CN104490566B - Rehabilitation trainer for lower limbs - Google Patents
Rehabilitation trainer for lower limbs Download PDFInfo
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- CN104490566B CN104490566B CN201510016404.4A CN201510016404A CN104490566B CN 104490566 B CN104490566 B CN 104490566B CN 201510016404 A CN201510016404 A CN 201510016404A CN 104490566 B CN104490566 B CN 104490566B
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- shank
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Abstract
The invention discloses a rehabilitation trainer for lower limbs. The linkage can be realized in such a way that thigh rods and shank rods are effectively connected by setting a driving component, wherein a drive rod can be driven to move through a driving element so as to realize the simulation of the walking motion of legs and the linkage of all joints of the lower limbs, effectively reduce the use of driving elements, simplify the structure of a trainer, reduce the complexity of a system, and save cost; furthermore, a movement locus is exclusive, therefore the trainer is convenient to operate and control, and is effective to help patients carry out the movement locus of the lower limbs. By setting an adjusting component, the sizes of all driven rods can be adjusted according to need of a patient, and then the swing angles and angle scopes between the thigh rods and the shank rods can be adjusted to be applicable to the demands of the patients of different heights.
Description
Technical field
The invention belongs to technical field of medical rehabilitation machinery, be specifically related to a kind of recovery training appliance for recovery lower limbs.
Background technology
Rehabilitation training is that patients with cerebral apoplexy, spinal cord injury patient and other trauma patients etc. carry out motor function recovery
Effective means.The most generally using the man-to-man maneuver of doctor to carry out rehabilitation training, training effectiveness is low, intensity is big, along with patient
Number increases sharply, and saving treatment time increasingly becomes the problem instantly paid close attention to.
Healing robot is a kind of novel robot occurred in recent years, and it belongs to medical robot category.It is divided into rehabilitation
Image training robot and auxiliary type healing robot, the major function of recovery exercising robot is to aid in patient and completes various motion merit
Resuming training, such as Walking, arm motion training, motion of the vertebra training, neck movement training etc. of energy.Healing robot is
According to rehabilitation medicine, doctor is replaced to carry out the Therapy robot of rehabilitation nursing.Use recovery exercising robot that patient is carried out health
Refreshment white silk can reduce the labor intensity of doctor, and patient carries out the training of science simultaneously.
Existing lower limb rehabilitation robot many employings suspensions Unweighting walking mechanism, to assist patient to walk, but this mechanism
It is only applicable to the rehabilitation later stage patient of existing walking ability, does not gives enough attention, Er Qieshou to the patient needing early exercise
To the restriction of tradition ectoskeleton structure, knee joint motor need to be connected on lower limb armed lever, and hip joint motor causes bigger bearing
Load, limits ectoskeletal flexibility ratio simultaneously.Many positions bed recovery exercising robot is suitable for the different rehabilitation training stages
Patient, but the lower limb rehabilitation training structure of this type of robot of major part still uses multi-joint exoskeleton-type training institution, under
Respectively configuring a driving motor at the hip of limb, SCID Mice and realize motion so that mechanism is complicated, cost is high, and controls to be difficult to reality
Existing.
Therefore, in view of problem above, it is necessary to propose a kind of novel recovery training appliance for recovery lower limbs, to realize using single driving
Dynamic element can realize the linkage of each joint of lower limb, reduces the use driving element, simplifies the structure of training aids, reduces system
The complexity of system, cost-effective, and make movement locus unique, it is simple to operation controls, under effectively auxiliary patient is carried out in early days
Limbs rehabilitation training.
Summary of the invention
In view of this, the invention provides a kind of recovery training appliance for recovery lower limbs, by arrange drive link assembly by thigh bar with
Shank bar effectively connects realization linkage, uses single driving element to drive, it is achieved the linkage of each joint of lower limb, reduces
Drive the use of element, simplify the structure of training aids, reduce the complexity of system, cost-effective, and make movement locus only
One, it is simple to operation controls, effectively auxiliary patient carries out lower limb rehabilitation training in early days.
According to the purpose of the present invention propose a kind of recovery training appliance for recovery lower limbs, including pedestal be arranged on described pedestal
Leg training device, described leg training device includes thigh bar, shank bar and drives described thigh bar and described shank bar
The drive mechanism of mobile simulation human body walking motion, described thigh bar one end is hingeably secured on described pedestal, the other end and institute
State shank bar to be hinged, thigh bar and shank bar are connected to the adapter sleeve of fixing human leg, described drive mechanism bag
Include driving element and drive link assembly；
Driving element rotation to output power to driving lever, driving lever is hingeably secured on pedestal, and driving lever swings and drives
Multiple follower levers move successively, then drive thigh bar to swing the movement with shank bar and swing, regulation thigh bar and shank bar
Between angle, thus drive human leg to realize walking movement.
