CN101461754A - Rehabilitation training device for lower limb arthrosis - Google Patents
Rehabilitation training device for lower limb arthrosis Download PDFInfo
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- CN101461754A CN101461754A CNA2007101589437A CN200710158943A CN101461754A CN 101461754 A CN101461754 A CN 101461754A CN A2007101589437 A CNA2007101589437 A CN A2007101589437A CN 200710158943 A CN200710158943 A CN 200710158943A CN 101461754 A CN101461754 A CN 101461754A
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- lower limb
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- training device
- rehabilitation training
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Abstract
The invention relates to a rehabilitation trainer for joints of lower limbs, which comprises a machine shell, a base plate, a leg-placing plate, an adjustable leg bracket, and a transmission mechanism and a control circuit which are arranged in the machine shell, wherein a gold rigidity mechanism is arranged between the base plate and the leg-placing plate and is fixed on a connecting rod which is hinged with four adjustable cranks; the adjustable cranks comprise two driven cranks connected with a shaft in a bearing block through a tension connecting sleeve and comprise two driven cranks connected with a driving shaft through the tension connecting sleeve; and the base plate is fixed with the bearing block and the machine shell. The rehabilitation trainer has the advantages of reasonable structure, simple process, low manufacturing cost, wide application and the like.
Description
Technical field the present invention relates to a kind of medical apparatus and instruments, especially a kind of rehabilitation training device for lower limb arthrosis of passive, active exercise training.
The existing rehabilitation training device for lower limb arthrosis of technical background mainly is made up of casing, lower limb carriage, adjustable foot support, drive mechanism and controlling organization etc., and lower limb carriage wherein then props up and is configured to by rotating thigh support frame that section header links together and shank.It is reciprocating to drive the push rod lower end by drive mechanism, drives lower limb carrier stretch and flexing, makes the trouble limb that places on the lower limb carriage obtain passive exercise, thereby reaches the purpose of rehabilitation.Because push rod is positioned under the leg support of expansion link end of shank support end, when the push rod lower end moves to the stroke end, when being the flexion angle maximum of lower limb carriage, the height of push rod is in minimum point, the length adjustment and the activity point of view of lower limb carriage are restricted, the difficult demand that satisfies the patient of different heights.Though raising activity point of view that can be suitable after updating, adaptive capacity constantly strengthens.But all do not break away from structural restriction, the degree that active scope adapts to is inevitable limited, the effect of treatment will be subjected to very big influence, and what did in the joint when doing the rehabilitation passive exercise with this leg support shelf structure is non-translation variable-speed motion, and this training does not reach optimum therapeuticing effect.Early stage passive exercise is very necessary after operation, but also has a problem: patient is because all existence amyotrophy are in various degree shunk in the active of the early stage muscle in shortage operation back.Abroad generally be to carry out passive exercise earlier, have special medical personnel that patient is carried out the active training guidance then, this will ask the implementer to have certain nursing knowledge, also be a job that consumes one's strength simultaneously.And existing initiatively training aids is too complicated mostly, and has limbs gravity compensation, the trouble limb is initiatively trained do not reach due effect.
A kind of activity point of view that the purpose of this invention is to provide summary of the invention satisfies the human body needs fully, when carrying out rehabilitation training, realize patient's limbs translation and at the uniform velocity, can carry out the rehabilitation training device for lower limb arthrosis that passive exercise can carry out the active training of different phase again according to patient's training after surgery in earlier stage, the patient can rely on this machine to realize autonomous training, thereby realizes optimum therapeuticing effect.
