KR101979364B1 - gait rehabilitation apparatus with variable speed module - Google Patents

Abstract

The present invention relates to a walking rehabilitation device including a variable speed module. The walking rehabilitation device comprises: a frame unit which includes a horizontal supporting unit, and vertical supporting units vertically placed at both sides of the horizontal supporting unit; a lower body link unit which is placed in the middle of the frame unit in order to provide a walking trace to a foot stepping unit; a treadmill belt which is placed in the horizontal supporting unit, and moves together with the foot stepping unit by being in contact with the foot stepping unit; a belt rotating shaft which is placed in the horizontal supporting unit in order to rotate, and guides rotation of the treadmill belt; an interlocking unit which interlocks the lower body link unit with the belt rotating shaft; and a driving motor; and a variable speed module (300) which is placed between the driving motor (170) and the belt rotating shaft (150) in order to transmit rotation of the driving motor to the belt rotating shaft, and can change the rotational speed thereof. In addition, the variable speed module comprises: a first ratchet gear (330) and a second ratchet gear (340) which are placed adjacent to each other in order to transmit rotatory force of the driving motor in one direction and in an intermittent manner, and are arranged so that each rotation shaft is matched; a first permanent magnet unit which is placed on one side surface of the first ratchet gear (330); and a second permanent magnet which is placed on one side surface of the second ratchet gear (340). Therefore, the walking rehabilitation device can conduct stable walking rehabilitation according to physical abilities of a user.

Description

[0001] The present invention relates to a gait rehabilitation apparatus with a variable speed module,

The present invention relates to a gait rehabilitation system to which a speed can be variably applied. More specifically, the present invention relates to a gait rehabilitation system that provides a constant speed at a low speed in an electric motor for generating a rotational power, And the rotation shaft is separated from the motor to allow independent rotation when the rotation shaft is rotated at a higher speed.

Generally, gait rehabilitation apparatus is a device used for rehabilitation of a patient whose behavior is uncomfortable due to lower limbs or muscle weakness.

The most essential and most effective rehabilitation for patients with cerebral palsy and lower limb joints, which are rapidly increasing due to aging, accidents, and stress, can be gait related training. Within the normal range of motion, skeletal movement and muscle contraction and relaxation exercises are the most important factors in strengthening and restoring intrinsic function in gait training and rehabilitation. The market for gait rehabilitation equipment that can perform gait rehabilitation within the range of normal operation is rapidly expanding. In order to cope with this tendency, it is possible to provide a gait rehabilitation device that can be widely used for gait rehabilitation, Has been demanded.

The treadmill-based gait rehabilitation apparatus disclosed in Japanese Patent Application Laid-Open No. 10-1790048 filed by the applicant of the present invention, as shown in Figs. 1 and 2 of this document, includes a treadmill- A rehabilitation apparatus comprising: a frame section including a horizontal support section and a vertical support section vertically placed on both sides thereof; A link unit provided between the foot step portion and the vertical foot portion and providing a walking trajectory to the foot step portion; A treadmill belt which is provided on the horizontal receiving portion and on which the footstep contacts and moves together with the footstep; And an interlocking portion for interlocking the link unit and the treadmill belt.

However, since the above-described conventional technique requires the user (disabled person or patient) to move the link unit and the treadmill belt by his / her own force, he or she can use the elderly requiring artificial rehabilitation, the artificial joint surgery patient, However, there is a problem that the severely handicapped person or patient who can not move the link unit and the treadmill belt by his / her own physical ability can not use it. Therefore, in the rehabilitation treatment room or the home, there is a problem that the cost of purchasing the walking rehabilitation equipment is doubled because each of the manual rehabilitation apparatus that moves by the user's force and the automatic rehabilitation apparatus that moves by the force of the motor are provided.

In the conventional rehabilitation treatment apparatus, there is a problem in that continuous rehabilitation is difficult because the rehabilitation is interrupted when the body ability is deteriorated in a long-time walking rehabilitation in the passive type having no electric motor, and when the rehabilitation apparatus is provided with an electric motor, Since the driving speed provided by the electric motor is directly reflected in the walking trajectory driving part, it is difficult to use in the case of a rehabilitation patient who is difficult to match the speed of the electric motor. Therefore, the walking speed can not be adjusted according to the will of the disabled person to walk, and sudden start and stop due to the rotation speed of the previously set electric motor is generated.