Preferably, described leg training device is two groups be symmetricly set on described pedestal, two groups of leg training devices
Phase contrast be 180 °.
Preferably, two groups of leg training devices use same driving element drives, during installation, two groups of leg training devices
Driving lever is 180 ° of settings.
Preferably, described driving element is motor, and described motor output shaft is connected fixing with one end of driving lever.
Preferably, described drive link assembly includes the driving lever being hingeably secured on pedestal, drives thigh bar to swing respectively
First group of follower lever assembly and the second group of follower lever assembly driving shank bar to swing, first group of follower lever assembly includes that one is solid
Determining hinge-rod and a hinges bar, this fixed hinge bar one end is hingeably secured on pedestal, and hinges bar one end is articulated with
On driving lever, the fixed hinge bar other end is hinged with the hinges bar other end and is connected to the first slide block, and described first slide block is along big
Lower limb bar slides；Second group of follower lever assembly include two hinges bars, two hinges bars be hinged respectively be connected to first group driven
On the body of rod of two hinge-rods of bar assembly, the two hinges bar other ends are hinged and are connected to the second slide block, and described second slide block is along little
Lower limb bar slides.
Preferably, described first group of follower lever assembly and second group of follower lever assembly are provided with adjusting part, each
Fixed hinge bar or hinges bar are divided at least two sections, and adjusting part is arranged between adjacent two sections of hinge-rods.
Preferably, described adjusting part includes that adjusting rod and connecting plate, described connecting plate and hinge-rod removably connect solid
Fixed.
Preferably, described adjusting part also includes that auxiliary connection board, described adjusting rod are pressed in connecting plate and are connected with auxiliary
Between plate.
Preferably, described adjusting part also includes that guide post, described guide post be arranged in parallel with described adjusting rod.
Compared with prior art, the advantage of recovery training appliance for recovery lower limbs disclosed by the invention is:
By arranging drive link assembly, thigh bar is effectively connected with shank bar realization linkage, drives element to drive by one
Drive link component movement, then realizes simulation leg walking movement, it is achieved the linkage of each joint of lower limb, effectively reduces driving
The use of element, simplifies the structure of training aids, reduces the complexity of system, cost-effective, and makes movement locus unique, just
Lower limb rehabilitation training is carried out in early days in operation control, effectively auxiliary patient.
Can be according to the size needing to regulate each follower lever of patient by arranging adjusting part, regulation thigh bar is with little then
The pendulum angle of lower limb bar and the angular range of formation, it is adaptable to the demand of different height patients.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
In having technology to describe, the required accompanying drawing used is briefly described, it should be apparent that, the accompanying drawing in describing below is only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to
Other accompanying drawing is obtained according to these accompanying drawings.
Fig. 1 is the structural representation of recovery training appliance for recovery lower limbs.
Fig. 2 is the structural representation of single lower limb training devices.
Fig. 3 is the structural representation of adjusting part.
Fig. 4 is structure principle chart.
Fig. 5 is C point movement profiles.
Fig. 6 is D point movement profiles.
Numeral in figure or the title of the corresponding component representated by letter:
10, pedestal 20, leg training device 30, motor 40, adjusting part
21, thigh bar 22, shank bar 23, driving lever the 24, first fixed hinge bar the 25, first hinges bar 26,
Second hinges bar the 27, first slide block the 28, second slide block 29, adapter sleeve 11, fixed plate 31, decelerator
41, adjusting rod 42, connecting plate 43, auxiliary connection board 44, bolt 45, guide post
Detailed description of the invention
Existing lower limb rehabilitation robot many employings suspensions Unweighting walking mechanism, but this mechanism is only applicable to existing walking
The rehabilitation later stage patient of ability, and limited by tradition ectoskeleton structure, knee joint motor need to be connected on lower limb armed lever,
Hip joint motor is caused bigger burden, limits ectoskeletal flexibility ratio simultaneously.Many positions bed recovery exercising robot
It is suitable for the patient in different rehabilitation training stages, but the lower limb rehabilitation training structure of this type of robot of major part still uses many passes
Joint exoskeleton-type training institution, respectively configures a driving motor at the hip, SCID Mice of lower limb and realizes motion so that mechanism
Complexity, cost is high, and controls to be difficult to realize.