For achieving the above object, rehabilitation training device for lower limb arthrosis of the present invention, comprise casing, base plate, leg-placing plate, adjustable foot support and be arranged on casing interior drive mechanism and control circuit, between base plate and leg-placing plate, be provided with Buddha's warrior attendant degree mechanism and be fixed on the connecting rod, four adjustable cranks are arranged with rod hinge connection; Adjustable crank belongs to driven two and links by the axle in tensioner coupling sleeve and the bearing block; Adjustable crank belongs to two of driving and links by tensioner coupling sleeve and driving shaft; Be fixed with bearing block and casing on the base plate; The intelligence control circuit that described control circuit is made up of single-chip microcomputer; Wherein reach single-chip microcomputer, after single-chip microcomputer is handled, pass in the motor drive module by signal acquisition module pilot signal of gathering and the control signal that sets by human-computer interaction module; Becoming rigidity mechanism is made up of motor, drive mechanism, pinion, spring spool, compression spring, constrictor, outer tooth bar fixed mount, interior tooth bar fixed mount; Wherein motor is fixedlyed connected with pinion by the connecting axle in the drive mechanism; Tooth bar interlock mutually on pinion and outer tooth bar fixed mount, the interior tooth bar fixed mount; Two spring spools are built-in with two compression springs and are enclosed within on the constrictor, and spring spool is positioned at the movable end that is of constrictor intermediate ends, and the other end is fixed on the tooth bar fixed mount; The spring spool movable end is provided with washer and blocks spring; Described control circuit also is provided with signal acquisition module, data communication module; Data communication module is connected with computer by the RS232 bus; Signal acquisition module is made of spring position pick off, main motor position sensor, torque sensor, digital to analog converter; All the sensors all converts the voltage signal input digital to analog converter of gathering to digital signal and passes to single-chip microcomputer; Become and to be provided with adapter in the middle of two constrictors of rigidity mechanism and can fixedly connectedly to be connected by various with leg-placing plate; The drive mechanism that becomes in the rigidity mechanism is made of worm screw, worm gear, connecting axle, and worm gear and connecting axle are fixed as one.
Advantage of the present invention is: rational in infrastructure, technology is simple, cheap, be widely used, when carrying out passive exercise, the compression spring does not produce compression, leg-placing plate becomes rigidity mechanism does not have relative motion, the patient that can also satisfy different heights trains use; Can guarantee that in training process patient's joint motion is steady; In addition, can avoid the compensation of limbs gravity, relying on the Single-chip Controlling pick off is that user control is provided convenience, and can self-monitoring.
Description of drawings Fig. 1 is the overall structure sketch map of rehabilitation training device for lower limb arthrosis of the present invention.
Fig. 2 is the sketch map of the stiffness changing structure of rehabilitation training device for lower limb arthrosis of the present invention.
Fig. 3 is the vertical view of the stiffness changing structure of rehabilitation training device for lower limb arthrosis of the present invention.
Fig. 4 is the control system structured flowchart of rehabilitation training device for lower limb arthrosis of the present invention.
The specific embodiment as shown in Figure 1, rehabilitation training device for lower limb arthrosis of the present invention, comprise casing 1, base plate 9, leg-placing plate 6, adjustable foot support 5 and be arranged on drive mechanism and control circuit in the casing 1, between base plate 9 and leg-placing plate 6, be provided with Buddha's warrior attendant degree mechanism 4 and be fixed on the connecting rod, four adjustable cranks 3 are arranged with rod hinge connection; Adjustable crank 3 belongs to driven two and links by tensioner coupling sleeve 7 and axle in the bearing block 8; Adjustable crank 3 belongs to two of driving and links by tensioner coupling sleeve 7 and driving shaft; Be fixed with bearing block 8 and casing 1 on the base plate 9; The intelligence control circuit that described control circuit is made up of single-chip microcomputer 35; Wherein reach single-chip microcomputer 35, after single-chip microcomputer 35 is handled, pass in the motor drive module 30 by signal acquisition module 28 pilot signal of being gathered and the control signal that sets by human-computer interaction module 27; Becoming rigidity mechanism 4 is made up of motor 14, drive mechanism 19, pinion 18, spring spool 23, compression spring 21, constrictor 22, outer tooth bar fixed mount 26, interior tooth bar fixed mount 25; Wherein motor 14 is fixedlyed connected with pinion 18 by the connecting axle 17 in the drive mechanism 19; Tooth bar 20 interlock mutually on pinion 18 and outer tooth bar fixed mount 26, the interior tooth bar fixed mount 25; Two spring spools 23 are built-in with two compression springs 21 and are enclosed within on the constrictor 22, and spring spool 23 is positioned at the movable end that is of constrictor 22 intermediate ends, and the other end is fixed on the tooth bar fixed mount 25,26; Spring spool 23 movable ends are provided with washer and block spring; Described control circuit also is provided with signal acquisition module 28, data communication module 29; Data communication module 29 is connected with computer by the RS232 bus; Signal acquisition module 28 is made of spring position pick off 31, main motor position sensor 32, torque sensor 33, digital to analog converter 34; All the sensors all converts the voltage signal input digital to analog converter of gathering 34 to digital signal and passes to single-chip microcomputer 35; Become and to be provided with adapter 24 in the middle of two constrictors 22 of rigidity mechanism 4 and can fixedly connectedly to be connected by various with leg-placing plate 6; The drive mechanism 19 that becomes in the rigidity mechanism 4 is made of worm screw 15, worm gear 16, connecting axle 17, and worm gear 16 is fixed as one with connecting axle 17.During use, the height of adjusting adjustable crank 3 by the long adjusting knob 2 of bar is fit to the length of patient's thigh, the position of leg support fixed knob 12 adjustment adjustable leg supports 6 is fit to the length of patient's shank; With shank fixing band 13 shank is fixed on the leg-placing plate 6 then, sets training according to doctor's guidance.