Patent Registration No. 10-1790048 (Registered Date: October 19, 2017)

SUMMARY OF THE INVENTION The present invention provides a treadmill-based gait rehabilitation apparatus which can attach a speed variable module to a gait rehabilitation apparatus to perform gait rehabilitation in accordance with a user's physical ability, enable stable starting and stopping by a low- And to provide a means for maintaining stable gait rehabilitation by a low-speed motor rotation force when the body ability is deteriorated.

In addition, the present invention provides a lower limb rehabilitation device capable of preventing an excessive knee flexion, and a rest gait rehabilitation device capable of preventing internal rotation and external rotation of the knee joint.

The present invention relates to a lower limb gait rehabilitation device comprising a frame part (120) including a horizontal support part and a vertical support part vertically placed on both sides thereof; A lower link unit (130) provided between the foot step portion and the frame portion and providing a walking trajectory to the foot step portion; A treadmill belt 140 provided on the horizontal receiving part and moving together with the footstep part; A belt rotating shaft (150) rotatably provided on the horizontal receiving portion and guiding rotation of the treadmill belt; An interlocking part (160) for interlocking the lower link unit and the belt rotation shaft; A drive motor 170 for transmitting a rotational force to the belt rotation shaft; And a speed variable module (300) provided between the driving motor (170) and the belt rotating shaft (150) and transmitting the rotation of the driving motor to the belt rotating shaft, the speed varying module Provide a walking rehabilitation device.

The speed variable module includes a first ratchet gear (330) and a second ratchet gear (340), which are adjacent to each other to transmit the rotational force of the driving motor in one direction and intermittently, A first permanent magnet unit (351, 353) disposed on one side of the first ratchet gear (330); And a second permanent magnet unit (361, 363) disposed on one side of the second ratchet gear (340), wherein the first and second permanent magnet units are arranged such that the first and second permanent magnet units 2 Apply force in the direction that the ratchet gears approach each other.

The first side surface protrusion 333 and the second side surface protrusion 343, which are protrusions for transmitting unidirectional rotational force, are formed on the surfaces of the first ratchet gear 330 and the second ratchet gear 340, do.

A first housing 320 for accommodating the first ratchet gear 330 and the first permanent magnet units 351 and 353; And a second housing (350) for receiving the second ratchet gear (340) and the second permanent magnet unit (361, 363), wherein the rotational force of the driving motor is transmitted to the first housing 1 rotational force of the housing is transmitted to the second housing.

A first circumferential projection (335) formed on a circumferential surface of the first ratchet gear (330); A second circumferential projection (345) formed on a circumferential surface of the second ratchet gear (340); A first sliding groove (325) formed on an inner circumferential surface of the first housing (320) so that the first circumferential projection (335) is axially slidably received; And a second sliding groove (355) formed on an inner circumferential surface of the second housing (350) so that the second circumferential projection (345) is axially slidably received.

The second side surface projection 343 of the second ratchet gear 340 is engaged with the first side surface projection 333 of the first ratchet gear 330 when the rotation speed of the belt rotation shaft is faster than the rotation speed of the first housing. So that rotation transmission is not performed.

The rest gait rehabilitation apparatus of the present invention can apply a variety of training protocols by allowing a user to attach and detach a module according to his / her body function recovery degree, thereby maximizing the rehabilitation effect using the gait rehabilitation system It is possible to provide a high-quality gait rehabilitation service to a variety of subjects who require gait rehabilitation in place of expensive gait rehabilitation robots and gait rehabilitation devices.

Further, according to the embodiment of the present invention, since the technical constitution including the over-suppression portion is provided, it is possible to prevent the knee joint from being overstressed. In other words, excessive expansion of the knee joint can be suppressed without the help of a therapist, and the effect of continuous patient rehabilitation training can be further enhanced.