The present invention is directed to deficiency of the prior art, it is provided that a kind of recovery training appliance for recovery lower limbs, by arranging drive link group
Thigh bar is effectively connected realization linkage by part with shank bar, uses single driving element to drive, it is achieved each joint of lower limb
The linkage at place, reduces the use driving element, simplifies the structure of training aids, reduces the complexity of system, cost-effective, and makes
Obtaining movement locus unique, it is simple to operation controls, effectively auxiliary patient carries out lower limb rehabilitation training early stage.
By detailed description of the invention, technical scheme will be clearly and completely described below.Obviously, retouched
The embodiment stated is only a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, this
The every other embodiment that field those of ordinary skill is obtained under not making creative work premise, broadly falls into the present invention
The scope of protection.
Please also refer to Fig. 1 to Fig. 6, a kind of recovery training appliance for recovery lower limbs, including pedestal 10 be arranged on pedestal 10 under
Limb training devices 20, leg training device 20 includes thigh bar 21, shank bar 22 and drives thigh bar 21 to move with shank bar 22
The drive mechanism of dynamic model personification body walking movement, thigh bar 21 one end is hingeably secured on pedestal 10 by fixed plate 11, another
End is hinged with shank bar, and thigh bar and shank bar are connected to the adapter sleeve 29 of fixing human leg.Shank bar another
End is free end, and shank bar is mobile along with thigh bar produces.During training, leg is fixed by adapter sleeve, and drive mechanism drives big
Lower limb bar and the simulation human body walking motion of shank bar.
Wherein, drive mechanism includes driving element and drive link assembly；During work, drive element rotation output power to
Driving lever 23, driving lever is hingeably secured on pedestal 10 by fixed plate 11, and driving lever swings and drives multiple follower levers to transport successively
Dynamic, then drive thigh bar to swing the movement with shank bar and swing, the angle between regulation thigh bar and shank bar, thus drive
Human leg realizes walking movement.
Driving element generally to use motor, one end that the output shaft of motor is hinged in fixed plate with driving lever is connected solid
Fixed.
Driving lever 23 that drive link assembly includes being hingeably secured on pedestal, drive that thigh bar swings respectively first group from
Lever assembly and the second group of follower lever assembly driving shank bar to swing, first group of follower lever assembly includes the first fixed hinge bar
24 and the first hinges bar 25, first fixed hinge bar one end is hingeably secured on pedestal 10 by fixed plate, and first is movable
Hinge-rod one end is articulated with on driving lever 23, and the first fixed hinge bar other end and the first hinges bar other end are hinged and are connected to
First slide block 27, the first slide block 27 can slide along thigh bar.Electric motor starting drives driving lever to rotate, now, in the first fixing hinge
Under the effect of chain bar 24 and the first hinges bar 25, the first slide block can slide up and down along thigh bar, drives thigh bar to realize pendulum
Dynamic, while thigh bar swings, owing to being hinged between thigh bar and shank bar, so shank bar can be along with the swing of thigh bar
Carry out the movement of circumferencial direction.
Second group of follower lever assembly includes that two second hinges bars 26, two second hinges bars are hinged respectively and is connected to
On the body of rod of two hinge-rods of one group of follower lever assembly, the two second hinges bar other ends are hinged and are connected to the second slide block 28, the
Two slide blocks 28 slide along shank bar.First group of follower lever assembly is driven to move during driving lever operates, due to the
Two groups of follower lever assemblies are hinged respectively at first group of follower lever assembly, and therefore second group of follower lever assembly also can move,
Thus drive shank bar to swing with D point for basic point, it is achieved the motion of shank.
By motor, driving lever and effective mating reaction of two groups of follower lever assemblies, it is achieved thigh bar is with C point as basic point
Swing, and the movement of shank bar swings for basic point with D point.
Drive and also need to arrange decelerator between motor and driving lever.The gear ratio of decelerator can regulate as required, or adjusts
The output speed of joint motor.
Adjusting part 40, each fixed hinge bar it is provided with on first group of follower lever assembly and second group of follower lever assembly
Or hinges bar is divided at least two sections, adjusting part is arranged between adjacent two sections of hinge-rods.By arranging adjusting part
Can be according to the length of training need regulation hinge-rod, it is adaptable to the use of different height patients.
