CN104825306A - Hip joint assisting rehabilitation device based on sleeve rope transmission - Google Patents

Hip joint assisting rehabilitation device based on sleeve rope transmission Download PDF

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Publication number
CN104825306A
CN104825306A CN201510212865.9A CN201510212865A CN104825306A CN 104825306 A CN104825306 A CN 104825306A CN 201510212865 A CN201510212865 A CN 201510212865A CN 104825306 A CN104825306 A CN 104825306A
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China
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lasso trick
hip joint
fixedly connected
drivewheel
lasso
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CN201510212865.9A
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Chinese (zh)
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王兴松
单晖
徐继刚
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Southeast University
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Southeast University
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Priority to CN201510212865.9A priority Critical patent/CN104825306A/en
Publication of CN104825306A publication Critical patent/CN104825306A/en
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Abstract

The invention discloses a hip joint assisting rehabilitation device based on sleeve rope transmission. The hip joint assisting rehabilitation device comprises a waist support assembly and two executing assemblies, wherein each executing assembly comprises a sleeve rope driving subassembly, a sleeve rope transmission subassembly, a hip joint executing subassembly and a sensor subassembly, and each sleeve rope driving subassembly is connected with the waist support assembly; each sleeve rope transmission subassembly is respectively connected with the corresponding sleeve rope driving subassembly and the corresponding hip joint executing subassembly, and each sensor subassembly is connected with the corresponding hip joint executing subassembly. The hip joint assisting rehabilitation device has the advantages that the rehabilitation training angle is relatively larger, the structure is simple, the weight is light, the control is safe and simple, the industrial production is convenient, and the hip joint assisting rehabilitation device is suitable for being popularized in a larger range.

Description

A kind of hip joint power-assisted convalescence device based on lasso trick transmission
Technical field
The invention belongs to lower limb power-assisted rehabilitation appliances field, specifically, relate to a kind of hip joint power-assisted convalescence device based on lasso trick transmission, be mainly applicable to the medical fields such as the training of lower limb hip joint healing, power-assisted.
Background technology
Lower limb power-assisted rehabilitation appliances are a kind of wearable mechanical systems outside patient, it is by being arranged on the driver in each joint, be aided with angular displacement sensor and joint moment sensor, assisting patients and lower limb power-assisted rehabilitation appliances carry out coordination exercise, realize the function that power-assisted, walk help and recovering aid are treated.
With advancing age, the skeleton of people and joint are often because degenerate or life-time service and wearing and tearing, and the degeneration of skeleton and wearing and tearing can cause, and theirs is handicapped; Or because cerebrovascular disease etc. can cause hemiplegia symptom; Increasing of modern society's vehicles, the number of the limb injury caused due to vehicle accident is also increasing gradually.Theory of medicine and clinical medicine prove, this kind of patient is except early stage operative treatment and Drug therapy, correctly, the rehabilitation training of science serves very important effect for the recovery of limb motion and raising, so limb rehabilitation device has become the focus of research gradually, Chinese scholars has done a large amount of work for the research and development of limb rehabilitation device particularly lower limb rehabilitation apparatus, and makes great progress.
The significant points that hip joint bears a heavy burden as human body and moves, support the weight of whole trunk, its physical stress born is more much bigger than other joint, once hip joint goes wrong, major part in patient while there is the hip arthralgia, also will lose joint motion and walking function gradually, final forfeiture work and viability, and the lower limb that hip joint power-assisted convalescence device can help patient to lift preparation to be stepped forward, strengthen simultaneously and pedal ground strength, thus the stride expanded when they walk, help them to expand range of activity.Such device many employings direct current generator, hydraulic cylinder and Pneumatic artificial muscle, as driving device, can provide certain compliance and larger driving force, and safety are relatively high.But due to the reason that the stroke of hydraulic cylinder and Pneumatic artificial muscle is shorter, the rehabilitation angle that current hip joint power-assisted convalescence device can realize is relatively little, the requirement of patient for wide-angle rehabilitation training can not be met, and adopt hydraulic cylinder and Pneumatic artificial muscle as the complex structure of the hip joint power-assisted convalescence device of driving device, volume is larger, weight is large, dresses trouble, is not suitable for civilian.Simply light and handy in the urgent need to structure, training rehabilitation angular range is large, and control safe and simple, the hip joint power-assisted convalescence device be convenient to commercial production and promoted on a large scale, the present invention designs for this purpose.