1 is a perspective view schematically showing an under-gait rehabilitation apparatus according to an embodiment of the present invention.
Fig. 2 is a view of the under gait rehabilitation apparatus shown in Fig. 1, with the outer cover removed.
FIG. 3 is a schematic view of a link unit provided in the horizontal support portion of the underarm rehabilitation apparatus of FIG. 2. FIG.
Fig. 4 is a rear view of the lower limb gait rehabilitation apparatus of Fig. 2; Fig.
5 is a view showing a process in which a driving motor is mounted on a belt rotation shaft through a detachable portion.
6 is a view sequentially showing a state in which a support bracket supported by a drive motor is opened by opening an opening / closing door in an outer cover to mount a drive motor.
7 is a view schematically showing a light sensor, a reflection plate, and a control unit.
8 is a view schematically showing an over-suppression portion.
Fig. 9 is a view schematically showing the inside / outside prevention part.
10 is a view schematically showing the rotation range of the inside / outside prevention portion.
11 is a perspective view of a speed variable module provided in a lower limb gait rehabilitation apparatus according to another embodiment of the present invention.
12 is an exploded perspective view of the variable speed module of FIG.
13 is an exploded perspective view enlarging a part of the configuration of Fig.
Fig. 14 is an exploded perspective view showing the configuration of Fig. 12 viewed from different angles.
15 is a side cross-sectional view of a variable speed module according to an embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which will be readily apparent to those skilled in the art to which the present invention pertains. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

1 to 10, the lower limb rehabilitation apparatus 100 according to an embodiment of the present invention includes a footrest 110, a frame 120, a lower link unit 130, A treadmill belt 140, a belt rotation shaft 150, an interlocking portion 160, and a drive motor 170. [ Hereinafter, with reference to FIGS. 1 to 10, each component will be described in detail.

The foot standing unit 110 is a place where a user's foot is raised and fixed as shown in FIG. For example, the foot stepping part 110 may include a foot stepping part formed by a foot step tangent to the foot bottom of the user and a band for fixing the foot of the user.

Further, although not shown, the step 100 may be provided so as to be movable back and forth with respect to the third link member 133, which will be described later.

2, the frame part 120 includes a horizontal support part 121 and a vertical support part 121 that is vertically disposed on both sides of the horizontal support part 121, (Not shown). Further, as shown in Fig. 1, for the sake of appearance and safety, the frame portion 120 can be covered with an outer cover 181 described later. Further, the frame portion 120 may further include a handle to which a user can grasp the hand.

The link unit 130 is a component that provides a walking trace to the foot stepping unit 110 and is provided between the foot stepping unit 110 and the frame unit 120 as shown in FIGS. .

For example, the link unit 130 may include a first link member 131, a second link member 132, a third link member 133, and a fourth link member 132, as shown in Figs. Member 134 as shown in FIG. One end of the first link member 131 may be rotatably mounted on the vertical receiving portion 122 through the first hinge H1. The second link member 132 has a bending shape having a bending portion 132a at its central portion and one end of the second link member 132 is connected to the first link member 131 via the second hinge H2. And may be rotatably provided at the other end. One end of the third link member 133 may be rotatably provided at the other end of the second link member 132 through the third hinge H3 and the other end of the third link member 133 may be rotatably disposed at the other end of the stepped portion 110 . One end of the fourth link member 134 is rotatably provided on the bending portion 132a of the second link member 132 through the fourth hinge H4 and the other end of the fourth link member 134 is provided on the fifth Is rotatably provided on the vertical receiving portion 122 through the hinge H5 so that the fourth hinge H4 can be moved in a circular arc and the load applied to the fourth hinge H4 can be supported. Therefore, when one of the feet of the user applies a force to the corresponding step 100, the first, second, third, and fourth link members 131, 132 ( 133) 134 are rotated with respect to the respective hinges so that the fourth hinge H4 is moved by the fourth link member 134 while drawing an arc to provide a walking locus to the stepping portion 10 .

Further, as shown in FIG. 4, the first hinge H1 may be positioned lower than the fifth hinge H5. Also, as shown in FIG. 3, the second link member 132 may be bent at an obtuse angle in the bending portion 132a.

