CN104382724A - New type lower limb rehabilitation physiotherapy apparatus - Google Patents
New type lower limb rehabilitation physiotherapy apparatus Download PDFInfo
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- CN104382724A CN104382724A CN201410698076.6A CN201410698076A CN104382724A CN 104382724 A CN104382724 A CN 104382724A CN 201410698076 A CN201410698076 A CN 201410698076A CN 104382724 A CN104382724 A CN 104382724A
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Abstract
The invention relates to a new type lower limb rehabilitation physiotherapy apparatus which consists of a lower limb training mechanism and a control system. The lower limb training mechanism comprises supporting mechanisms, driving mechanisms and a speed reducer; the supporting mechanisms are divided into a guide supporting mechanism and a fixed supporting mechanism, the guide supporting mechanism is used for guaranteeing that a moving part moves along a certain track and bears the load on the moving part, and the fixed supporting mechanism is used for guaranteeing that the apparatus has a stable structure and can place a lower limb; the driving mechanisms consist of a horizontal driving mechanism and an oblique driving mechanism, and can move alone or jointly according to the requirements of patients so as to realize multiple movement manners of lower limb rehabilitation training; the speed reducer is placed between the driving mechanisms and the supporting mechanisms, and consists of multiple pairs of gears. The hardware parts of the control system mainly consist of a stepping motor driver, an industrial personal computer and a motion control card; VB language is adopted to program the control system according to the rehabilitation needs of the patients.
Description
Technical field
The present invention relates to a kind of Novel lower limb rehabilitation physical therapy apparatus, being on a kind of basis solving most of recovery set for lower limbs flexibility difference on market specifically, in conjunction with human engineering theory, increasing again the physical therapy apparatus of some extra miscellaneous functions.
Background technology
According to statistics, the old people with regard to China more than 60 years old just reaches 1.2 hundred million, and the physiological decline in aging process causes old people's extremity mobility to decline gradually, and the patient of the lower extremity motor function sexual disorders caused by diseases such as apoplexy also increases day by day.Now along with the development of China's neuro-surgery technology, although increasing cerebrovascular patients obtains operative treatment timely, most of patient can be attended by sequela after surgery, and wherein hemiplegia and the dyskinesia are its main clinical manifestation.Now the man-to-man empty-handed training of therapist is depended on to the rehabilitation of limbs disturbance caused by nervous system injury disease, this Therapeutic Method not only efficiency is lower, and rehabilitation efficacy also depends on the clinical experience of physiatrician to a great extent, be difficult to realize high strength, targeted and repeated rehabilitation training requirement, the cost of expert along training is also very high, and along with patient's number increases rapidly, save the problem that treatment time also more and more becomes concern.
Summary of the invention
The object of the invention is to, according to market demand, overcome the deficiencies in the prior art, propose a kind of Novel lower limb rehabilitation physical therapy apparatus.
Technical program of the present invention lies in: a kind of Novel lower limb rehabilitation physical therapy apparatus, is made up of lower limb training mechanism and control system, wherein lower limb training mechanism comprises driving mechanism, supporting mechanism and deceleration device composition:
Described driving mechanism is provided with horizontal drive mechanism and tilt drive mechanism two parts: horizontal drive mechanism is made up of motor I, leading screw, ball nut slide block; Tilt drive mechanism is made up of motor II, external thread rod and external thread rod; Motor I is connected with leading screw by deceleration device, and leading screw is fixed on supporting seat by leading screw gripper shoe, leading screw is arranged ball nut slide block, and leading screw rotarily drives nut and does horizontal linear reciprocating motion, motor support frame and ball nut slide block chain connection; Motor support frame is provided with motor II, motor II is connected with external thread rod by deceleration device, external thread rod and female thread bar by threaded engagement, by the relative motion of two bars, complete the motion of incline direction, female thread bar is connected with support for lower limbs with retainer ring by connecting plate.