Summary of the invention
Technical problem: technical problem to be solved by this invention is: provide a kind of hip joint power-assisted convalescence device based on lasso trick transmission, this device rehabilitation training angle is relatively large, and structure is simply light and handy, controls safe and simple, is convenient to commercial production and promotes on a large scale.
Technical scheme: for solving the problems of the technologies described above, the technical scheme that the embodiment of the present invention adopts is:
A kind of hip joint power-assisted convalescence device based on lasso trick transmission, this power-assisted convalescence device comprises lumbar support assemblies and two cover executive modules, often overlap executive module and comprise lasso trick driven element assembly, lasso trick transmission sub-component, hip joint execution sub-component and sensor subassemblies, lasso trick driven element assembly is connected in lumbar support assemblies; Lasso trick transmission sub-component performs sub-component with lasso trick driven element assembly and hip joint respectively and is connected, and sensor subassemblies and hip joint perform sub-component and be connected.
As a kind of embodiment, described lumbar support assemblies comprises lumbar support plate, right lumbar region width adjustment plate, left lumbar region width adjustment plate and bandage, the two ends of lumbar support plate are connected with one end of right lumbar region width adjustment plate and one end of left lumbar region width adjustment plate respectively, and the two ends of bandage are fixedly connected with the other end of left lumbar region width adjustment plate with the other end of right lumbar region width adjustment plate respectively.
As a kind of embodiment, described lasso trick driven element assembly comprises DC brushless motor, decelerator, motor fixed block, motor mounting plate, lasso trick drivewheel and axle head end cap, the power output shaft of DC brushless motor matches with the power input shaft of decelerator, DC brushless motor and decelerator are fixedly connected on lumbar support plate by motor fixed block, motor mounting plate is fixedly connected on motor fixed block, and lasso trick drivewheel is fixedly connected on the power output shaft of decelerator; Axle head end cap is fixedly connected on the Power output the tip of the axis of decelerator, offsets with lasso trick drivewheel.
As a kind of embodiment, described lasso trick transmission sub-component comprises lasso trick pretension adjusting pole, lasso trick pretension fixing head, clamp nut, adjustment screw, lasso trick fixing head, lasso trick fixed support and two gear units, lasso trick pretension adjusting pole is fixedly connected with the U-type groove of motor mounting plate, lasso trick pretension fixing head is fixedly connected on lasso trick pretension adjusting pole, lasso trick fixed support is fixedly connected on hip joint fixing head, and lasso trick fixing head is fixedly connected on lasso trick fixed support; Adjustment screw is positioned at the screwed hole of lasso trick pretension adjusting pole, and the side end face of the end of adjustment screw and motor mounting plate offsets, and clamp nut is spun in adjustment screw; Each gear unit comprises sleeve pipe, rope through sleeve pipe, and the top of sleeve pipe is nested in the counter sink between lasso trick pretension adjusting pole and lasso trick pretension fixing head, and the bottom of sleeve pipe is nested in the counter sink between lasso trick fixed support and lasso trick fixing head; One end of rope is fixedly connected on lasso trick drivewheel by the first block tin, and the other end of rope is fixedly connected on lasso trick driven pulley by the second block tin.