The treadmill belt 140 is a place where the footstep 110 touches and is a component that moves together with the footstep 110 when the footstep 110 touches. For example, the treadmill belt 140 may have a wide, flat contact surface that the footstep 110 can touch, as shown in FIGS. 1 and 2. In addition, the treadmill belt 140 has a closed curve shape in which both ends thereof are connected as shown in FIG. 3, and may be provided in the horizontal receiving portion 121.

Particularly, the treadmill belt 140 having a relatively wide contact surface can be brought into contact with the treadmill 110 so that it can concentrate on the walking rehabilitation, and the speed is increased at the time of footing with the provision of the flat contact surface by the treadmill belt 140 It is possible to perform walking rehabilitation similar to actual ground walking.

The belt rotating shaft 150 is a component for guiding the rotation of the treadmill belt 140. For example, the belt rotating shaft 150 may be rotatably provided on the horizontal receiving portion 121.

The interlocking portion 160 is a component that interlocks the belt rotation shaft 150 and the lower link unit 130 with each other. Accordingly, when the user touches the treadmill belt 140 while one of the left and right footsteps 110, such as the bicycle pedal, touches the treadmill belt 140 while the user is walking and rehabilitating, the remaining footsteps 110 A force can be applied to the link unit 130 continuously while repeating the process of being held and this force can drive the treadmill belt 140 through the linking portion 160 and the belt rotating shaft 150. [ Ultimately, the user does not need to strongly contact the treadmill belt 140 against the treadmill belt 140 in order to push the treadmill belt 140, so that the user can conveniently use the underbath rehabilitation apparatus 100 of the present invention .

For example, the interlocking portion 160 may include a driven pulley 161, a drive pulley 162, and a timing belt 163, as shown in Figs. 2 and 4. The driven pulley 161 is connected to one end of the first hinge H1 when one end of the first hinge H1 is fixed to one end of the first link member 131 The driving pulley 162 is provided on the belt rotating shaft 150 and may have a plurality of teeth on the outer circumferential surface thereof and the timing belt 163 is provided on the driven pulley 162. [ The driving pulley 161 and the driving pulley 162 can be connected. When the first link member 131 is rotated with respect to the first hinge H1, the driven pulley 161 is rotated and the drive pulley 162 is rotated via the timing belt 163, Can be rotated.

Particularly, in order to synchronize the speed at which the stepping portion 110 touches the treadmill belt 140 and the rotational speed of the treadmill belt 140, the gear ratios of the driven pulley 161 and the drive pulley 162 are set to 1: 1.5 Lt; / RTI > Therefore, it is possible to eliminate a sense of unevenness in walking speed when the stepping portion 110 touches the contact surface of the treadmill belt 140.

As another example, although not shown, the interlocking portion may be a pulley-belt component having no teeth on the outer circumferential surface, or a plurality of gears connected by gears only without a belt may be used.

The driving motor 170 is a component that applies a rotational force to the belt rotating shaft 150 and may be detachably attached to the belt rotating shaft 150 through a detachable portion 175 as shown in FIG. Therefore, the manual mode and the automatic mode can be performed in parallel by detaching and attaching the drive motor 170 by the detachable portion 175. In particular, by purchasing a single underarm walking rehabilitation apparatus 100 according to the present invention, when the degree of the disorder is improved by rehabilitating the automatic mode in which the driving motor 170 is initially installed according to the improvement of the degree of the disorder, (170) can be removed and rehabilitated in the manual mode, thereby minimizing the burden on the device purchase cost.

For example, the detachable portion 175 may include a fastening hole 175a, a support bracket 175c, and a fastening bolt (not shown), as shown in Fig. The fastening hole 175a may be formed in the frame portion 120. The support bracket 175c may support the drive motor 170 and may have a through hole 175b corresponding to the fastening hole 175a, When the shaft of the drive motor 170 is coupled to the belt rotation shaft 150, the fastening bolt (not shown) may be inserted and fastened sequentially into the through hole 175b and the fastening hole 175a.

1 and 6, the underarm rehabilitation apparatus 100 according to an embodiment of the present invention may further include an outer cover 181 and an opening / closing door 182 . The outer cover 181 covers the frame portion 120 and can have a detachable opening portion 181a at a portion corresponding to the drive motor 170. The opening and closing door 182 can open and close the detachable opening portion 181a, .

