CN102218005A - Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer - Google Patents
Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer Download PDFInfo
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- CN102218005A CN102218005A CN2011101608754A CN201110160875A CN102218005A CN 102218005 A CN102218005 A CN 102218005A CN 2011101608754 A CN2011101608754 A CN 2011101608754A CN 201110160875 A CN201110160875 A CN 201110160875A CN 102218005 A CN102218005 A CN 102218005A
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- rehabilitation
- phalangeal joint
- pedal
- rehabilitation institution
- spring shaft
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Abstract
The invention aims at providing a phalanx joint rehabilitation mechanism of a pedal gait rehabilitation trainer, comprising two curved rods, a vertical rocker pillar, two phalanx joint rehabilitation mechanisms, two connection rods, a bottom plate, two cranks and a torsion motor, wherein the vertical rocker pillar is fixed at the front end of the bottom plate, the torsion motor is fixed at the back end of the bottom plate, the upper ends of the curved rods are connected with the vertical rocker pillar, the lower ends of the curved rods are connected with the connection rods, the connection rods are connected with the cranks, the cranks are connected with the torsion motor, the phalanx joint rehabilitation mechanisms are connected with the connection rods, and the two curved rods, the two connection rods, the two phalanx joint rehabilitation mechanisms and the two cranks are symmetrically positioned at the two sides of the vertical rocker pillar. The phalanx joint rehabilitation mechanism of the pedal gait rehabilitation trainer is simple in structure and convenient to use, and can provide drive capability for thigh joint, talocrural joint, ankle joint and metatarsal joint. The phalanx joint rehabilitation mechanism of the pedal gait rehabilitation trainer is suitable for rehabilitation training of patients who are suffered from palsy caused by cardiovascular diseases or lower limb injury caused by accidents and the like, and also suitable for rehabilitation training of patients with impaired gait. The movement range and speed of the phalanx joint rehabilitation mechanism can be changed according to actual situations of the patents so that the phalanx joint rehabilitation mechanism has wide application range.
Description
Technical field
What the present invention relates to is a kind of patient's rehabilitation training apparatus.
Background technology
Theory of medicine and practice are verified, and the limb injury patient that cerebral palsy sequela or contingency cause must carry out the limbs training, so that recover limb function, prevent muscle " the useless property used " atrophy and ankylosis.In recent years, recovery training appliance for recovery has shown increasing advantage to the mode that the patient carries out science and effectively rehabilitation training.Carry out rehabilitation training early and not only can keep range of motion, prevent arthrogryposis, and can obviously improve the final recovery extent of patient moving function.Wherein continuous passive motion is a kind of basic skills in the extremity motor function rehabilitation training therapy.
Existing about gait rehabilitation robot generally the rotation by swing of thigh, shank and ankle realize simulation to human gait, ignored the effect of human foot metatarsal joints in gait.One group of perfect gait must allow the patient can carry out walking movement like a cork, for a long time.Xiangli when the lower limb kiss the earth of the 60-65% that accounts for whole gait cycle promptly supported with the time of bearing gravity, metatarsal joints has played important effect.Supporting phase in the time, the gravity center of human body moves to toe from heel, and vola power shows as and is two hump curves.In gait rehabilitation robot, add metatarsal joints, make on the one hand can make vola power meet two hump features by the real gait curve of the more approaching mankind of gait curve on the other hand.
Summary of the invention
The object of the present invention is to provide the rehabilitation institution of the pedal gait rehabilitation training aids phalangeal joint of the muscle that is used for the lower extremity injury patient and function of joint training.
The object of the present invention is achieved like this:
The rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint of the present invention, it is characterized in that: comprise knee, vertical rocking bar pillar, phalangeal joint rehabilitation institution, connecting rod, base plate, crank, torque motor, vertical rocking bar pillar is fixed on the front end of base plate, torque motor is fixed on the rear end of base plate, the upper end of knee links to each other with vertical rocking bar pillar, the lower end of knee connects connecting rod, connecting rod links to each other with crank, crank coupling torque motor, phalangeal joint rehabilitation institution links to each other with connecting rod, described knee, connecting rod, phalangeal joint rehabilitation institution, crank all has two and symmetry to be positioned at vertical rocking bar pillar both sides.
The present invention can also comprise:
1, described phalangeal joint rehabilitation institution comprises foot header board, long spring shaft, pulley, hinge, short spring shaft, back sole, linear bearing contiguous block, slide block, slide rail, slide rail bracing frame, forefoot plate links to each other by hinge with the back sole, long spring shaft is installed in the forefoot plate bottom, pulley is installed in an end of long spring shaft, short spring shaft is installed in back sole bottom, long spring shaft links to each other by spring with short spring shaft, back sole connects slide block by the linear bearing contiguous block, slide block is installed on the slide rail, and slide rail is fixed on the slide rail bracing frame.