Described supporting mechanism, has comprised support and the bearing of fixation, immobilized patients lower limb the support of receiving portion separate loading and flexible glue bandage;
Described support carriers is supported by motor I outside support, deceleration device I end, the two ends connection bracket of motor II outside support and deceleration device II forms; Hold-down support is by apparatus bottom support foot, supporting outer, supporting outer inner support bar, pedal and pedal support; Motor I outside support and deceleration device I end support and connection, be placed on supporting outer by supporting outer internal braces; Motor II outside support one end is connected with ball nut slide block by hinge, and one end is connected with external thread rod; Feet is placed in bottom supporting outer, and supporting outer inner support bar is put in supporting outer inside, ensures Stability Analysis of Structures; Pedal support is connected with pedal by nut, and pedal is used for laying patient feet.
Described immobilized patients lower limb the support of receiving portion separate loading: support is made up of thigh bar I, thigh bar II, shank bar I and shank bar II, thigh bar I is connected by latch with thigh bar II, thigh bar I and back-up block chain connection, same shank bar I is connected with shank bar II latch, shank bar I and thigh bar II chain connection, above four rod members are equipped with the equidistant pin hole of a row, can according to the long cooperation position adjusting pin hole of the lower limb of patient; Described flexible glue bandage is individually fixed on thigh bar II and shank bar I, and patient's legs and feet portion is placed on pedal, and leg flexible glue bandage is fixed.
Described deceleration device is made up of deceleration device I and II: deceleration device I is made up of a pair gear, is placed between protective plate and leading screw gripper shoe II; Deceleration device II is made up of three gears, and drivewheel is placed in deceleration box centre position, and all the other two driven gears are placed in drivewheel both sides and are connected with external thread rod respectively.
Described control system hardware mainly contains industrial computer, motion control card and stepper motor driver composition: industrial computer, by setting different parameters to control the rotating speed of two motors, realizes the multi-motion form of lower limb rehabilitation training, guides patient's passive exercise; Drag parameters different in range of movement can be set equally, make patient's active exercise training and resistive exercise training.
Accompanying drawing illustrates:
Fig. 1 is the structural representation of Novel lower limb rehabilitation physical therapy apparatus;
Fig. 2 is the partial cutaway schematic diagram of Novel lower limb rehabilitation physical therapy apparatus;
Fig. 3 is the structural representation of thigh support;
Fig. 4 is the external screw thread rod schematic representation in tilt drive mechanism;
Fig. 5 is the screw member schematic diagram in horizontal drive mechanism.
Following present the labelling of each critical piece in figure:
1-back-up block, 2-bearing cap I, 3-thigh bar I, 4-latch I, 5-flexible glue bandage I, 6-thigh bar II, 7-shank bar I, 8-connecting plate, 9-retainer ring, 10-bearing cap II, 11-flexible glue bandage II, 12-latch II, 13-shank bar II, 14-pedal, 15-pedal support I, 16-pedal support II, 17-motor II, 18-bracket I, 19-reduction box, 20-ball nut slide block, 21-feet I, 22-bearing cap III, 23-external thread rod, 24-female thread bar, 25-supporting outer, 26-support bar, 27-feet II, 28-leading screw gripper shoe I, 29-leading screw, 30-supporting lever, 31-end cover of reduction box, 32-leading screw gripper shoe II, 33-protective plate, 34-bracket I I, 35-motor I, 36-shaft coupling I, 37-gear I, 38-shaft coupling II, 39-gear II, 40-contiguous block, 41-bearing I, 42-gear III, 43-bearing I I, 44-gear IV.
Detailed description of the invention
The invention provides a kind of Novel rehabilitation physical therapy apparatus, below in conjunction with accompanying drawing, the present invention is further illustrated.
Structure of the present invention as depicted in figs. 1 and 2, is mainly divided into lower limb training mechanism and control system, and wherein lower limb training mechanism comprises again driving mechanism, supporting mechanism and deceleration device.