Therefore, in order to mount the drive motor 170, first, the opening / closing door 182 is opened in the outer cover 181 (see FIGS. 6A and 6B) (See Fig. 6 (c)). In order to remove the drive motor 170, the reverse operation may be performed.

7, the lower limb rehabilitation apparatus 100 according to an embodiment of the present invention further includes an optical sensor 191, a reflector 192, and a control unit 193 .

The optical sensor 191 may be provided on the vertical support portion 122 and the reflection plate 192 may be provided on the fourth link member 134 so as to correspond to the optical sensor 191, Speed, and the number of times of repetition from the optical sensor 191 and calculates rehabilitation progress information such as the movement time, the movement distance, and the rehabilitation intensity from the signal, and provides it as a displayable smart device (not shown) . The optical sensor 191 and the control unit 193 may be connected to each other through a wire 194. The optical sensor 191 may be a laser sensor or the like and the control unit 193 may be provided in the frame unit 120, .

Therefore, when a dedicated app provided from the manufacturer of the underarm / rehabilitation apparatus 100 of the present invention is installed in a smart device (not shown) of a user, a moving time, a moving distance, Data of rehabilitation progress information such as the rehabilitation strength can be accumulated, rehabilitation progress information can be seen in real time, and the progress of rehabilitation can be confirmed through the accumulated data when necessary.

8, the underwear rehabilitation apparatus 100 according to an embodiment of the present invention further includes an overtight prevention unit 210 for preventing the overeating of the knee 11 of the passenger . As shown in FIG. 8, the extreme prevention part 210 may be provided on the fourth link member 134.

For example, as shown in FIG. 8, the excessive-tension-preventing portion 210 may include a height-adjusting member 211 and an excessive-prevention bar 212. The height adjustment member 211 may be provided on the fourth link member 134 so as to be movable up and down while the excessive prevention bar 212 is provided on the height adjustment member 211 so that the height of the knee joint 12 And may have a shape protruding from the adjustment member 211 toward the occupant. Therefore, since the excessive prevention bar 212 presses the knee of the passenger at the moment when the foot touches the floor, the overtightness of the knee 12 of the occupant can be prevented during one gait cycle. Ultimately, excessive expansion of the knee joint 12 can be suppressed without the aid of a therapist, thereby further enhancing the effect of patient-centered continuous rehabilitation training. Here, the height adjusting member 211 may be detachably attached through a magnet (not shown).

8, the over-tension preventing portion 210 may further include a back-and-forth moving guide member 213, a first magnet 214, and a second magnet 215, as shown in FIG. The back and forth movement guide member 213 may be formed of a rail or the like and may be provided between the supression prevention bar 212 and the height adjustment member 211 to guide the back and forth movement of the supression prevention bar 212. The first magnet 214 may be provided at the front end and the rear end of the back and forth movement guiding member 213 respectively and the second magnet 215 may be provided at both sides of the supression blocking bar 212 so as to correspond to the first magnet 214 And may have the same polarity as that of the first magnet 214.

Thus, the supression-prevention rod 212 is moved through the first and second magnets 214 and 215 of the same polarity to which the repulsive force acts while being moved back and forth along the back and forth movement guide member 213 So that the impact applied to the knee joint 12 can be absorbed, thereby improving the safety of the occupant.

9, the underarm rehabilitation apparatus 100 according to an embodiment of the present invention includes an inner / outer-frontal prevention unit (not shown) for preventing the inside and outside of the knee of the occupant (11 in FIG. 8) (220). The inner / outer rotation preventing portion 220 may be provided on the third link member 133, as shown in FIG.

For example, as shown in FIG. 9, the inner / outer rotation preventing portion 220 may include a vertical position adjusting portion 221 and a lower gripping portion 222. The upper and lower position adjusting portion 221 may be rotatably mounted on the third link member 133 through a rotation axis S while the lower gripping portion 222 may be provided on the upper and lower position adjusting portion 221, (12 in Fig. 8). Therefore, in the case of gait rehabilitation, the external rotation and internal rotation of the patient 's knee joint can be suppressed without the help of the therapist, so that the effect of the patient - centered continuous rehabilitation training can be further enhanced.