As a kind of embodiment, described hip joint performs sub-component and comprises hip joint fixing head, anterior flexion and rear stretching rotating shaft, the first anterior flexion and rear stretching rotary motion plate, deep groove ball bearing, lasso trick driven pulley, nylon jacket, rolling bearing units, outer pendulum adduction rotating shaft, the second anterior flexion and rear stretching rotary motion plate, angular transducer and femur rod; Hip joint fixing head is fixedly connected on left lumbar region width adjustment plate by rolling bearing units and outer pendulum adduction rotating shaft, anterior flexion and rear stretching rotating shaft is fixedly connected on hip joint fixing head, first anterior flexion and rear stretching rotary motion plate and the second anterior flexion and rear stretching rotary motion plate are enclosed within anterior flexion and rear stretching rotating shaft terminal by deep groove ball bearing, the top of femur rod is fixedly connected with the bottom of the second anterior flexion and rear stretching rotary motion plate with the bottom of the first anterior flexion and rear stretching rotary motion plate respectively, and the bottom of femur rod is fixedly connected with sensor subassemblies; Lasso trick driven pulley is fixedly connected on the side of the first anterior flexion and rear stretching rotary motion plate, and nylon jacket is fixedly connected on the side of lasso trick driven pulley; The stiff end of angular transducer is fixedly connected on by locking nut in the endoporus of anterior flexion and rear stretching rotating shaft, and the round end of angular transducer is connected with the endoporus interference fit of nylon jacket.
As a kind of embodiment, described sensor subassemblies comprises femur rod front apron, Velcro hook side, VELCRO hair side, air bag sensor and leg binder; Air bag sensor is encapsulated in VELCRO hair side, and VELCRO hair side two ends are fixedly connected with leg binder, and VELCRO hair side is pasted onto in Velcro hook side, and Velcro hook side is fixedly connected on femur rod front apron; The bottom of femur rod is fixedly connected with femur rod front apron.
As a kind of embodiment, described lasso trick driven element assembly also comprises the first lasso trick drivewheel rope fixed block and the second lasso trick drivewheel rope fixed block, lasso trick drivewheel is provided with two U-shaped step troughs, first lasso trick drivewheel rope fixed block is fixedly connected in a U-shaped step trough of lasso trick drivewheel, second lasso trick drivewheel rope fixed block is fixedly connected in another U-shaped step trough of lasso trick drivewheel, one end of rope is through the through hole on the first lasso trick drivewheel rope fixed block or the through hole on the second lasso trick drivewheel rope fixed block, be fixedly connected on lasso trick drivewheel by the first block tin.
As a kind of embodiment, described hip joint performs sub-component and also comprises the first lasso trick driven pulley rope fixed block and the second lasso trick driven pulley rope fixed block, lasso trick driven pulley is provided with two U-shaped step troughs, first lasso trick driven pulley rope fixed block and the second lasso trick driven pulley rope fixed block are fixedly connected in the U-shaped step trough of lasso trick driven pulley, the other end of rope, through the through hole on the first lasso trick driven pulley rope fixed block or the through hole on the second lasso trick driven pulley rope fixed block, is fixed on lasso trick driven pulley by the second block tin.
As a kind of embodiment, the often cover executive module of described hip joint power-assisted convalescence device comprises two degree of freedom: anterior flexion and rear stretching degree of freedom and outer pendulum adduction degree of freedom, and wherein the pendulum angle scope of anterior flexion and rear stretching degree of freedom is: anteflexion 90 ° ~ after stretch 30 °; The pendulum angle scope of outer pendulum adduction degree of freedom is: outer pendulum 10 ° ~ adduction 5 °.
As a kind of embodiment, the axis of described sleeve pipe respectively with the notch of lasso trick drivewheel and the notch of lasso trick driven pulley tangent.
Beneficial effect: compared with prior art, the present invention has following beneficial effect:
(1) quality at device hip joint place and inertia little.Driven unit is directly installed on movable joint place by current exoskeleton robot and limb rehabilitating device, and device is overall heavy, and power consumption is large.The present invention can realize driven unit and perform being separated of sub-component with hip joint, effectively reduces quality and the inertia of hip joint, reduces power consumption, is conducive to control performance and the security performance of improving whole system.
(2) structure is simply light and handy.Lasso trick drivewheel of the present invention and lasso trick driven pulley can realize the effectively spacing of hip joint by the position rationally arranging U-shaped step trough, the articulated position occurring device is avoided to exceed the phenomenon of human motion extreme position, serve the effect of protection, do not need extra stopping means is installed, simplify the overall construction design of device; In the present invention, due to the characteristic that lasso trick itself is elongated, soft, make bang path of the present invention very flexible, and then the present invention is had, and bang path is flexible, size is little, mechanism's succinctly advantage such as light and handy.
