CN101623548B - Knee-joint function recovery trainer of below-knee amputation - Google Patents
Knee-joint function recovery trainer of below-knee amputation Download PDFInfo
- Publication number
- CN101623548B CN101623548B CN2009100909155A CN200910090915A CN101623548B CN 101623548 B CN101623548 B CN 101623548B CN 2009100909155 A CN2009100909155 A CN 2009100909155A CN 200910090915 A CN200910090915 A CN 200910090915A CN 101623548 B CN101623548 B CN 101623548B
- Authority
- CN
- China
- Prior art keywords
- knee
- belt wheel
- small pulley
- eccentric disc
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a knee-joint function recovery trainer of below-knee amputation, which belongs to the technical field of recovery medical instruments. The one-way output of a motor is converted into an alternate motion through a four-rod adjustment mechanism, and the angle of the alternate motion can be adjusted. Active and passive trainings can be realized by simultaneously and coaxially acting output power and the output damping of a magnetic powder torquer on the same mechanism, and output resistance and a moment can be adjusted. The trainer realizes the combination of the active and passive trainings and is suitable for patients in different recovery stages. An output limit pivot angle can be adjusted, thus the trainer can adapt to different limit knee bending angles of different patients. A motion output end is positioned in the inner sides of the legs of a patient and carries out coaxial two-way output so as to adapt to patients with amputation on different sides, thereby greatly simplifying a mechanical structure and effectively reducing the production cost.
Description
Technical field
The invention belongs to rehabilitation medical technique with the apparatus field, particularly a kind of knee-joint function recovery trainer of below-knee amputation.
Background technology
The modern rehabilitation theory is thought, the amputation rehabilitation is a complicated system engineering, correct LEA rehabilitation should comprise evaluation and the training before the amputation, the processing of amputation and postoperative, evaluation and rehabilitation training, interim wearing, the use that reaches permanent artificial limb, psychological rehabilitation and patient return to family, return the overall process of life.
December nineteen ninety-five China Association for the Handicapped calculates according to the result of sample investigation in 1987, and with reference to generaI investigation, the selective examination that carry out some statistics of single item that carry out in recent years and some areas, announced national disabled person's sum and all kinds of disabled person's quantity again.Announce that the result shows that there is numerous amputees in China, and a lot of patient is badly in need of installing artificial limb.And artificial limb need design and be subjected to the domination of deformed limb according to deformed limb, and it is not only relevant with quality, the performance of prosthetic product that artificial limb is installed, and closely related with deformed limb rehabilitation situation.
Nowadays mostly rehabilitation training equipment on the market is at healthy population or the hemiplegic patient designs, what consider is basic, general function, simple on the structural design, does not take into full account different lower extremity amputees' difference, motion amplitude, intensity are limited, can not reach good training effect.And, also having identical problem at the training device of deformed limb rehabilitation at each limb center of China, the demand of the rapid rehabilitation of patient is not being met.
Summary of the invention
The purpose of this invention is to provide a kind of main passive exercise and combine, training strength, amplitude are all adjustable, at a kind of knee-joint function recovery trainer of below-knee amputation of knee joint deformed limb postoperative locomitivity and muscle force recovering.
A kind of knee-joint function recovery trainer of below-knee amputation, it is characterized in that, described knee-joint function recovery trainer of below-knee amputation is mainly by motor 1, four bar governor motions 2, belt wheel transmission mechanism 3, deformed limb supporting plate 4, seat 5, magnetic torquer 6 and base 7 are formed, seat 5 is set on the base 7, belt wheel transmission mechanism 3 is set before the seat 5, described belt wheel transmission mechanism 3 is mainly by small pulley axle 8, small pulley 31, conveyer belt 32, big belt shaft 9 and big belt wheel 33 are formed, belt wheel transmission mechanism 3 front ends are provided with small pulley axle 8, small pulley axle 8 one ends link to each other with magnetic torquer 6, the middle small pulley 31 of installing, the other end links to each other with motor 1 by four bar governor motions 2, small pulley axle 8 is installed on the small pulley bracing frame 34 that is fixed on the base 7, small pulley 31 links to each other with the big belt wheel 33 that is arranged at belt wheel transmission mechanism 3 rear ends by conveyer belt 32, big belt wheel 33 is installed on the big belt shaft 9, big belt shaft 9 is installed on the big belt wheel bracing frame 35 that is fixed on the base 7, and deformed limb supporting plate 4 is installed in big belt shaft 9 both sides.
Deformed limb fixing tape 10 is installed on the described deformed limb supporting plate 4.
Described four bar governor motions 2 comprise eccentric disc 21, connecting rod 25 and fork 26, and eccentric disc 21, connecting rod 25 and fork 26 are connected successively, and eccentric disc 21 links to each other with motor 1, and fork 26 is connected on the small pulley axle 8.