Here, the vertical position adjustment unit 221 may include a vertical cylinder and a piston. The lower end of the vertical cylinder may be provided in the third link member 133, and the piston may be inserted into the vertical cylinder, moved up and down in the vertical cylinder, rotated left and right, and the lowered grip may be placed at the upper end thereof. Therefore, the height of the lower gripper 222 can be adjusted to match the lower gripper 222 with the lower part of the occupant (12 in FIG. 8).

In addition, the lower gripper 222 may be formed of a band-shaped band or the like capable of adjusting the length in consideration of the thickness of the lower portion (12 of FIG. 8) of the occupant. Velcro or the like may be used to fix the band .

In addition, the rotation axis S may further include a stop (not shown) to limit the rotation of the inner / outer rotation preventing portion 220 so as to rotate in the range of 80 to 105 degrees as shown in FIG. 10 . Therefore, a phenomenon in which the toe portion is attracted to the ground can be prevented.

================================================== ===

FIG. 11 is a perspective view of a speed variable module provided in a lower limb gait rehabilitation apparatus according to another embodiment of the present invention, FIG. 12 is an exploded perspective view of the speed variable module of FIG. 11, FIG. 14 is an exploded perspective view of the structure of FIG. 12, and FIG. 15 is a side cross-sectional view of a variable speed module according to an embodiment of the present invention.

The rest grenade rehabilitation apparatus described in the present embodiment is mostly the same as the rest grenade rehabilitation apparatus described with reference to Figs. 1 to 10, except that the gap between the drive motor (170 in Fig. 5) and the belt rotation shaft And a speed variable module 300 for varying the speed. That is, only the point where the rotational power generated in the driving motor is transmitted to the belt rotation shaft via the speed varying module 300 is added.

Therefore, the speed variable module 300, which is a new structure to be added with reference to FIGS. 11 to 15, will be described below.

The speed variable module 300 includes a power generator 310, a first housing 320, a first ratchet gear 330, a second ratchet gear 340, a second housing 350, a bearing 360, (370) and a transmission shaft (380).

5 and 6) to generate rotational power. The transmission shaft 380 rotates the rotational power generated by the power generator to the belt rotation axis (FIG. 5 To 150 in Fig. 6). The transmission shaft 380 may be connected to the belt rotation shaft, and the transmission shaft 380 may directly constitute the belt rotation shaft.

In the embodiment of the present invention, the speed variable module 300 transmits the rotation force of the drive motor to the rotation axis (i.e., the belt rotation axis) only in the direction of the rotation axis (i.e., It is a configuration for intermittently transmitting it. Here, the intermittent means that the axis is permanently connected so that the rotation force is not always transmitted, but the rotation is transmitted only under a specific condition, and the rotation is not transmitted when a certain condition is exceeded.

In the present invention, the first ratchet gear 330 and the second ratchet gear 340 are disposed adjacent to each other and the rotation axes of the first and second ratchet gears 340 and 340 coincide with each other for 'one-way' and 'intermittent' transmission. The term "axis of rotation" refers to a central axis on which these ratchet gears rotate when they rotate, and means a virtual axis that is not real. The first and second permanent magnet units 351 and 353 disposed on one side (left side in FIG. 12) of the first ratchet gear 330 and the first permanent magnet units 351 and 353 disposed on one side (right side in FIG. 12) And second permanent magnet units (361, 363).

And the first and second permanent magnet units are each formed of two magnets, with the same poles facing each other, so that the two magnets constituting the permanent magnet unit act on each other repulsively. Since the two magnets constituting the permanent magnet unit are acted upon by the repulsive force of each other, the first and second ratchet gears existing between the permanent magnet units are urged in a direction in which they approach each other.

The housing 315 of the first housing 320 is fastened to the fastening hole 313 of the power generator 310 so that the fastening hole 313a and the side wall protrusion 315a are fitted to each other, do. 12, reference numeral 370 denotes a cover of the first housing.