Major function operation of the present invention:
(1) according to clinical needs the initial sum termination point can be set arbitrarily, and adopt charactron show initial, stop, angle and working time in real time;
(2) be provided with 4 kinds of mode of operations conventional and that every 5min, 15min, 30min increase by 1 are spent, can finish the overall process of incremental reconditioning automatically;
Running into unusual resistance when (3) moving can be auto-reverse, guarantees patient safety, and the threshold values when auto-reverse can freely be set;
(4) speed of service can be regulated arbitrarily in the scope of 4 degree/seconds, satisfies the exercise requirement in each stage of postoperative;
(5) be provided with the timing shutdown function, make things convenient for clinical management, timing 0min-255min is adjustable;
(6) the configuration hand controller can directly be controlled bending, stretch, open, stopping of machine by the patient.
Human-computer interaction module 27 can adopt and comprise supervisory keyboard 11 (a 4x4 keyboard) and display 10 (one six figure place sign indicating number display) and form, and application controls keyboard 11 can carry out operations such as position adjustments, speed adjusting, model selection.In operation, the data communication module 29 of system contains a rs-232 standard communication interface, can be provided with or expand logic function system by terminal, system's specialized designs one cover general operation instruction, unified the interface of data acquisition module 29, can also be used for the function of terminal with motor drive module 30.Expansion makes system can realize various complicated operational mode, and the PC platform control software of Windows operating system compatibility is provided now, will release the control software and the kit of other platforms in future.The control instruction that defines in the system comprises speed, direction, start and stop, the brake setting of motor at present, position, torque feedback signal collection, and the timing of system's operation etc.By keyboard 11 input instruction and operands, after button was pressed, the content of input was shown on the display 10.During operational mode, display 10 shows running status.
When carrying out initiatively training according to physician guidance, in supervisory keyboard, set the patient and should the stage maximum muscle force regulate the stroke range that becomes compression spring in the rigidity mechanism 4, be embodied as: be movable end near constrictor 22 intermediary spring spools 23, the two ends of constrictor 22 are movable end.Rotate by the driven by motor worm screw 15 that the change rigidity mechanism driver drives in the motor drive module 30 becomes in the rigidity mechanism 4, worm screw 15 is rotated and drives worm gear 16 rotations, at this moment will rotate by the pinion 18 that connecting axle 17 is connected with worm gear 16 thereupon, the tooth bar 20 that is meshed with pinion will drive two tooth bar fixed mounts 25,26 motions, if increasing rigidity, two tooth bar fixed mounts 25,26 will advance to two ends drives spring spool and advances to two ends, because the length of constrictor 22 is constant, so the relative length of the movable end of constrictor 22 and the movable end of spring spool and spring spool 23 movable ends will shorten, so just compress spring 21 elastic force of spring is increased; A spring discharges when being placed on trouble limb on the leg-placing plate 6 that is connected to a fixed with adapter 24 and exerting oneself, a spring continues compression, two springs produce difference power and the patient firmly balances each other, when the relative length of a constrictor 22 and a side spring spool 23 returns to compression spring length, constrictor 22 pushes up the top of opposite side spring spool 23, the power of patient's shank use at this moment reaches the damping force of this stage setting, has so just realized patient's active training.
