CN102218005B - 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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- CN102218005B CN102218005B CN 201110160875 CN201110160875A CN102218005B CN 102218005 B CN102218005 B CN 102218005B CN 201110160875 CN201110160875 CN 201110160875 CN 201110160875 A CN201110160875 A CN 201110160875A CN 102218005 B CN102218005 B CN 102218005B
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- phalangeal joint
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- rehabilitation institution
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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 Rehabilitation training machine.
Background technology
Theory of medicine and practice are verified, and the limb injury patient that Sequelae of paralysed brain or contingency cause must carry out the limbs training, in order to recover limb function, prevent muscle " the useless property used " atrophy and anchylosis.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 early rehabilitation training and not only can keep range of motion, prevent the contracture of joint, 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.
Existingly generally swing by thigh, shank and the rotation of ankle realizes simulation to human gait about gait rehabilitation robot, ignored the effect of human foot metatarsal joints in gait.One group of perfect gait must allow the patient can carry out like a cork, for a long time walking movement.Xiangli when the lower limb kiss the earth of the 60-65% that accounts for whole gait cycle namely supported with the time of bearing gravity, metatarsal joints has played very 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, on the one hand so that the real gait curve of the more approaching mankind of gait curve can make vola power meet two hump features on the other hand.
Summary of the invention
The object of the present invention is to provide the rehabilitation institution for the pedal gait rehabilitation trainer phalangeal joint of lower extremity injury patient's muscle and joint exercise.
The object of the present invention is achieved like this:
The rehabilitation institution of pedal gait rehabilitation trainer 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 pin header board, long spring shaft, pulley, hinge, short spring shaft, rear sole, linear bearing contiguous block, slide block, slide rail, slideway carriage, forefoot plate links to each other by hinge with rear 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 rear sole bottom, long spring shaft links to each other by spring with short spring shaft, rear sole is by linear bearing contiguous block connection sliding block, slide block is installed on the slide rail, and slide rail is fixed on the slideway carriage.
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 plane framework formula structure.
4, described forefoot plate and rear sole periphery fixed protection frame.
5, the bottom mounting support axle of described rear 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 drive abilities 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 patient of gait deformity.Motion amplitude, speed can change applied range according to patient's actual conditions.
Description of drawings
Fig. 1 is 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 described in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1～6, a kind of pedal gait rehabilitation trainer phalangeal joint rehabilitation institution.Phalangeal joint rehabilitation institution is mainly the pedal part of pedal gait rehabilitation trainer.Pedal gait rehabilitation trainer primary structure comprise base plate, about 2 overlap into 180 ° of gait mechanisms that are arranged symmetrically with, about the ankle motion mechanism that is arranged symmetrically with of 2 covers, 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 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 set crank link structures 4, knee 1 and two cover phalangeal joint rehabilitation institution 3 form; The reducer shaft of torque motor is symmetrical, is fixed with into respectively the crank of 180 ° of symmetries; 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 chain connections are in crank 6; Connecting rod 4 certain position (present embodiment is set as 1/4th places) and phalangeal joint rehabilitation institution 3 chain connections.Torque motor and crank are connected, torque motor swings by crank drivening rod and rocking bar, and then drive be connected with connecting rod link, the rear end does plane motion with linear bearing chain connection, front end with the pedal that the chute of limit part matches, and realizes like this gait rehabilitation motion.
Phalangeal joint rehabilitation institution, it is to consist of revolute pair by forefoot plate part, rear foot plate portion, support column part, position limitation part, springs return installation composition forefoot plate and rear sole are hinged.It is characterized in that: described forefoot plate partly is mainly the forefoot plate 8 of welding fabrication, and periphery is fixed wtih 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 are connected with pulley and are connected with bearing iron hinge by bearing pin.Described rear foot plate portion is mainly the rear sole 16 of welding fabrication, and its periphery is fixed wtih protective frame; The protective frame on both sides is the instep bandage fixedly; Forefoot plate and rear sole are hinged by hinge 11, and hinge 11 is fixed on the pedal of front and back by holding screw,, forefoot plate and rear sole contact portion are upper the be oblique angle of certain angle, Lower Half right angle, 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, link to each other by spring by the long spring shaft 9 of groove and short spring shaft 12, play making pedal keep the effect on plane; Rear sole 16 bottoms are connected by holding screw and ear 17; Ear 17 is connected with the linear bearing contiguous block and is connected with bearing iron hinge by bearing pin; 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 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 slideway carriage 21 by marking closely screw respectively; Slideway carriage 21 is connected on the floor of mechanism.Described support column part is comprised of the 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 limitation partly is comprised of the position restriction 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 restriction position, pedal cooperates with its joint, pulley contact chute, in chute, move, make front foot pedal around the axial-movement of hinge, make like this 16 one-tenth certain minute angles of front foot pedal 8 and rear pedal, 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 real embodiment phalanx bending.