Described eccentric disc 21 band T type grooves, the tight screw 22 of axial compression and compressing with output shaft and the eccentric disc 21 of flat key 23 with motor 1 tightens together, T type grooved screw 24 can slide in the T of eccentric disc 21 type groove and be locked, to change the distance at T type grooved screw 24 and eccentric disc 21 centers.
Described fork 26 limit amplitudes of oscillation are 135 °, and two extreme positions are for being the center with the vertical direction, left-right symmetry.
Beneficial effect of the present invention is as follows: (1) main passive exercise combines, and is applicable to the patient in different rehabilitation stages; (2) the output limit pivot angle can be regulated, the otherwise limit that the adapts to different patients angle of going down on one's knees; (3) the motion output is positioned at patient body two inboard legs, and coaxial two-direction output adapts to not homonymy patients with amputation, has simplified frame for movement greatly, has reduced production cost effectively.
Description of drawings
Fig. 1 is the whole three-dimensional structure schematic diagram of the present invention;
Fig. 2 is the whole mechanism map of the present invention;
Fig. 3 is a pivot angle adjusting portion extension set composition of the present invention;
Fig. 4 is a belt wheel running part mechanism map of the present invention;
Number in the figure:
The 1-motor; 2-four bar governor motions; 3-belt wheel transmission mechanism; 4-deformed limb supporting plate; The 5-seat; 6-magnetic torquer; The 7-base; 8-small pulley axle; The big belt shaft of 9-; 10-deformed limb fixing tape; The 21-eccentric disc; The tight screw of 22-axial compression; 23-compresses and uses flat key; 24-T type grooved screw; The 25-connecting rod; The 26-fork; The 31-small pulley; The 32-driving-belt; The big belt wheel of 33-; 34-small pulley bracing frame; The big belt wheel bracing frame of 35-.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing:
Embodiment 1
A kind of knee-joint function recovery trainer of below-knee amputation, described knee-joint function recovery trainer of below-knee amputation is mainly by motor 1, four bar governor motions 2, belt wheel transmission mechanism 3, deformed limb supporting plate 4, seat 5, magnetic torquer 6 and base 7 are formed, its whole three-dimensional structure schematic diagram as shown in Figure 1, Fig. 2 is whole mechanism map, seat 5 is set on the base 7, belt wheel transmission mechanism 3 is set before the seat 5, described belt wheel transmission mechanism 3 is mainly by small pulley axle 8, small pulley 31, tooth-shaped conveying belt 32, big belt shaft 9 and big belt wheel 33 are formed, belt wheel transmission mechanism 3 front ends are provided with small pulley axle 8, small pulley axle 8 one ends link to each other with magnetic torquer 2, the middle small pulley 31 of installing, the other end links to each other with motor 1 by four bar governor motions 2, described four bar governor motions 2 comprise eccentric disc 21, connecting rod 25 and fork 26, described eccentric disc 21 band T type grooves, the tight screw 22 of axial compression and compressing with output shaft and the eccentric disc 21 of flat key 23 with motor 1 tightens together, T type grooved screw 24 can slide in the T of eccentric disc 21 type groove and be locked, to change the distance at T type grooved screw 24 and eccentric disc 21 centers, obtain different active lengths, pivot angle adjusting portion extension set composition as shown in Figure 3; Eccentric disc 21, connecting rod 25 and fork 26 are connected successively, and eccentric disc 21 links to each other with motor 1, and fork 26 is connected on the small pulley axle 8; Small pulley axle 8 is installed on the small pulley bracing frame 34 that is fixed on the base 7, small pulley 31 links to each other with the big belt wheel 33 that is arranged at belt wheel transmission mechanism 3 rear ends by tooth-shaped conveying belt 32, big belt wheel 33 is installed on the big belt shaft 9, big belt shaft 9 is installed on the big belt wheel bracing frame 35 that is fixed on the base 7, deformed limb supporting plate 4 is installed in big belt shaft 9 both sides, deformed limb fixing tape 10 is installed on the deformed limb supporting plate 4, and (the deformed limb fixing tape adopts hasp or mode such as bonding, to adapt to different needs of patients), belt wheel running part mechanism map is as shown in Figure 4.
Described fork 26 limit amplitudes of oscillation are 135 °, and two extreme positions are for being the center with the vertical direction, left-right symmetry.