Wherein adjusting part includes adjusting rod 41 and connecting plate 42, and connecting plate and hinge-rod removably connect fixing, regulation
Assembly also includes auxiliary connection board 43, and adjusting rod is pressed between connecting plate and auxiliary connection board.Can adjust as required during use
Joint adjusting rod fixed position between connecting plate and auxiliary connection board.Adjusting part also includes guide post 45, guide post and regulation
Bar be arranged in parallel, it is ensured that adjusting rod and the axiality of hinge-rod during regulation.
System motion principle is as follows: in figure, and A, B, C are fixed hinge, and H, K are slide hinge, and remaining D, E, F, G are work
Dynamic hinge.CD represents thigh bar, and DL represents shank bar, and AG represents driving lever, and BH represents the first fixed hinge bar, and GH represents first
Hinges bar, EK Yu FK represents the second hinges bar, and H represents the first slide block, and K represents the second slide block.
Hinge A be system motion input, its drivening rod AG, HG, HB rotate, hinge H with HG rotate while
Slide on CD bar, and drivening rod CD rotates；Meanwhile, the rotation of connecting rod HG and HB drives hinge E, F to rotate, and then connecting rod EK,
FK rotates so that hinge K slides while rotating on connecting rod DL.By Parameters Optimal Design, in system, hinge C can be real
Now being similar to the motion of hip joint, hinge D realizes the motion of similar human body knee joint simultaneously.
Leg training device is generally symmetricly set in two groups on pedestal, and the phase contrast of two groups of leg training devices is
180°。
Two groups of leg training devices can use same driving element drives, during installation, the active of two groups of leg training devices
Bar is 180 ° of settings.To realize auxiliary both legs walking movement.
The invention discloses a kind of recovery training appliance for recovery lower limbs, by arranging drive link assembly by effective with shank bar for thigh bar
Connect and realize linkage, drive element to drive drive link component movement by one, then realize simulation leg walking movement, it is achieved under
The linkage of each joint of limb, effectively reduces the use driving element, simplifies the structure of training aids, reduce the complicated journey of system
Degree, cost-effective, and make movement locus unique, it is simple to operation controls, and effectively auxiliary patient carries out lower limb rehabilitation training in early days.
Can be according to the size needing to regulate each follower lever of patient by arranging adjusting part, regulation thigh bar is with little then
The pendulum angle of lower limb bar and the angular range of formation, it is adaptable to the demand of different height patients.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple amendment to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can realize without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein and features of novelty phase one
The widest scope caused.
Claims (8)
1. a recovery training appliance for recovery lower limbs, it is characterised in that the leg training device including pedestal with being arranged on described pedestal,
Described leg training device includes thigh bar, shank bar and drives described thigh bar and described shank bar to move simulation human body
The drive mechanism of walking movement, described thigh bar one end is hingeably secured on described pedestal, and the other end is hinged with described shank bar
Connect, thigh bar and shank bar be connected to the adapter sleeve of fixing human leg, described drive mechanism include driving element with
Drive link assembly；
Driving element rotation to output power to driving lever, driving lever is hingeably secured on pedestal, and it is multiple that driving lever swings drive
Follower lever moves successively, then drives thigh bar to swing the movement with shank bar and swing, between regulation thigh bar and shank bar
Angle, thus drive human leg to realize walking movement；
Driving lever that described drive link assembly includes being hingeably secured on pedestal, drive thigh bar to swing respectively first group are driven
Bar assembly and the second group of follower lever assembly driving shank bar to swing, first group of follower lever assembly includes a fixed hinge bar and
Hinges bar, this fixed hinge bar one end is hingeably secured on pedestal, and hinges bar one end is articulated with on driving lever, fixing
The hinge-rod other end is hinged with the hinges bar other end and is connected to the first slide block, and described first slide block slides along thigh bar；Second
Group follower lever assembly includes two hinges bars, and two hinges bars of second group of follower lever assembly are hinged respectively and are connected to first group
On the body of rod of two hinge-rods of follower lever assembly, the two hinges bar other ends of second group of follower lever assembly are hinged and are connected to second
Slide block, described second slide block slides along shank bar.
2. recovery training appliance for recovery lower limbs as claimed in claim 1, it is characterised in that described leg training device is for being symmetricly set in
On described pedestal two groups, the phase contrast of two groups of leg training devices is 180 °.
3. recovery training appliance for recovery lower limbs as claimed in claim 2, it is characterised in that two groups of leg training devices use same driving
Element drives, during installation, the driving lever of two groups of leg training devices is 180 ° of settings.
4. recovery training appliance for recovery lower limbs as claimed in claim 1, it is characterised in that described driving element is motor, described motor
Output shaft is connected fixing with one end of driving lever.
