide rails are mounted on the leg baffle of the leg telescoping mechanism, and the two is axially parallel；It is described not
Complete gear mechanism includes first bevel gear, second bevel gear, first connecting rod, the second connecting rod, partial gear and biography
The output shaft of moving gear, the first bevel gear and the decelerating motor is keyed, the second bevel gear and first cone
Gear engagement；The second bevel gear and the partial gear are coaxially packed on the first connecting rod, the driving cog
Wheel is packed in the eccentric wheel, and the partial gear is engaged with the transmission gear；Institute
Partially circumferentially arc-shaped side of the partial gear towards transmission gear is stated along the engaging tooth having for engaging with transmission gear, and is nibbled
Close the security standpoint that the corresponding central angle of tooth is knee joint adjustment；
The hip joint movement mechanism includes stepper motor, linear guide, sliding block and angle clip, the upper end of the linear guide
Affixed with the front top of the supporting seat frame, the lower end of the linear guide and the front end of the chassis are affixed, the straight line
It is furnished with the block piece that guide rail is skidded off for anti-limited slip block in the end of guide rail；One end of the angle clip and the sliding block are affixed, institute
State that angle clip is horizontally disposed, and the angle clip is equipped with the groove for shelving foot pedal；The stepper motor is mounted on institute
It states on supporting seat frame, and the output shaft of the stepper motor is keyed with for the shaft of cable winds thereon, the rope
One end ties up in winding shaft, and the other end is bypassed to be tied up on sliding block after the fixed pulley on supporting seat frame；
The adjustable chair back mechanism includes seat board, handrail and backboard, and the seat board bottom is mounted on the top of the supporting seat frame
Portion, and the two sides of the seat board are respectively equipped with a handrail；The two sides of the backboard are hinged with corresponding armrest rear end respectively；
The controller includes data acquisition module, data transmission module, data processing module and human-computer interaction module, described
The signal output end of human-computer interaction module and the signal input part of the data acquisition module are electrically connected, the data acquisition module
The signal input part of signal output end and the data transmission module is electrically connected, the signal output end difference of the data processing module
It is electrically connected with the control terminal of the control terminal of the decelerating motor, the control terminal of stepper motor and linear motor.
2. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: the crank and rocker mechanism includes bias
Wheel and drive rod, it is in the second connecting rod that the eccentric wheel, which is packed in, and one end of the drive rod and the eccentric wheel are hinged,
The other end is hinged by connector and support rod.
3. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: the steering of two stepper motors is anti-always
To the direction of motion of that is, two sets leg telescoping mechanisms is opposite always.
4. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: the articulated slab by hinge with it is described
The forward position of seat board is hinged.
5. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: the linear guide and the chassis
Angle is 45 °.
6. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: the central axis of first bevel gear and second
The central axis of bevel gear, first connecting rod, the second connecting rod are horizontally disposed.
7. a kind of lower limb rehabilitation training machine as described in claim 1, it is characterised in that: there was only half cycle on the partial gear
Equipped with gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078748.9U CN208710413U (en) | 2017-08-28 | 2017-08-28 | A lower limb rehabilitation training machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721078748.9U CN208710413U (en) | 2017-08-28 | 2017-08-28 | A lower limb rehabilitation training machine |
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| Publication Number | Publication Date |
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| CN208710413U true CN208710413U (en) | 2019-04-09 |
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ID=65967839
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721078748.9U Expired - Fee Related CN208710413U (en) | 2017-08-28 | 2017-08-28 | A lower limb rehabilitation training machine |
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| Country | Link |
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| CN (1) | CN208710413U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440882A (en) * | 2017-08-28 | 2017-12-08 | 浙江工业大学 | A kind of lower limb rehabilitation training machine |
| CN109984918A (en) * | 2019-04-24 | 2019-07-09 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | A kind of adjustable knee joint rehabilitation device with massage functions |
| CN109984919A (en) * | 2019-04-24 | 2019-07-09 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | A kind of knee joint rehabilitation device |
| CN112245227A (en) * | 2020-10-23 | 2021-01-22 | 新乡医学院第一附属医院 | An indoor crotch exercise equipment before childbirth in an obstetrics and gynecology department |
-
2017
- 2017-08-28 CN CN201721078748.9U patent/CN208710413U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107440882A (en) * | 2017-08-28 | 2017-12-08 | 浙江工业大学 | A kind of lower limb rehabilitation training machine |
| CN107440882B (en) * | 2017-08-28 | 2023-05-23 | 浙江工业大学 | Lower limb rehabilitation training machine |
| CN109984918A (en) * | 2019-04-24 | 2019-07-09 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | A kind of adjustable knee joint rehabilitation device with massage functions |
| CN109984919A (en) * | 2019-04-24 | 2019-07-09 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | A kind of knee joint rehabilitation device |
| CN109984918B (en) * | 2019-04-24 | 2020-12-18 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Adjustable knee joint rehabilitation device with massage function |
| CN109984919B (en) * | 2019-04-24 | 2021-04-16 | 皖南医学院第一附属医院（皖南医学院弋矶山医院） | Knee joint rehabilitation device |
| CN112245227A (en) * | 2020-10-23 | 2021-01-22 | 新乡医学院第一附属医院 | An indoor crotch exercise equipment before childbirth in an obstetrics and gynecology department |
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