As shown in FIGS. 13 to 14, the first ratchet gear 330 and the second ratchet gear 340 have first circumferential protrusions 335 and second circumferential protrusions 345 formed on respective circumferential surfaces thereof And the circumferential surfaces are not in contact with each other but the axial directions are aligned with each other so that the side surfaces are in contact with each other.

At this time, the first side surface projection 333 and the second side surface projection 343, which are protrusions for transmitting unidirectional rotational force, correspond to each other at the opposite side surfaces of the first ratchet gear 330 and the second ratchet gear 340 Respectively. The rotation of the first ratchet gear 330 and the second ratchet gear 340 is transmitted while the sides of the first ratchet gear 330 and the second ratchet gear 340 are in contact with each other and the first side surface projection 333 and the second side surface projection 343 . The first side surface protrusions 333 and the second side surface protrusions 343 are formed as protrusions having an inclined surface for one-way rotation transmission (first ratchet gear-> second ratchet gear). That is, the rotation is not transmitted from the second ratchet gear to the first ratchet gear. This is because when the rotation of the second ratchet gear 340 is faster, the second side surface projection 343 rides on the first side surface projection 333 of the first ratchet gear 330 to prevent rotation transmission Explained.

The speed variable module of the present invention includes a first housing 320 for accommodating the first ratchet gear 330 and the first permanent magnets 351 and 353 and a second housing 320 for accommodating the second ratchet gear 340 and the second permanent And a second housing (350) for receiving magnets (361, 363). Accordingly, the rotational force of the driving motor is transmitted in the order of the first housing -> the first ratchet gear -> the second ratchet gear -> the second housing, and finally transmitted to the belt rotating shaft.

Here, the housing includes a sliding groove and a circumferential projection on a circumferential surface of the ratchet gear for 'rotation transmission from the first housing to the first ratchet gear' and rotation transmission from the 'second ratchet gear to the second housing'.

The second ratchet gear 340 includes a first circumferential protrusion 335 formed on the circumferential surface of the first ratchet gear 330 and a second circumferential protrusion 345 formed on the circumferential surface of the second ratchet gear 340. [ A first sliding groove 325 formed on an inner circumferential surface of the first housing 320 and a second sliding groove 355 formed on an inner circumferential surface of the second housing 350.

The first circumferential projection 335 is received in the first sliding groove 325 and is slidably received in the rotational axis direction. The second circumferential protrusion 345 is received in the second sliding groove 355 and is slidably received in the rotational axis direction.

Therefore, when the rotational force of the motor is transmitted to the transmission shaft 380, the rotational speed of the first housing is higher than the rotational speed of the second housing, so that the first and second side projections of the first and second ratchet gears Rotational transmission is achieved by engaging.

However, when the rotation speed of the second housing is faster than that of the first housing (when the rotation speed of the belt transmission shaft due to the manual force of the rehabilitation device user is faster), rotation transmission from the second housing to the first housing is not performed. This is because when the rotation speed of the second housing is higher than the rotation speed of the first housing, the second side surface projection 343 of the second ratchet gear 340 is engaged with the first side surface projection 331 of the first ratchet gear 330, (333) so that rotation transmission is not performed.

According to the principle of the present invention, the user can detach the module according to the degree of recovery of his / her body function, so that various training protocols can be applied. A speed variable module is attached to a treadmill-based gait rehabilitation device to enable gait rehabilitation according to the user's physical ability, and stable starting and stopping by a low-speed electric motor becomes possible.

If the user's physical ability is deteriorated, stable walking rehabilitation can be sustained by the low rotational torque of the motor. If the user's body ability is improved and the movement of the transmission shaft faster than the rotational speed by the motor driving is generated, Independent rotation is possible.

Accordingly, the present invention can assist the electric motor at the start and end of the gait rehabilitation and at the time when the physical ability is deteriorated, and can realize the gait rehabilitation at a constant speed or more provided by the electric motor by itself when the body ability is good It is possible to maximize the rehabilitation effect due to continuous walking rehabilitation for a long time.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, Of the right.