2, also comprise stopper slot, the bottom of stopper slot is fixed on the base plate, matches with the pulley of phalangeal joint rehabilitation institution in the top of stopper slot.
3, described base plate is a plane framework formula structure.
4, described forefoot plate and back sole periphery fixed protection frame.
5, the bottom mounting support axle of described back sole, phalangeal joint rehabilitation institution links to each other with connecting rod by bolster.
Advantage of the present invention is: the present invention is simple in structure, and is easy to use, has thigh, shank, ankle and four joint driving forces of metatarsal.Be applicable to that cardiovascular and cerebrovascular disease causes paralysis and the lower extremity injury patient that causes because of contingency etc. does rehabilitation training, also applicable to the odd-shaped patient of gait.Motion amplitude, speed can change applied range according to patient's practical situation.
Description of drawings
Fig. 1 is a graphics of the present invention;
Fig. 2 is the graphics 1 of phalangeal joint of the present invention rehabilitation institution;
Fig. 3 is the graphics 2 of phalangeal joint of the present invention rehabilitation institution;
Fig. 4 is that pulley and chute rigidly connect the front view when touching;
Front view when Fig. 5 is front and back pedal angle of bend maximum;
Fig. 6 is the geometric locus at hinge place.
The specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～6, a kind of pedal gait rehabilitation training aids phalangeal joint rehabilitation institution.Phalangeal joint rehabilitation institution is mainly the pedal part of pedal gait rehabilitation training aids.Pedal gait rehabilitation training aids primary structure comprise base plate, about the 2 gait mechanisms of overlapping into 180 ° of symmetric arrangement, about 2 cover symmetric arrangement ankle motion mechanism, about 2 cover phalanx rehabilitation institution, the lifting rope mechanism that is positioned at the mechanism rear portion, the handle that is positioned at front end and front and back be individually fixed in the rail mechanism of pillar and handle front axle.Wherein, base plate 5 is a plane framework formula structure, and front end is connected with vertical rocking bar pillar 2, and the rear end is fixed with torque motor 7.Gait mechanism by torque motor 7, crank 6, about two cover crank linkages 4, knee 1 and two cover phalangeal joint rehabilitation institution 3 form; The reducer shaft symmetry of torque motor is fixed with into 180 ° of symmetric cranks respectively; Knee 1 one ends and vertical rocking bar pillar 2 are connected by bearing iron hinge, and the other end is connected by connecting axle, bearing iron hinge with connecting rod 4; Connecting rod 4 other end hinges are connected in crank 6; Connecting rod 4 certain position (present embodiment is set at 1/4th places) are connected with phalangeal joint rehabilitation institution 3 hinges.Torque motor and crank are connected, torque motor is by crank drivening rod and rocking bar swing, and then drive be connected with connecting rod link, the rear end is connected with the linear bearing hinge, front end is done plane motion with the pedal that the chute of stop portion matches, and realizes the gait rehabilitation motion like this.
Phalangeal joint rehabilitation institution, it forms forefoot plate by forefoot plate part, rear foot plate portion, support column part, position restricted part, springs return device and the back sole is hinged constitutes revolute pair.It is characterized in that: described forefoot plate partly is mainly the forefoot plate 8 of welding fabrication, and periphery is being fixed protective frame; Its end, be fixedly connected with long spring shaft 9; 9 one sections grooves that fixing spring is arranged of long spring shaft, an end is connected with bearing iron hinge by bearing pin with pulley 10.Described rear foot plate portion is mainly the back sole 16 of welding fabrication, and its periphery is being fixed protective frame; The protective frame on both sides is the instep bandage fixedly; Forefoot plate and back sole are hinged by hinge 11, and hinge 11 is fixed on the pedal of front and back by holding screw,, forefoot plate is last the be oblique angle of certain angle, Lower Half right angle with back sole contact portion, to reach a purpose that direction is spacing.The rear pedal front portion is fixedly connected with short spring shaft 12; Short spring shaft 12 1 ends are fluted, by the long spring shaft 9 of groove with lack spring shaft 12 and link to each other by spring, play making pedal keep planar effect; Back sole 16 bottoms are connected by holding screw and ear 17; Ear 17 is connected with bearing iron hinge by bearing pin with linear bearing contiguous block 18; Linear bearing contiguous block 18 is connected with the slide block 16 of linear bearing; Slide block 19 is enclosed within on the slide rail 20.Described linear bearing partly is the slide block 19 and the slide rail 20 of linear bearing, and the rear side of rear pedal links to each other with linear bearing, finishes the movement locus of ankle joint.Slide rail 20 front and back are connected on the slide rail bracing frame 21 by marking closely screw respectively; Slide rail bracing frame 21 is connected on the floor of mechanism.Described support column part is made up of back-up block 13 that links together by bearing iron hinge and back shaft 14.On the connecting rod of bolster 14 1 side bindiny mechanisms.The stopper slot 15 that described position restricted part is made up of position qualification groove that welds together and bracing frame, the frame bottom of stopper slot 15 and the base plate of mechanism 5 are connected by holding screw, the position of stopper slot 15 limits groove and matches with pulley 10, when reaching the qualification position, pedal cooperates with its joint, pulley contact chute, in chute, move, make the axial-movement of front foot pedal around hinge, make 16 one-tenth certain minute angles of front foot pedal 8 and rear pedal like this, reach the bending effect of phalangeal joint in the phase of support; The groove face that the position limits groove has a certain degree, to reach the angle of true embodiment phalanx bending.