In order to ensure accurate, stable, the safety of training aids, the main driving adopted monopole asynchronous motor, and into reaching accurate position control, motor 14 has adopted direct current generator in the change rigidity mechanism.Main electric driver mechanism in the driver module 30 uses the bidirectional thyristor for regulating voltage mode that it is carried out speed regulating control, and the solid-state AC relay SSR type control of use is switched in rotating.Become the rigidity drive part and adopt motor-driven control chip provided L298.The L298 chip provides the DC MOTOR CONTROL function, can control with braking by travel direction, and two inputs are respectively direction and brake signal, are provided by single-chip microcomputer.Required feedback signal comprises the position of main motor and moment of torsion, change rigidity mechanism position, and sensor feedback signal is the 0-5V voltage analog, is converted to digital signal by the modular converter in the signal acquisition module 28 (ADC0809 transducer) and beams back single-chip microcomputer.What position sensor used is high-precision turn knob potentiometer, and voltage analog is sent into the IN port of modular converter (ADC0809 transducer), and the conversion accuracy of modular converter (ADC0809 transducer) is 8Bit, can satisfy the needs of use.The speed amount is obtained by the algorithm process computing by position signalling, is realized by software.The simulation electric weight of torque sensor is sent into the IN port of modular converter (ADC0809 transducer), and the result enters single-chip microcomputer, and compares with threshold values that the torque adjusting knob is set.If training aids with load surpass the threshold values that the torque adjusting knob sets, then single-chip microcomputer sends the motor commutation signal, through direction control, makes motor commutation; Otherwise, then keep former direction operation.Because the response speed of single-chip microcomputer is fast, precision is high, the safety that the feedback element of adding just can keep the rehabilitation training process like this.
Claims (5)
1, a kind of rehabilitation training device for lower limb arthrosis, comprise casing (1), base plate (9), leg-placing plate (6), adjustable foot support (5) and be arranged on casing (1) interior drive mechanism and control circuit, it is characterized in that: be positioned at and be provided with Buddha's warrior attendant degree mechanism (4) between base plate (9) and the leg-placing plate (6) and be fixed on the connecting rod, four adjustable cranks (3) are arranged with rod hinge connection; Adjustable crank (3) belongs to driven two and links by tensioner coupling sleeve (7) and axle in the bearing block (8); Adjustable crank (3) belongs to two of driving and links by tensioner coupling sleeve (7) and driving shaft; Be fixed with bearing block (8) and casing (1) on the base plate (9); The intelligence control circuit that described control circuit is made up of single-chip microcomputer (35); Wherein reach single-chip microcomputer (35), after single-chip microcomputer (35) is handled, pass in the motor drive module (30) by signal acquisition module (28) pilot signal of being gathered and the control signal that sets by human-computer interaction module (27).
2, rehabilitation training device for lower limb arthrosis according to claim 1 is characterized in that: become rigidity mechanism (4) and be made up of motor (14), drive mechanism (19), pinion (18), spring spool (23), compression spring (21), constrictor (22), outer tooth bar fixed mount (26), interior tooth bar fixed mount (25); Wherein motor (14) is fixedlyed connected with pinion (18) by the connecting axle (17) in the drive mechanism (19); Tooth bar (20) interlock mutually on pinion (18) and outer tooth bar fixed mount (26), the interior tooth bar fixed mount (25); Two spring spools (23) are built-in with two compression springs (21) and are enclosed within on the constrictor (22), and spring spool (23) is positioned at the movable end that is of constrictor (22) intermediate ends, and the other end is fixed on tooth bar fixed mount (25), (26); Spring spool (23) movable end is provided with washer and blocks spring.
3, rehabilitation training device for lower limb arthrosis according to claim 1 is characterized in that: described control circuit also is provided with signal acquisition module (28), data communication module (29); Data communication module (29) is connected with computer by the RS232 bus; Signal acquisition module (28) is made of spring position pick off (31), main motor position sensor (32), torque sensor (33), digital to analog converter (34); All the sensors all converts the voltage signal input digital to analog converter of gathering (34) to digital signal and passes to single-chip microcomputer (35).