5. recovery training appliance for recovery lower limbs as claimed in claim 1, it is characterised in that described first group of follower lever assembly and second group
Being provided with adjusting part on follower lever assembly, each fixed hinge bar or hinges bar are divided at least two sections, regulation group
Part is arranged between adjacent two sections of hinge-rods.
6. recovery training appliance for recovery lower limbs as claimed in claim 5, it is characterised in that described adjusting part includes adjusting rod and is connected
Plate, described connecting plate and hinge-rod removably connect fixing.
7. recovery training appliance for recovery lower limbs as claimed in claim 6, it is characterised in that described adjusting part also includes that auxiliary connects
Plate, described adjusting rod is pressed between connecting plate and auxiliary connection board.
8. recovery training appliance for recovery lower limbs as claimed in claim 6, it is characterised in that described adjusting part also includes guide post, institute
State guide post to be arranged in parallel with described adjusting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016404.4A CN104490566B (en) | 2015-01-13 | 2015-01-13 | Rehabilitation trainer for lower limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510016404.4A CN104490566B (en) | 2015-01-13 | 2015-01-13 | Rehabilitation trainer for lower limbs |
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| Publication Number | Publication Date |
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| CN104490566A CN104490566A (en) | 2015-04-08 |
| CN104490566B true CN104490566B (en) | 2017-01-11 |
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| CN201510016404.4A Active CN104490566B (en) | 2015-01-13 | 2015-01-13 | Rehabilitation trainer for lower limbs |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344226A (en) * | 2015-07-17 | 2017-01-25 | 佛山市禾才科技服务有限公司 | Electric artificial leg capable of being flexibly adjusted |
| CN109157374A (en) * | 2018-07-19 | 2019-01-08 | 郑州大学 | A kind of intensive care unit brain paralysis patient double lower limb coordinated movement of various economic factors rehabilitation system |
| CN109718060A (en) * | 2019-03-15 | 2019-05-07 | 慈溪市人民医院 | A kind of recovery exercising robot |
| CN109998861B (en) * | 2019-04-29 | 2024-04-16 | 苏州博安捷机器人科技有限公司 | Bed type gait rehabilitation training system |
| CN110353944B (en) * | 2019-07-29 | 2024-01-26 | 武汉轻工大学 | Sitting type combined driving lower limb rehabilitation robot |
| CN113489369B (en) * | 2021-07-19 | 2023-02-17 | 广西大学 | Stepping piezoelectric driver and robot |
| CN114129395B (en) * | 2021-12-15 | 2024-03-12 | 上海念通智能科技有限公司 | Lower limb joint rehabilitation training device |
| CN114569400A (en) * | 2021-12-31 | 2022-06-03 | 合肥工业大学 | Miniaturized recovered auxiliary device of shank |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2195354Y (en) * | 1994-01-17 | 1995-04-26 | 王成焘 | Exercising device for human lower limbs joints |
| FR2834205B1 (en) * | 2001-12-31 | 2004-10-22 | Smith & Nephew Kinetec Sa | REDUCED LONGITUDINAL RACE SPLIT FOR PASSIVE MOBILIZATION OF THE LOWER LIMB |
| GB2389533B (en) * | 2002-06-14 | 2004-11-03 | Hugo Broadbent | Stretching apparatus |
| CN2815335Y (en) * | 2005-07-21 | 2006-09-13 | 乙勤 | Lower limb joint function restorer |
| CN2815338Y (en) * | 2005-08-18 | 2006-09-13 | 哈尔滨工程大学 | Supine lying posture lower limb rehabilitation training robot |
| CN201139727Y (en) * | 2007-12-17 | 2008-10-29 | 刘丽元 | Lower limbs arthrosis rehabilitation training apparatus |
| EP2346467B1 (en) * | 2008-09-24 | 2019-07-17 | Ekso Bionics, Inc. | Hip and knee actuation systems for lower limb orthotic devices |
| CN102302405B (en) * | 2011-07-08 | 2013-06-05 | 中国人民解放军理工大学工程兵工程学院 | Limb rehabilitation training device |
| CN103230331A (en) * | 2013-04-03 | 2013-08-07 | 芜湖天人智能机械有限公司 | Foldable and orbital transfer upper and lower limb coordination exercise training chair |
| CN204798292U (en) * | 2015-01-13 | 2015-11-25 | 苏州大学 | Low limbs rehabilitation training device |
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2015
- 2015-01-13 CN CN201510016404.4A patent/CN104490566B/en active Active
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