Motor 1 is a power source, magnetic torquer 6 is a sources of resistance, during work, motor 1 output continues circular motion, magnetic torquer 6 output resistances (moment), motor 1 drives eccentric disc 21 with the 6 simultaneously coaxial effects of magnetic torquer and rotates, circumference is converted into the reciprocally swinging of fork 26 by four-bar mechanism, by small pulley 31, flat-toothed belt 32 big belt wheel 33 is passed in motion, big belt wheel 33 drives deformed limb supporting plate 4 again and does the interior reciprocating motion of certain angle scope, the output swing is left and right sides output, and the deformed limb rehabilitation of homonymy is all not applicable.
The motion output is positioned at patient body two inboard legs, and coaxial two-direction output is not subjected to patients with amputation to suffer from the limb azimuthal influence, adapts to face width, has simplified frame for movement greatly, has reduced equipment cost effectively
The unidirectional output of motor, and by the eccentric wheel of band T type groove and linkage one-directional rotation is converted into and moves back and forth and position by the T type screw on the eccentric wheel of accommodation zone T type groove, the scope that moves back and forth angle changed.The damping of Shu Chu reciprocating motion and magnetic torquer output coaxial effect simultaneously on belt shaft thus, and by the belt wheel transmission with the deformed limb supporting plate of movement conduction to the training aids output.When the motor outputting power, combine with the magnetic torquer, can realize the adjustable passive exercise of resistance (moment); When motor outputting power not, when magnetic torquer output damping is only arranged, can realize the adjustable active training of carrying out in patient's autonomous zone dynamic damping source of resistance (moment).During training, the patient is seated at seat 5, the deformed limb of needs training is placed on the deformed limb supporting plate 4, and fixing with deformed limb fixing tape 10.When the patient used training aids, the belt wheel transmission mechanism was positioned at patient's two inboard legs, and the coaxial two-direction output movement is to adapt to the not training of homonymy patients with amputation.
The long four-bar mechanism of adjustable rod that eccentric disc of the present invention and connecting rod are formed, realize folk prescription to input, the function of twocouese motion output is by regulating the eccentric throw of eccentric disc, realized the adjustable function of output movement scope, the reciprocal and adjustable motion of reciprocating motion scope of output during passive exercise; When carrying out initiatively training, because the existence of eccentric disc has solved the four-bar mechanism dead unit problem.
The present invention by the control respectively to motor and magnetic torquer, realizes initiatively training and the conversion of passive exercise mode and the variation and the adjusting of training strength to motor and the coaxial effect simultaneously of magnetic torquer.
It is that motor orders about the knee joint deformed limb that the deformed limb supporting plate drives the patient and moves reciprocatingly that the present invention can use the unidirectional power source, and back and forth angle can be regulated, and overall structure is simple and practical, and is easy to adjust, is beneficial to maintenance and repair.And, prolonged the service life of power source greatly owing to the unidirectional output of power source.
The present invention utilizes the acting in conjunction of motor and magnetic torquer to realize the change of power output (moment) size; Control respectively by to motor and magnetic torquer has realized the conversion of main passive exercise, has strengthened the controllability of mechanism greatly, thereby can better press close to the required training requirement of patient.
The present invention selects for use the band transmission as long mode apart from powered rotation, has good overload protection function, and is economical, safe, easy, is easy to safeguard.
Claims (5)
1. knee-joint function recovery trainer of below-knee amputation, it is characterized in that, described knee-joint function recovery trainer of below-knee amputation is mainly by motor (1), four bar governor motions (2), belt wheel transmission mechanism (3), deformed limb supporting plate (4), seat (5), magnetic torquer (6) and base (7) are formed, seat (5) is set on the base (7), the preceding belt wheel transmission mechanism (3) that is provided with of seat (5), described belt wheel transmission mechanism (3) is mainly by small pulley axle (8), small pulley (31), conveyer belt (32), big belt shaft (9) and big belt wheel (33) are formed, belt wheel transmission mechanism (3) front end is provided with small pulley axle (8), small pulley axle (8) one ends link to each other with magnetic torquer (6), the middle small pulley (31) of installing, the other end links to each other with motor (1) by four bar governor motions (2), small pulley axle (8) is installed on the small pulley bracing frame (34) that is fixed on the base (7), small pulley (31) links to each other with the big belt wheel (33) that is arranged at belt wheel transmission mechanism (3) rear end by conveyer belt (32), big belt wheel (33) is installed on the big belt shaft (9), big belt shaft (9) is installed on the big belt wheel bracing frame (35) that is fixed on the base (7), and deformed limb supporting plate (4) is installed in big belt shaft (9) both sides.
2. a kind of knee-joint function recovery trainer of below-knee amputation according to claim 1 is characterized in that, described deformed limb supporting plate (4) is gone up deformed limb fixing tape (10) is installed.