Described driving mechanism is provided with horizontal drive mechanism and tilt drive mechanism two parts: horizontal drive mechanism is made up of motor I35, leading screw 29, ball nut slide block 20; Tilt drive mechanism is made up of motor II17, external thread rod 23 and female thread bar 24; Motor I35 is connected with gear I37 key by shaft coupling I36, gear I engages with gear IV, gear IV is connected with leading screw 29 key, leading screw 29 is supported and fixed on supporting seat by leading screw, leading screw 29 is arranged ball nut slide block 20, leading screw 29 rotarily drives nut 20 and does straight reciprocating motion, contiguous block 40 and ball nut slide block 20 chain connection; Bracket I one end is arranged on end cover of reduction box, and one end is connected with motor II17 in addition; Motor II17 is connected with gear II39 key by shaft coupling II38, gear II38 engages with gear III42, gear III42 is connected with external thread rod 23, external thread rod 23 and female thread bar 24 are by threaded engagement, by the relative motion of two bars, make lower-limbs supporter complete the motion of incline direction, female thread bar 24 is connected with support for lower limbs with retainer ring 9 by connecting plate 8.
Described supporting mechanism: comprised support and the bearing of fixation, immobilized patients lower limb the support of receiving portion separate loading and flexible glue bandage;
Described support carriers is made up of motor I outside support II34, leading screw gripper shoe I28, leading screw gripper shoe II32, motor II outside support I18, leading screw gripper shoe I28, leading screw gripper shoe II32 and protective plate 33, and the gear I37 wherein in deceleration device, gear IV44 are placed between leading screw gripper shoe II32 and protective plate 33; Hold-down support is made up of apparatus bottom support foot I21, feet II27, supporting outer 25, supporting lever 30, support bar 26, pedal 14, pedal support I15 and II16; Leading screw gripper shoe I28 and leading screw gripper shoe II32 is placed in supporting lever 30 two ends, and leading screw gripper shoe II32 is connected by screw with protective plate 33, is jointly placed in supporting outer 25 inner; Support bar 26 one end is placed on supporting outer, and one end is connected with feet II27 in addition; Feet I21 is placed in bottom supporting outer 25; Pedal support I15 one end and shank bar II13, one end is connected with pedal support II16 in addition, and pedal 14 is placed on pedal support II16; Pedal is used for laying patient feet.
Described immobilized patients lower limb the support of receiving portion separate loading be as shown in Figure 3: support is made up of thigh bar I3, thigh bar II6, shank bar I7 and shank bar II13, thigh bar I3 is connected by latch with thigh bar II6, thigh bar I3 and back-up block 1 chain connection, same shank bar I7 is connected with shank bar II13 latch, shank bar I7 and thigh bar II6 chain connection, above four rod members are equipped with the equidistant pin hole of a row, can according to the long cooperation position adjusting pin hole of the lower limb of patient; Described flexible glue bandage 11 is individually fixed on thigh bar II6 and shank bar I7, and patient's legs and feet portion is placed on pedal 14, and leg flexible glue bandage 11 is fixed.
Described deceleration device is made up of deceleration device I and II: deceleration device I is made up of a pair gear, i.e. gear I37, gear IV44; Deceleration device II is made up of three gears, i.e. gear II39, gear III42, and driving gear II39 is placed in deceleration box centre position, and all the other two driven gear III42 are placed in driving gear II39 both sides and are connected with external thread rod 23 respectively.
The connected mode of described external thread rod is as shown in Figure 4: gear III42 is connected with external thread rod 23 key, and bearing I 41 is placed in gear III42 both sides, and bearing is put in reduction box 19 and end cover of reduction box 31 respectively.
The installation of described leading screw is as shown in Figure 5: gear IV44 is connected with leading screw 23 key, and bearing I I43 is placed in leading screw 23 two ends, puts into leading screw gripper shoe respectively.