Be depicted as the front view of phalangeal joint convalescence device as Fig. 4,5,6 in the action of phalangeal joint place.Forefoot plate and back sole are hinged by hinge 11, and on the pedal, forefoot plate was last the be oblique angle of certain angle, Lower Half right angle with back sole contact portion, to reach a purpose that direction is spacing before and after hinge 11 was fixed on by holding screw.The position of stopper slot 15 limits groove and matches with pulley 10, phalangeal joint just in time with the centrage of hinge to it, when reaching the qualification position, pedal cooperates with its joint, pulley contact chute, in chute, move, make the axial-movement of front foot pedal, make 16 one-tenth certain minute angles of front foot pedal 8 and rear pedal like this around hinge, like this because phalangeal joint just in time relative with the axis of pedal bending its, thereby driven the phalangeal joint motion.ACB among Fig. 6 is the phalangeal joint actuating range, this segment limit front foot pedal and rear pedal are with the bending of folding center line, angle is arranged, and change along with the action of mechanism, BA is before and after the upside of ellipse pedal on same straight line, does not have angle wherein to be pulley and to rigidly connect position (Fig. 4) when touching chute in the A place; Position (Fig. 5) when the B place is chute and pulley contact front and back pedal generation maximum angle;
When the present invention worked, host computer was transformed into the rotation of control signal control moment motor with gait data given in advance, and then drove the make a bet rotation in corresponding joint of patient.When the patient carries out the gait rehabilitation training, whole swing phase and support early stage (landing to metatarsal heelstrike) mutually, preloading spring makes forefoot plate in the same plane with the back sole.Advocate to concentrate on the heel place in this stage vola.Keep level with respect to ground supporting phase mid-term (heelstrike heeloff) forefoot plate, relatively rotate with back sole and angle changes to minimum by 180 ° to opposite side.The angle changing value is to change by the angle of inclination that the position limits groove, supports the angle of bend of phase phalanx when reaching normal person's walking.This stage heel place vola power diminishes, and metatarsal place vola power increases to maximum simultaneously.Change into back sole by horizontal level and be in same plane supporting phase latter stage (to toes liftoff before) forefoot plate with respect to ground.Become 180 ° with back sole relative angle by minimum.This stage gravity center of human body turns to the opposite side vola at the bottom of by a parapodum, and metatarsal place vola power diminishes, and opposite side heel place vola power increases.In the whole gait cycle, the connecting rod of whole mechanism drives the orbiting motion that pedal carries out gait, the rear portion of rear pedal links to each other with slide block, makes pedal swing up and down around bolster, and the angle on rear pedal and ground is to reach the gait motion in anklebone joint in the change gait cycle.
Claims (6)
1. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint, it is characterized in that: comprise knee, vertical rocking bar pillar, phalangeal joint rehabilitation institution, connecting rod, base plate, crank, torque motor, vertical rocking bar pillar is fixed on the front end of base plate, torque motor is fixed on the rear end of base plate, the upper end of knee links to each other with vertical rocking bar pillar, the lower end of knee connects connecting rod, connecting rod links to each other with crank, crank coupling torque motor, phalangeal joint rehabilitation institution links to each other with connecting rod, described knee, connecting rod, phalangeal joint rehabilitation institution, crank all has two and symmetry to be positioned at vertical rocking bar pillar both sides.
2. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint according to claim 1, it is characterized in that: described phalangeal joint rehabilitation institution comprises the foot header board, long spring shaft, pulley, hinge, short spring shaft, back sole, the linear bearing contiguous block, slide block, slide rail, the slide rail bracing frame, forefoot plate links to each other by hinge with the back sole, long spring shaft is installed in the forefoot plate bottom, pulley is installed in an end of long spring shaft, short spring shaft is installed in back sole bottom, long spring shaft links to each other by spring with short spring shaft, back sole connects slide block by the linear bearing contiguous block, slide block is installed on the slide rail, and slide rail is fixed on the slide rail bracing frame.
3. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint according to claim 2 is characterized in that: also comprise stopper slot, the bottom of stopper slot is fixed on the base plate, matches with the pulley of phalangeal joint rehabilitation institution in the top of stopper slot.
4. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint according to claim 3 is characterized in that: described base plate is a plane framework formula structure.
5. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint according to claim 4 is characterized in that: described forefoot plate and back sole periphery fixed protection frame.
6. the rehabilitation institution of pedal gait rehabilitation training aids phalangeal joint according to claim 5 is characterized in that: the bottom mounting support axle of described back sole, phalangeal joint rehabilitation institution links to each other with connecting rod by bolster.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110160875 CN102218005B (en) | 2011-06-15 | 2011-06-15 | Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201110160875 CN102218005B (en) | 2011-06-15 | 2011-06-15 | Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer |
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| CN102218005A true CN102218005A (en) | 2011-10-19 |
| CN102218005B CN102218005B (en) | 2013-02-06 |
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| CN 201110160875 Expired - Fee Related CN102218005B (en) | 2011-06-15 | 2011-06-15 | Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579229A (en) * | 2012-03-02 | 2012-07-18 | 王俊华 | Gait rehabilitation training robot |
| CN105167959A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Multifunctional gait rehabilitation training device |
| CN105411814A (en) * | 2015-12-31 | 2016-03-23 | 王俊华 | Stepping device and gait rehabilitation training robot with same |
| CN111728749A (en) * | 2020-07-03 | 2020-10-02 | 张强 | Hand and foot deformity correction robot |
| CN112773662A (en) * | 2020-12-31 | 2021-05-11 | 固安博健生物技术有限公司 | Ankle joint exercise auxiliary stand based on bionics |
| CN113599782A (en) * | 2021-08-26 | 2021-11-05 | 苏州大学 | Lower limb walking rehabilitation training machine |
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| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
| US7507185B2 (en) * | 2005-11-01 | 2009-03-24 | Paul William Eschenbach | Recumbent elliptical exercise apparatus with adjustment |
| CN101829005A (en) * | 2010-05-24 | 2010-09-15 | 哈尔滨工程大学 | Gait rehabilitation robot footrest device with metatarsal joints |
| CN202128671U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer |
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2011
- 2011-06-15 CN CN 201110160875 patent/CN102218005B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US7507185B2 (en) * | 2005-11-01 | 2009-03-24 | Paul William Eschenbach | Recumbent elliptical exercise apparatus with adjustment |
| CN2925455Y (en) * | 2006-07-21 | 2007-07-25 | 哈尔滨工程大学 | Stood rehabilitation exerciser for lower limbs |
| CN101829005A (en) * | 2010-05-24 | 2010-09-15 | 哈尔滨工程大学 | Gait rehabilitation robot footrest device with metatarsal joints |
| CN202128671U (en) * | 2011-06-15 | 2012-02-01 | 哈尔滨工程大学 | Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579229A (en) * | 2012-03-02 | 2012-07-18 | 王俊华 | Gait rehabilitation training robot |
| CN105167959A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Multifunctional gait rehabilitation training device |
| CN105167959B (en) * | 2015-10-12 | 2017-11-17 | 哈尔滨工程大学 | A kind of multi-functional gait rehabilitation trainer |
| CN105411814A (en) * | 2015-12-31 | 2016-03-23 | 王俊华 | Stepping device and gait rehabilitation training robot with same |
| CN111728749A (en) * | 2020-07-03 | 2020-10-02 | 张强 | Hand and foot deformity correction robot |
| CN112773662A (en) * | 2020-12-31 | 2021-05-11 | 固安博健生物技术有限公司 | Ankle joint exercise auxiliary stand based on bionics |
| CN113599782A (en) * | 2021-08-26 | 2021-11-05 | 苏州大学 | Lower limb walking rehabilitation training machine |
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| CN102218005B (en) | 2013-02-06 |
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Granted publication date: 20130206 Termination date: 20180615 |