4, rehabilitation training device for lower limb arthrosis according to claim 1 is characterized in that: become and to be provided with adapter (24) in the middle of two constrictors (22) of rigidity mechanism (4) and can fixedly connectedly to be connected with leg-placing plate (6) by various.
5, rehabilitation training device for lower limb arthrosis according to claim 1, it is characterized in that: the drive mechanism (19) that becomes in the rigidity mechanism (4) is made of worm screw (15), worm gear (16), connecting axle (17), and worm gear (16) is fixed as one with connecting axle (17).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101589437A CN101461754A (en) | 2007-12-17 | 2007-12-17 | Rehabilitation training device for lower limb arthrosis |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA2007101589437A CN101461754A (en) | 2007-12-17 | 2007-12-17 | Rehabilitation training device for lower limb arthrosis |
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| Publication Number | Publication Date |
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| CN101461754A true CN101461754A (en) | 2009-06-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNA2007101589437A Pending CN101461754A (en) | 2007-12-17 | 2007-12-17 | Rehabilitation training device for lower limb arthrosis |
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| CN (1) | CN101461754A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102068367A (en) * | 2011-02-21 | 2011-05-25 | 华中科技大学 | Lower limb multi-training mode rehabilitation robot |
| CN102232902A (en) * | 2011-01-30 | 2011-11-09 | 无锡佑仁科技有限公司 | Pedal type lower-limb rehabilitation training device |
| CN103445933A (en) * | 2012-05-31 | 2013-12-18 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN104013408A (en) * | 2014-06-26 | 2014-09-03 | 李宁体育(上海)有限公司 | System for measuring and training joint torque |
| CN104739617A (en) * | 2015-04-16 | 2015-07-01 | 河海大学常州校区 | Adaptive lower limbs suspending bracket |
| CN107754217A (en) * | 2017-10-27 | 2018-03-06 | 南京思伯德生物科技有限公司 | Intelligent lower limb device for rehabilitation |
| CN116000510A (en) * | 2022-12-26 | 2023-04-25 | 上汽通用五菱汽车股份有限公司 | Tool positioning deviation compensation method and tool positioning equipment |
-
2007
- 2007-12-17 CN CNA2007101589437A patent/CN101461754A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102232902A (en) * | 2011-01-30 | 2011-11-09 | 无锡佑仁科技有限公司 | Pedal type lower-limb rehabilitation training device |
| CN102232902B (en) * | 2011-01-30 | 2013-06-12 | 无锡佑仁科技有限公司 | Pedal type lower-limb rehabilitation training device |
| CN102068367A (en) * | 2011-02-21 | 2011-05-25 | 华中科技大学 | Lower limb multi-training mode rehabilitation robot |
| CN102068367B (en) * | 2011-02-21 | 2013-05-22 | 华中科技大学 | Lower limb multi-training mode rehabilitation robot |
| CN103445933A (en) * | 2012-05-31 | 2013-12-18 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN103445933B (en) * | 2012-05-31 | 2015-06-17 | 雷兴邦 | Rehabilitation equipment for preventing intestinal adhesion after abdominal surgery |
| CN104013408A (en) * | 2014-06-26 | 2014-09-03 | 李宁体育(上海)有限公司 | System for measuring and training joint torque |
| CN104013408B (en) * | 2014-06-26 | 2015-10-14 | 李宁体育(上海)有限公司 | For joint torque measurement and training system |
| CN104739617A (en) * | 2015-04-16 | 2015-07-01 | 河海大学常州校区 | Adaptive lower limbs suspending bracket |
| CN107754217A (en) * | 2017-10-27 | 2018-03-06 | 南京思伯德生物科技有限公司 | Intelligent lower limb device for rehabilitation |
| CN116000510A (en) * | 2022-12-26 | 2023-04-25 | 上汽通用五菱汽车股份有限公司 | Tool positioning deviation compensation method and tool positioning equipment |
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Open date: 20090624 |