Described control system Main Function is that the different parameter of setting controls two motor speeds; Motor I35 rotarily drives ball nut slide block 20 and does horizontal reciprocating rectilinear motion; Motor II17 makes external thread rod 23 rotate by gear drive, thus makes female thread bar 24 and external thread rod 23 relative movement, forms reciprocal inclination and moves; Different forms of motion is set according to needs of patients, guides patient's passive exercise; Drag parameters different in range of movement can be set equally, make patient's active exercise training and resistive exercise training.
Claims (5)
1. a Novel rehabilitation physical therapy apparatus, is made up of lower limb training mechanism and control system, and wherein lower limb training mechanism comprises driving mechanism, supporting mechanism and deceleration device composition;
Described driving mechanism is provided with horizontal drive mechanism and tilt drive mechanism two parts: horizontal drive mechanism is made up of motor I, leading screw, ball nut slide block; Tilt drive mechanism is made up of motor II, external thread rod and external thread rod; Motor I is connected with leading screw by deceleration device, and leading screw is fixed on supporting seat by leading screw gripper shoe, leading screw is arranged ball nut slide block, motor support frame and ball nut slide block chain connection; Motor support frame is provided with motor II, and motor II is connected with external thread rod by deceleration device, and external thread rod and female thread bar pass through threaded engagement;
Described supporting mechanism, has comprised support and the bearing of fixation, immobilized patients lower limb the support of receiving portion separate loading and flexible glue bandage;
Described support carriers is supported by motor I outside support, deceleration device I end, the two ends connection bracket of motor II outside support and deceleration device II forms; Hold-down support is by apparatus bottom support foot, supporting outer, supporting outer inner support bar, pedal and pedal support; Motor I outside support and deceleration device I end support and connection, be placed on supporting outer by supporting outer internal braces; Motor II outside support one end is connected with ball nut slide block by hinge, and one end is connected with external thread rod; Feet is placed in bottom supporting outer, and supporting outer inner support bar is put in supporting outer inside, ensures Stability Analysis of Structures; Pedal support is connected with pedal by nut, and pedal is used for laying patient feet;
Described immobilized patients lower limb the support of receiving portion separate loading: support is made up of thigh bar I, thigh bar II, shank bar I and shank bar, thigh bar I is connected by latch with thigh bar II, thigh bar I and back-up block chain connection, same shank bar I is connected with shank bar II latch, shank bar I and thigh bar II chain connection;
Described deceleration device is made up of deceleration device I and II: deceleration device I is made up of a pair gear, is placed between protective plate and leading screw gripper shoe II; Deceleration device II is made up of three gears, and drivewheel is placed in deceleration box centre position, and all the other two driven gears are placed in drivewheel both sides and are connected with external thread rod respectively;
Described control system hardware components mainly contains industrial computer, motion control card and stepper motor driver composition.
2. Novel rehabilitation physical therapy apparatus according to claim 1, is characterized in that leading screw rotarily drives slider nut and does horizontal reciprocating rectilinear motion; Female thread bar is connected with support for lower limbs with retainer ring by connecting plate, the rotation of motor II, makes external thread rod and female thread bar produce relative movement, the basis of horizontal reciprocating rectilinear motion adds the motion of an incline direction.
3. Novel rehabilitation physical therapy apparatus according to claim 1, is characterized in that thigh and shank four rod members are equipped with the equidistant pin hole of a row, can according to the long cooperation position adjusting pin hole of the lower limb of patient; Described flexible glue bandage is individually fixed on thigh bar II and shank bar I, and patient's legs and feet portion is placed on pedal, and leg flexible glue bandage is fixed.
4. Novel rehabilitation physical therapy apparatus according to claim 1, is characterized in that deceleration device can adjusting device running speed, makes it control within zone of reasonableness.