100: Lower leg rehabilitation equipment
110: stitching portion 120: frame portion
121: horizontal support portion 122: vertical support portion
130: lower link unit 131: first link member
132: second link member 132a:
133: third link member 134: fourth link member
140: treadmill belt 150: belt rotating shaft
160: interlocking portion 161: driven pulley
162: drive pulley 163: timing belt
170: drive motor 175:
175a: fastening hole 175b: through hole
175c: support bracket 181: outer cover
181a: detachable opening portion 182: opening / closing door
191: light sensor 192: reflector
193: Control section 210:
211: height adjusting member 212: hypersensitive bar
213: back and forth movement guide member 214: first magnet
215: second magnet 220: inner / outer rotation preventing portion
221: upper and lower position adjusting section 222: lower grip section
300: speed variable module 310: power generator
320: first housing 330: first ratchet gear
340: second ratchet gear 350: second housing
360: Bearing 370: Cover
380: transmission shaft

Claims (6)

Footsteps; A frame portion 120 including a horizontal receiving portion and a vertical receiving portion vertically disposed on both sides of the horizontal receiving portion; A lower link unit (130) provided between the foot step portion and the frame portion and providing a walking trajectory to the foot step portion; A treadmill belt 140 provided on the horizontal receiving part and moving together with the footstep part; A belt rotating shaft (150) rotatably provided on the horizontal receiving portion and guiding rotation of the treadmill belt; An interlocking part (160) for interlocking the lower link unit and the belt rotation shaft; And a driving motor (170) for transmitting a rotational force to the belt rotating shaft,
Wherein the lower link unit comprises:
A first link member having one end rotatably mounted on the vertical receiving portion by a first hinge; A second link member having a bent shape and having one end rotatably connected to the other end of the first link member by a second hinge and having a bending portion; A third link member having one end rotatably connected to the other end of the second link member by a third hinge and the other end of which is provided on the step portion; And a fourth hinge rotatably provided at one end of the bending portion by a fourth hinge and a second end rotatable by a fifth hinge at an upper portion of the vertical receiving portion to move the fourth hinge in a circular arc, And a fourth link member supporting a load applied to the hinge,
An overspeed prevention unit 210 provided on the fourth link member to prevent excessive knocking of the knee of a passenger;
And a speed variable module (300) provided between the driving motor (170) and the belt rotating shaft (150) to transmit the rotation of the driving motor to the belt rotating shaft, (10). 2. The apparatus of claim 1,
A first ratchet gear 330 and a second ratchet gear 340, which are adjacent to each other to transmit the rotational force of the driving motor in one direction and intermittently, and in which rotational axes are aligned with each other;
A first permanent magnet unit (351, 353) disposed on one side of the first ratchet gear (330); And
And a second permanent magnet unit (361, 363) disposed on one side of the second ratchet gear (340)
Characterized in that the two first permanent magnet units and the two second permanent magnet units are magnets arranged so that a repulsive force acts therebetween so as to apply a force in a direction in which the first and second ratchet gears are brought close to each other A walking and rehabilitation device equipped with a variable module. 3. The method of claim 2,
The first side surface protrusion 333 and the second side surface protrusion 343, which are protrusions for transmitting unidirectional rotational force, are formed on the surfaces of the first ratchet gear 330 and the second ratchet gear 340, And a speed changeable module for changing the speed of the gait. 4. The method of claim 3,
A first housing 320 for accommodating the first ratchet gear 330 and the first permanent magnet units 351 and 353; And
And a second housing (350) for receiving the second ratchet gear (340) and the second permanent magnet unit (361, 363)
Wherein the rotational force of the driving motor is transmitted to the first housing and the rotational force of the first housing is transmitted to the second housing. 5. The method of claim 4,
A first circumferential projection (335) formed on a circumferential surface of the first ratchet gear (330);
A second circumferential projection (345) formed on a circumferential surface of the second ratchet gear (340);
A first sliding groove (325) formed on an inner circumferential surface of the first housing (320) so that the first circumferential projection (335) is axially slidably received; And
And a second sliding groove (355) formed on an inner circumferential surface of the second housing (350) so that the second circumferential projection (345) is axially slidably received in the second housing (350) . delete

Images