3. a kind of knee-joint function recovery trainer of below-knee amputation according to claim 1, it is characterized in that, described four bar governor motions (2) comprise eccentric disc (21), connecting rod (25) and fork (26), eccentric disc (21), connecting rod (25) and fork (26) are connected successively, eccentric disc (21) links to each other with motor (1), and fork (26) is connected on the small pulley axle (8).
4. a kind of knee-joint function recovery trainer of below-knee amputation according to claim 3, it is characterized in that, described eccentric disc (21) band T type groove, the tight screw of axial compression (22) and compressing with output shaft and the eccentric disc (21) of flat key (23) with motor (1) tightens together, T type grooved screw (24) can slide in the T type groove of eccentric disc (21) and be locked, to change the distance at T type grooved screw (24) and eccentric disc (21) center.
5. a kind of knee-joint function recovery trainer of below-knee amputation according to claim 3 is characterized in that, described fork (26) limit amplitude of oscillation is 135 °, and two extreme positions are for being the center with the vertical direction, left-right symmetry.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100909155A CN101623548B (en) | 2009-08-14 | 2009-08-14 | Knee-joint function recovery trainer of below-knee amputation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009100909155A CN101623548B (en) | 2009-08-14 | 2009-08-14 | Knee-joint function recovery trainer of below-knee amputation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101623548A CN101623548A (en) | 2010-01-13 |
| CN101623548B true CN101623548B (en) | 2010-11-10 |
Family
ID=41519640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009100909155A Active CN101623548B (en) | 2009-08-14 | 2009-08-14 | Knee-joint function recovery trainer of below-knee amputation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101623548B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN103278278B (en) * | 2013-06-17 | 2015-01-14 | 上海体育学院 | Strength tester for foot metatarsophalangeal joints |
| CN105997425B (en) * | 2016-07-31 | 2018-08-14 | 郭连芳 | Spine vibration passive motion external force machine |
| CN106774713A (en) * | 2016-12-13 | 2017-05-31 | 重庆诚硕科技有限公司 | It is suitable to the mainframe box of physical disabilities |
| CN108078737B (en) * | 2018-02-01 | 2020-02-18 | 合肥工业大学 | Amplitude automatic adjustment type leg rehabilitation training device and control method |
| CN108261717B (en) * | 2018-03-09 | 2020-07-03 | 中科院合肥技术创新工程院 | Intelligent reciprocating type strength training equipment of low limbs |
| CN114010454B (en) * | 2021-10-31 | 2022-12-09 | 清华大学 | Lower limb movement rehabilitation bed |
-
2009
- 2009-08-14 CN CN2009100909155A patent/CN101623548B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN101623548A (en) | 2010-01-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101623548B (en) | Knee-joint function recovery trainer of below-knee amputation | |
| US10722416B2 (en) | Multi-posture lower limb rehabilitation robot | |
| CN106333829B (en) | Exoskeleton type multi-degree-of-freedom lower limb rehabilitation assistance mechanism | |
| CN104905936B (en) | Rehabilitation chair for upper limbs and lower limbs | |
| CN103610569B (en) | A kind of wearable lower limb power assisting device and control method thereof | |
| CN108095976B (en) | Bionic knee joint rehabilitation training device with passive rebound function | |
| CN106539662B (en) | Robot for rehabilitation training of lower limb functions | |
| CN103735386A (en) | Wearable lower limb exoskeleton rehabilitation robot | |
| CN107223044A (en) | Hip joint KAFO drive system | |
| CN104856842B (en) | Foot wheel driving paraplegia walking aided external skeleton | |
| CN107595548B (en) | Automatic fixing device used in human body rehabilitation training and rehabilitation training method | |
| CN104887456A (en) | Wearable rehabilitation training device for upper limbs driven by pneumatic artificial muscles | |
| CN108553271A (en) | A kind of MR damper sitting and lying formula lower limb rehabilitation robot | |
| CN205924861U (en) | Lower limbs rehabilitation training apparatus | |
| CN208974506U (en) | Wearable flexibility lower limb rehabilitation robot | |
| CN105291131B (en) | A kind of apery knee joint with adjustable flexibility | |
| CN108969296A (en) | A kind of lower limb rehabilitation robot | |
| CN102631764B (en) | Lumbar support weight-reducing device | |
| CN108721047B (en) | Wearable upper limbs rehabilitation training device | |
| CN109262594A (en) | A kind of assistance exoskeleton hip joint structure | |
| US20140243717A1 (en) | Gait training apparatus for generating a natural gait pattern | |
| CN105919777A (en) | Upper limb rehabilitation training robot capable of being grafted | |
| CN102697621A (en) | Rehabilitative apparatus for lower limbs | |
| CN201389291Y (en) | Passive exercises fitness equipment | |
| CN203315283U (en) | Bionic rotary device for leg rehabilitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |