CN101972196B - Lower-limb motion recovery machine with multiple body positions - Google Patents

Abstract

The invention discloses a multi-position lower limb exercise rehabilitation machine. The two ends of a hip electric linear push rod (29) are respectively hinged with the end of a hip rod (18) and a thigh upper rod (22), and the hip electric linear push rod ( 29) drive the hip joint movement; the two ends of the knee electric linear actuator (30) are respectively hinged with the thigh lower rod (24) and the calf upper rod (27), and the knee electric linear actuator (30) drives the knee joint movement; The two ends of the ankle electric linear push rod (31) are respectively hinged with the front ends of the calf lower rod (29) and the foot rod (21), and the ankle electric linear push rod (31) drives the ankle joint to move. Compared with the prior art, the outer joint-assisted exoskeleton of the multi-position lower limb exercise rehabilitation machine provided by the present invention can simulate the walking movement of the lower limbs of a human being, thereby driving the lower limbs of the patient to perform walking movements, thereby improving or gradually recovering the patient. and accurate walking skills.

Description

A multi-position lower limb exercise rehabilitation machine

technical field

The invention relates to the field of rehabilitation medical equipment, in particular to a multi-position lower limb exercise rehabilitation machine.

Background technique

At present, with the aging of modern society, patients with cardiovascular diseases such as stroke and hemiplegia, as well as patients with lower limb muscle atrophy and spinal injury have gradually become a common group in modern society. Patients are often unable to recover and accurately master walking motor skills due to residual dysfunction of varying degrees. The most fundamental purpose of rehabilitation is to enable patients to regain the motor skills of daily life. Motor skills are the ability to master and effectively complete specialized movements in human movement, including the coordination of different muscle groups under the regulation of the cerebral cortex. According to the conditioned reflex theory, it is a complex motor conditioned reflex in which one muscle action connects one action to another. Its formation has to go through the process of muscular sensation ambiguity, differentiation, consolidation, stabilization and automation. In this process, the formation and development of patients' motor skills are also affected by many factors such as rehabilitation training methods, rehabilitation training intensity, technical movement standards, learning purpose and initiative. Studies have shown that effective rehabilitation exercise training can optimize the plasticity of the brain motor function of patients and shorten the recovery time of patients' motor function.

Contents of the invention

In view of the above defects, the technical problem to be solved by the present invention is to provide a multi-position lower limb exercise rehabilitation machine, which drives the lower limb movement of patients with lower limb dysfunction through the machine, so that patients can improve or gradually recover and accurately master walking skills.

In order to solve the above technical problems, the multi-position lower limb exercise rehabilitation machine provided by the present invention includes a hospital bed mechanism and an outer-layer joint-assisted exercise exoskeleton, and the outer-layer joint-assisted exercise exoskeleton is installed on the hospital bed mechanism;

The exoskeleton with auxiliary motion of the outer layer joints comprises the same exoskeleton lower limbs (16, 17) on the left and right sides. (20) and foot bar (21) are formed in series successively;

Described hip bar (18) and described thigh bar (19) are articulated and constitute hip joint, and described thigh bar (19) and described shank bar (20) are articulated and formed knee joint, and described shank bar (20) and all The foot bar (21) is hinged to form an ankle joint;

The thigh rod (19) is composed of a thigh upper rod (22), a first rod length adjustment mechanism (23), and a thigh lower rod (24) in series, and the two ends of the first rod length adjustment mechanism (23) are respectively connected to the The thigh upper rod (22) and the thigh lower rod (24) are fixed, and the first rod length adjustment mechanism (23) includes a telescopic sliding guide rail (25) and a guide rail length locking bolt (26);

The calf rod (19) is composed of a calf upper rod (27), a second rod length adjustment mechanism (23), and a lower leg lower rod (29) in series, and the two ends of the second rod length adjustment mechanism (23) are respectively connected with the lower leg upper rod (27) is fixed with the shank lower bar (28), and the second bar length adjustment mechanism (23) includes a telescopic sliding guide rail (25) and a guide rail length locking bolt (26);

The two ends of the hip electric linear actuator (29) are respectively hinged with the end of the hip rod (18) and the upper leg (22) of the thigh, and the two ends of the knee electric linear actuator (30) are respectively connected with the The thigh lower rod (24) is hinged with the calf upper rod (27), and the two ends of the ankle electric linear push rod (31) are respectively hinged with the front ends of the calf lower rod (29) and the foot rod (21);

The hospital bed mechanism comprises a base (1), a medical treadmill (2), an upright push rod (3), an upright bed frame (4), and the medical treadmill (2) is placed under the base (1), The two ends of the upright push rod (3) are respectively hinged with the base (1) and the upright bed frame (4) through the first hinge (6) and the second hinge (7), for the upright angle of the hospital bed Adjustment, the front portion of described upright bed frame (4) has back turning bed board (5).

Preferably, angle sensors (38) are respectively installed on the sides of the hip joint, knee joint and ankle joint of the outer joint assisted motion exoskeleton.

Preferably, the multi-position lower limb exercise rehabilitation machine also includes an inner layer joint motion data monitoring exoskeleton, and the inner layer joint motion data monitoring exoskeleton is fixed on the patient;

The inner exoskeleton for joint motion data monitoring includes an inner exoskeleton hip rod (8), an inner exoskeleton thigh rear rod (9), an inner exoskeleton thigh front rod (10), and an inner exoskeleton calf rear rod. Bar (11), inner layer exoskeleton shank front bar (12) and inner layer exoskeleton foot bar (13);

The inner layer exoskeleton hip rod (8) is hinged with the inner layer exoskeleton thigh rear rod (9) to form the inner layer exoskeleton hip joint, and the inner layer exoskeleton thigh front rod (10) is connected to the inner layer exoskeleton The rear exoskeleton calf rod (11) is hinged to form the inner exoskeleton knee joint, and the inner exoskeleton lower leg front rod (12) and the inner exoskeleton foot rod (13) are hinged to form the inner exoskeleton ankle joint. joint;

In described inner layer exoskeleton hip bar (8), described inner layer exoskeleton thigh rear bar (9), described inner layer exoskeleton thigh front bar (10), described inner layer exoskeleton shank rear bar ( 11), the front bar of the inner exoskeleton calf (12) and the foot bar of the inner exoskeleton (13) are all equipped with a binding piece (14).

Preferably, angle sensors (15) are respectively installed on the sides of the inner exoskeleton hip joint, the inner exoskeleton knee joint and the inner exoskeleton ankle joint.

Preferably, the binding piece (14) is a nylon strap.

Preferably, the multi-position lower limb exercise rehabilitation machine also includes a hip width adjustment mechanism (32), and the hip width adjustment mechanism (32) includes an adjustment screw (33), left and right sides of the adjustment screw (33). Adjusting nut (34,35), adjusting handle (36) and support (37), described support (37) is fixed with described upright bed frame (4), and the two ends of described adjusting screw (33) pass bearing respectively Supported on the bracket (37), the left and right adjustment nuts (34, 35) of the adjustment screw (33) are connected to the left and right exoskeleton lower limbs (16, 17) respectively, and the adjustment handle (36 ) is coaxially fixedly connected with the adjusting screw (33).

Compared with the prior art, in the multi-position lower limb exercise rehabilitation machine provided by the present invention, the hip bar (18) and the thigh bar (19) are hinged to form the hip joint, and the thigh bar (19) and the calf bar (20) are hinged to form the knee joint. , calf bar (20) and foot bar (21) are hinged and constitute ankle joint, and hip joint, knee joint and ankle joint can do bending motion; The second bar length adjustment mechanism (23) of bar (19) can make the length of thigh bar (19) and shank bar (19) adjustable, and is suitable for the thigh length and the shank length of different heights; Hip electric linear pusher (29 ) are respectively hinged with the end of the hip rod (18) and the thigh upper rod (22), and the hip electric linear actuator (29) drives the hip joint movement; the two ends of the knee electric linear actuator (30) are respectively Hinged with thigh lower rod (24) and calf upper rod (27), knee electric linear actuator (30) drives knee joint movement; It is hinged with the front end of the foot rod (21), and the ankle electric linear push rod (31) drives the ankle joint to move. The outer joint assisted motion exoskeleton can simulate the walking movement of human lower limbs, thereby driving the patient's lower limbs to perform walking movement, so that the patient can improve or gradually recover and accurately master the walking movement skills.

Description of drawings

Fig. 1 is the structural representation when the level of multi-position lower limb exercise rehabilitation machine in the present invention;

Fig. 2 is the structural schematic diagram when the multi-position lower limb exercise rehabilitation machine is upright in the present invention;

Fig. 3 is the principle structural diagram of hospital bed mechanism in the present invention;

Fig. 4 is the principle structure diagram of the exoskeleton assisted by the middle and outer joints of the present invention;

Fig. 5 is the schematic structural diagram of the rod length adjustment mechanism in the present invention;

Fig. 6 is the schematic structural diagram of the inner exoskeleton hip joint in the present invention;

Fig. 7 is a schematic structural diagram of the inner exoskeleton knee joint in the present invention;

Fig. 8 is the schematic structural diagram of the inner exoskeleton ankle joint in the present invention;

Fig. 9 is a schematic diagram of the principle structure of the hip width adjustment mechanism in the present invention.

Detailed ways

In order for those skilled in the art to better understand the technical solutions provided by the present invention, the following will be described in conjunction with specific embodiments.

Please refer to Fig. 1-Fig. 9, Fig. 1 is a schematic structural diagram of the multi-position lower limb exercise rehabilitation machine in the present invention when it is horizontal; Fig. 2 is a structural schematic diagram of the multi-position lower limb exercise rehabilitation machine in the present invention when it is upright; Fig. 3 is the present invention The principle structure diagram of the hospital bed mechanism in the invention; Fig. 4 is the principle structure diagram of the outer joint assisted movement exoskeleton in the present invention; Fig. 5 is the principle structure diagram of the rod length adjustment mechanism in the present invention; Skeletal hip joint principle structure diagram; Fig. 7 is the principle structure diagram of the inner exoskeleton knee joint in the present invention; Fig. 8 is the principle structure diagram of the inner exoskeleton ankle joint in the present invention; Fig. 9 is the hip in the present invention Schematic diagram of the width adjustment mechanism.

Since the structural schematic diagram of the multi-position lower limb exercise rehabilitation machine is relatively complicated, the hospital bed mechanism, the outer layer joint auxiliary exercise exoskeleton, the rod length adjustment mechanism, the inner layer exoskeleton hip joint, the inner layer exoskeleton knee joint and the The accompanying drawing of the ankle joint of the inner exoskeleton is a schematic structural diagram, which can more clearly express its structure.

The multi-position lower limb exercise rehabilitation machine provided by the present invention includes a hospital bed mechanism and an outer joint assisted exercise exoskeleton. Skeleton lower limbs 16 and 17, and exoskeleton lower limbs 16 and 17 are composed of hip rod 18, thigh rod 19, calf rod 20 and foot rod 21 in series; hip rod 18 and thigh rod 19 are hinged to form a hip joint, and thigh rod 19 It is hinged with calf rod 20 to form a knee joint, and calf rod 20 and foot rod 21 are hinged to form an ankle joint; thigh rod 19 is composed of thigh upper rod 22, first rod length adjustment mechanism 23, and thigh lower rod 24 in series. The two ends of adjustment mechanism 23 are respectively fixed with thigh upper rod 22 and thigh lower rod 24. The first rod length adjustment mechanism 23 includes telescopic sliding guide rail 25 and guide rail length locking bolt 26; The length adjustment mechanism 23 and the calf lower rod 29 are connected in series. The two ends of the second rod length adjustment mechanism 23 are respectively fixed with the lower leg upper rod 27 and the lower leg lower rod 28. The second rod length adjustment mechanism 23 includes a telescopic sliding guide rail 25 and a guide rail length lock. Tighten the bolt 26; the two ends of the hip electric linear actuator 29 are respectively hinged with the end of the hip rod 18 and the thigh upper rod 22, and the two ends of the knee electric linear actuator 30 are respectively connected with the thigh lower rod 24 and the calf upper rod 27 Hinged, the two ends of the ankle electric linear actuator 31 are respectively hinged with the front ends of the calf lower rod 29 and the foot rod 21; angle sensors are respectively installed on the sides of the hip joint, knee joint and ankle joint of the outer joint auxiliary motion exoskeleton 38. Through a certain control algorithm, the corresponding gait can be realized by controlling the electric linear actuator 29 of the hip, the electric linear actuator 30 of the knee and the electric linear actuator 31 of the ankle, so as to drive the patient to perform normal gait Rehabilitation.

In the multi-position lower limb exercise rehabilitation machine provided by the present invention, the hip bar 18 and the thigh bar 19 are articulated to form the hip joint, the thigh bar 19 and the calf bar 20 are articulated to form the knee joint, the calf bar 20 and the foot bar 21 are articulated to form the ankle joint, and the hip bar 20 is articulated to form the ankle joint. Joints, knee joints and ankle joints can be bent; the rod length adjustment mechanism 23 of the thigh rod 19 and the rod length adjustment mechanism 23 of the calf rod 19 can make the length of the thigh rod 19 and the calf rod 19 adjustable, suitable for different heights thigh length and calf length; the two ends of the hip electric linear actuator 29 are respectively hinged with the end of the hip rod 18 and the thigh upper rod 22, and the hip electric linear actuator 29 drives the hip joint movement; the knee electric linear actuator The two ends of 30 are hinged with thigh lower rod 24 and calf upper rod 27 respectively, and knee electric linear actuator 30 drives knee joint motion; The front end is hinged, and the ankle electric linear push rod 31 drives the ankle joint to move. The outer joint assisted motion exoskeleton can simulate the walking movement of human lower limbs, thereby driving the patient's lower limbs to perform walking movement, so that the patient can improve or gradually recover and accurately master the walking movement skills.

The multi-position lower limb exercise rehabilitation machine also includes an inner exoskeleton for joint movement data monitoring, and the exoskeleton for inner joint movement data monitoring is fixed on the patient; the inner joint movement data monitoring exoskeleton includes inner exoskeleton Exoskeleton thigh rear rod 9, inner exoskeleton thigh front rod 10, inner exoskeleton calf rear rod 11, inner exoskeleton calf front rod 12 and inner exoskeleton foot rod 13; inner exoskeleton hip rod 8 is hinged with the inner exoskeleton thigh rear rod 9 to form the inner exoskeleton hip joint, the inner exoskeleton thigh front rod 10 is hinged with the inner exoskeleton calf rear rod 11 to form the inner exoskeleton knee joint, and the inner exoskeleton calf The front bar 12 and the inner layer exoskeleton foot bar 13 are hinged to form the inner layer exoskeleton ankle joint; the inner layer exoskeleton hip bar 8, the inner layer exoskeleton thigh rear bar 9, the inner layer exoskeleton thigh front bar 10, the inner layer exoskeleton Nylon straps 14 are all installed on the layer exoskeleton calf rear bar 11 , the inner layer exoskeleton calf front bar 12 and the inner layer exoskeleton foot bar 13 . Angle sensors are installed on the sides of the inner exoskeleton hip joint, the inner exoskeleton knee joint and the inner exoskeleton ankle joint respectively. When the patient wears the inner layer joint motion data to monitor the exoskeleton walking, the angle sensor 15 can measure the angle changes of each joint when the patient walks in real time.

The hospital bed mechanism includes a base 1, a medical treadmill 2, an upright push rod 3, and an upright bed frame 4. The medical treadmill 2 is placed under the base 1, and the two ends of the upright push rod 3 pass through the first hinge 6 and the second hinge 7 respectively. It is hinged with the base 1 and the upright bed frame 4, and is used for adjusting the upright angle of the upright hospital bed. The front part of the upright bed frame 4 has a rear-turning bed board 5. The upright bed frame 4 can be adjusted into a horizontal state and a vertical state, which can allow the patient to move when lying flat, and also can allow the patient to move when being vertical, and is used for different patients respectively.

The multi-position lower limb exercise rehabilitation machine also includes a hip width adjustment mechanism 32, and the hip width adjustment mechanism 32 includes an adjustment screw 33, left and right adjustment nuts 34, 35 of the adjustment screw 33, an adjustment handle 36 and a bracket 37, and a bracket 37 Fixed with the upright bed frame 4, the two ends of the adjustment screw 33 are respectively supported on the bracket 37 by bearings, the left and right adjustment nuts 34, 35 of the adjustment screw 33 are respectively connected with the left and right exoskeleton lower limbs 16, 17, and the adjustment handle 36 It is coaxially and fixedly connected with the adjustment screw 33, and the hip width adjustment mechanism 32 can meet the needs of different fat and thin patients.