5. Novel rehabilitation physical therapy apparatus according to claim 1, its feature rotarily drives ball nut slide block at motor I and does horizontal reciprocating rectilinear motion; Motor II makes external thread rod rotate by gear drive, thus makes female thread bar and external thread rod relative movement, forms reciprocal inclination and moves; Different forms of motion is set according to needs of patients, guides patient's passive exercise; Drag parameters different in range of movement can be set equally, make patient's active exercise training and resistive exercise training.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410698076.6A CN104382724A (en) | 2014-11-28 | 2014-11-28 | New type lower limb rehabilitation physiotherapy apparatus |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410698076.6A CN104382724A (en) | 2014-11-28 | 2014-11-28 | New type lower limb rehabilitation physiotherapy apparatus |
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| CN104382724A true CN104382724A (en) | 2015-03-04 |
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| CN201410698076.6A Pending CN104382724A (en) | 2014-11-28 | 2014-11-28 | New type lower limb rehabilitation physiotherapy apparatus |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105125379A (en) * | 2015-08-25 | 2015-12-09 | 广西大学 | Thread screw drive horizontal type leg slimming device |
| CN107468482A (en) * | 2017-09-08 | 2017-12-15 | 东莞市联洲知识产权运营管理有限公司 | One kind removes and installs convenient instrument for rehabilitation of lower limbs |
| CN107669350A (en) * | 2017-10-11 | 2018-02-09 | 田智勇 | A kind of shin bone by knee joint position separates the surgical apparatus and knee surgery equipment of reset with femur vertical distraction |
| CN107754217A (en) * | 2017-10-27 | 2018-03-06 | 南京思伯德生物科技有限公司 | Intelligent lower limb device for rehabilitation |
| CN107811808A (en) * | 2017-12-03 | 2018-03-20 | 苏州枫灵医药科技有限公司 | A kind of massage machine for treating skelagia |
| CN108294913A (en) * | 2017-01-12 | 2018-07-20 | 上海理工大学 | Lower limbs active-passive rehabilitation training aids |
| CN109984914A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of lift knee device |
| CN111407616A (en) * | 2020-04-02 | 2020-07-14 | 卢丽 | Two-leg buckling posture driving auxiliary device |
| CN113662804A (en) * | 2021-08-16 | 2021-11-19 | 刘达 | Universal medical traction frame with position capable of being adjusted randomly |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105125379A (en) * | 2015-08-25 | 2015-12-09 | 广西大学 | Thread screw drive horizontal type leg slimming device |
| CN108294913A (en) * | 2017-01-12 | 2018-07-20 | 上海理工大学 | Lower limbs active-passive rehabilitation training aids |
| CN107468482A (en) * | 2017-09-08 | 2017-12-15 | 东莞市联洲知识产权运营管理有限公司 | One kind removes and installs convenient instrument for rehabilitation of lower limbs |
| CN107468482B (en) * | 2017-09-08 | 2019-08-20 | 李庆斌 | It is a kind of to dismantle instrument for rehabilitation of lower limbs easy for installation |
| CN107669350A (en) * | 2017-10-11 | 2018-02-09 | 田智勇 | A kind of shin bone by knee joint position separates the surgical apparatus and knee surgery equipment of reset with femur vertical distraction |
| CN107754217A (en) * | 2017-10-27 | 2018-03-06 | 南京思伯德生物科技有限公司 | Intelligent lower limb device for rehabilitation |
| CN107811808A (en) * | 2017-12-03 | 2018-03-20 | 苏州枫灵医药科技有限公司 | A kind of massage machine for treating skelagia |
| CN109984914A (en) * | 2017-12-29 | 2019-07-09 | 沈阳新松机器人自动化股份有限公司 | A kind of lift knee device |
| CN111407616A (en) * | 2020-04-02 | 2020-07-14 | 卢丽 | Two-leg buckling posture driving auxiliary device |
| CN113662804A (en) * | 2021-08-16 | 2021-11-19 | 刘达 | Universal medical traction frame with position capable of being adjusted randomly |
| CN113662804B (en) * | 2021-08-16 | 2024-04-19 | 河北耀增生物科技有限公司 | Universal medical traction frame with position capable of being adjusted randomly |
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Application publication date: 20150304 |