Be depicted as the phalangeal joint convalescence device at the front view of phalangeal joint place action such as Fig. 4,5,6.Forefoot plate and rear sole are hinged by hinge 11, and on the pedal, forefoot plate and rear sole contact portion were upper the be oblique angle of certain angle, Lower Half right angle, 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 center line of hinge to it, when reaching the restriction position, pedal cooperates with its joint, pulley contact chute, in chute, move, make front foot pedal around the axial-movement of hinge, make like this 16 one-tenth certain minute angles of front foot pedal 8 and rear pedal, 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 crooked with the 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, the position (Fig. 4) when not having an angle wherein A place being pulley and rigidly connecting tactile chute; 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 gait data given in advance the rotation of control signal control moment motor, 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 early stage (the landing to metatarsal heelstrike) of supporting mutually, preloading spring is so that forefoot plate and rear sole are in the same plane.Advocate to concentrate on the heel place in this stage vola.Keep level with respect to ground supporting phase mid-term (to opposite side heelstrike heeloff) forefoot plate, relatively rotate with rear sole and angle changes to minimum by 180 °.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.Changed into rear sole by the horizontal level with respect to ground and be in same plane supporting phase latter stage (before liftoff to toes) forefoot plate.Become 180 ° with rear 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 integrated model drives the orbiting motion that pedal carries out gait, the rear portion of rear pedal links to each other with slide block, so that pedal swings up and down around bolster, the angle on rear pedal and ground is to reach the osteoarticular gait motion of ankle in the change gait cycle.
Claims (5)
1. the rehabilitation institution of pedal gait rehabilitation trainer 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;
Described phalangeal joint rehabilitation institution comprises forefoot plate, long spring shaft, pulley, hinge, short spring shaft, rear sole, linear bearing contiguous block, slide block, slide rail, slideway carriage, forefoot plate links to each other by hinge with rear 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 rear sole bottom, long spring shaft links to each other by spring with short spring shaft, rear sole is by linear bearing contiguous block connection sliding block, slide block is installed on the slide rail, and slide rail is fixed on the slideway carriage.
2. the rehabilitation institution of pedal gait rehabilitation trainer phalangeal joint according to claim 1, it is characterized in that: also comprise stopper slot, the bottom of stopper slot is fixed on the base plate, and match with the pulley of phalangeal joint rehabilitation institution in the top of stopper slot.
3. the rehabilitation institution of pedal gait rehabilitation trainer phalangeal joint according to claim 2, it is characterized in that: described base plate is plane framework formula structure.
4. the rehabilitation institution of pedal gait rehabilitation trainer phalangeal joint according to claim 3 is characterized in that: described forefoot plate and rear sole periphery fixed protection frame.
5. the rehabilitation institution of pedal gait rehabilitation trainer phalangeal joint according to claim 4, it is characterized in that: the bottom mounting support axle of described rear 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 |
Applications Claiming Priority (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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| CN102218005A CN102218005A (en) | 2011-10-19 |
| CN102218005B true 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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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102579229B (en) * | 2012-03-02 | 2013-11-27 | 王俊华 | Gait rehabilitation training robot |
| 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 |
| CN111728749B (en) * | 2020-07-03 | 2021-02-23 | 上海傅利叶智能科技有限公司 | 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 |
| CN113599782B (en) * | 2021-08-26 | 2022-04-22 | 苏州大学 | Lower limb walking rehabilitation training machine |
Citations (4)
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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 |
|---|---|---|---|---|
| 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 |
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| CN102218005A (en) | 2011-10-19 |
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