The above description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention will not be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (6)

1. the machine of position lower extremity movement rehabilitation more than a kind is characterized in that, comprises sick bed mechanism and outer joint assistant movement exoskeleton, and said outer joint assistant movement exoskeleton is installed in the said sick bed mechanism;

Said outer joint assistant movement exoskeleton comprises the identical ectoskeleton lower limb in the left and right sides (16,17), and said ectoskeleton lower limb (16,17) are followed in series to form by hip bar (18), thigh bar (19), shank bar (20) and foot bar (21);

Said hip bar (18) and the hinged formation hip joint of said thigh bar (19), said thigh bar (19) and the hinged formation knee joint of said shank bar (20), said shank bar (20) and the hinged formation ankle joint of said foot bar (21);

Said thigh bar (19) is composed in series by thigh upper boom (22), the long governor motion of first bar (23), thigh lower beam (24); The long governor motion of said first bar (23) two ends are fixing with said thigh upper boom (22) and said thigh lower beam (24) respectively, and the long governor motion of said first bar (23) comprises slides in telescopic guide rail (25) and rail length clamping screw (26);

Said shank bar (19) is composed in series by shank upper boom (27), the long governor motion of second bar (23), shank lower beam (28); The long governor motion of second bar (23) two ends are fixing with shank upper boom (27) and shank lower beam (28) respectively, and the long governor motion of said second bar (23) comprises slides in telescopic guide rail (25) and rail length clamping screw (26);

The two ends of hip electric linear push rod (29) are hinged with the end and the said thigh upper boom (22) of said hip bar (18) respectively; The two ends of knee electric linear push rod (30) are hinged with said thigh lower beam (24) and said shank upper boom (27) respectively, and the two ends of ankle electric linear push rod (31) are hinged with the front end of shank lower beam (28) and foot bar (21) respectively;

Said sick bed mechanism comprises base (1); Medical treadmill (2), upright push rod (3), upright bedstead (4); Said medical treadmill (2) places under the said base (1); The two ends of said upright push rod (3) are hinged with said base (1) and said upright bedstead (4) through first hinge (6) and second hinge (7) respectively, are used for the upright angular adjustment of upright sick bed, and there is back tilting table plate (5) front portion of said upright bedstead (4).

2. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, the side of hip joint, knee joint and the ankle joint of said outer joint assistant movement exoskeleton is separately installed with angular transducer (38).

3. many positions lower extremity movement rehabilitation machine according to claim 1 is characterized in that, also comprises internal layer joint motions data monitoring ectoskeleton, and said internal layer joint motions data monitoring ectoskeleton is fixed on one's body the patient;

Said internal layer joint motions data monitoring ectoskeleton comprises bar (12) and internal layer ectoskeleton foot bar (13) before bar (11) behind bar (10) before bar (9) behind internal layer ectoskeleton hip bar (8), the internal layer ectoskeleton thigh, the internal layer ectoskeleton thigh, the internal layer ectoskeleton shank, the internal layer ectoskeleton shank;

The hinged formation internal layer of bar (9) ectoskeleton hip joint behind said internal layer ectoskeleton hip bar (8) and the said internal layer ectoskeleton thigh; The hinged formation internal layer of bar (11) ectoskeleton knee joint behind bar (10) and the said internal layer ectoskeleton shank before the said internal layer ectoskeleton thigh, bar (12) and the hinged formation internal layer of said internal layer ectoskeleton foot bar (13) exoskeleton ankle joint before the said internal layer ectoskeleton shank;

Behind said internal layer ectoskeleton hip bar (8), said internal layer ectoskeleton thigh, on bar (11), the preceding bar (12) of said internal layer ectoskeleton shank and the said internal layer ectoskeleton foot bar (13) bundled piece (14) is installed all behind bar (10), the said internal layer ectoskeleton shank before bar (9), the said internal layer ectoskeleton thigh.

4. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that, the side of said internal layer ectoskeleton hip joint, said internal layer ectoskeleton knee joint and said internal layer exoskeleton ankle joint is separately installed with angular transducer (15).

5. many positions lower extremity movement rehabilitation machine according to claim 3 is characterized in that said bundled piece (14) is the nylon bandage.

6. many positions lower extremity movement rehabilitation machine according to claim 1; It is characterized in that; Also comprise hip width governor motion (32); Said hip width governor motion (32) comprises left and right adjusting nut (34,35), regulating handle (36) and the support (37) of regulating leading screw (33), regulating leading screw (33), and said support (37) is fixing with said upright bedstead (4), and the two ends of said adjusting leading screw (33) are passed through bearings respectively on said support (37); The left and right adjusting nut of said adjusting leading screw (33) (34,35) is connected with said left and right sides ectoskeleton lower limb (16,17) respectively, said regulating handle (36) and coaxial fixed connection of said adjusting leading screw (33).

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