(3) training rehabilitation angle is relatively large.Often cover executive module in the present invention is made up of two cover sleeve pipes and two sets of cords, rope slip be contained in sleeve pipe, one end of rope is embedded on lasso trick drivewheel by block tin, the other end is embedded on lasso trick driven pulley by block tin, between two U-shaped step troughs of lasso trick drivewheel to lasso trick drivewheel center, the angle of line is 60 °, between two U-shaped step troughs of lasso trick driven pulley to lasso trick driven pulley center, the angle of line is 60 °, anteflexion 90 ° of hip joint can be realized, after stretch the training rehabilitation angle of 30 °, compare with the convalescence device of hydraulic cylinder as driven unit with employing Pneumatic artificial muscle, training rehabilitation angle is larger.
(4) lasso trick installation and removal are simple and convenient.In the present invention, sleeve pipe one end is fixedly clamped by the counter sink on lasso trick pretension adjusting pole and lasso trick pretension fixing head, and the other end is fixedly clamped by the counter sink on lasso trick fixed support and lasso trick fixing head; The block tin of rope ends is fixed on lasso trick drivewheel and lasso trick driven pulley respectively by lasso trick drivewheel rope fixed block and lasso trick driven pulley rope fixed block, mounts and dismounts simple and convenient.
(5) dress simply, be convenient to commercial production and promote on a large scale.In the present invention, lasso trick transmission can realize remote undersized transmission power, and it can reduce complexity of the present invention effectively, makes structure of the present invention simple, lightweight, is applicable to patient and dresses; The processing cost of simultaneously lasso trick transmission is little, is suitable for commercial production and civilian on a large scale.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is the schematic diagram of lumbar support assemblies in the present invention.
Fig. 3 is the explosive view on lasso trick driven element assembly and lasso trick transmission sub-component top in the present invention.
Fig. 4 is the explosive view that in the present invention, lasso trick transmission sub-component bottom and hip joint perform sub-component.
Fig. 5 is the structural representation of sensor subassemblies in the present invention.
Fig. 6 is the structural representation of lasso trick drivewheel in the present invention.
Fig. 7 is the sectional view that the block tin of rope ends in the present invention is connected with lasso trick drivewheel (lasso trick driven pulley).
Fig. 8 is the schematic diagram of degree of freedom configuration in hip joint place in the present invention.
Fig. 9 is the sectional view that in the present invention, lasso trick driven element assembly, lasso trick transmission sub-component and hip joint perform sub-component.
Figure 10 is the structural representation of left lumbar region width adjustment plate in the present invention.
Have in figure: lumbar support assemblies 1, lumbar support plate 101, right lumbar region width adjustment plate 102, left lumbar region width adjustment plate 103, bandage 104, lasso trick driven element assembly 2, DC brushless motor 201, decelerator 202, motor fixed block 203, motor mounting plate 204, lasso trick drivewheel 205, first lasso trick drivewheel rope fixed block 206, second lasso trick drivewheel rope fixed block 207, axle head end cap 208, lasso trick transmission sub-component 3, lasso trick pretension adjusting pole 301, lasso trick pretension fixing head 302, clamp nut 303, sleeve pipe 304, adjustment screw 305, rope 306, first block tin 307, lasso trick fixing head 308, lasso trick fixed support 309, second block tin 310, hip joint performs sub-component 4, hip joint fixing head 401, anterior flexion and rear stretching rotating shaft 402, first anterior flexion and rear stretching rotary motion plate 403, deep groove ball bearing 404, lasso trick driven pulley 405, first lasso trick driven pulley rope fixed block 406, second lasso trick driven pulley rope fixed block 407, nylon jacket 408, rolling bearing units 409, outer pendulum adduction rotating shaft 410, second anterior flexion and rear stretching rotary motion plate 411, angular transducer 412, femur rod 413, sensor subassemblies 5, femur rod front apron 501, Velcro hook side 502, VELCRO hair side 503, air bag sensor 504, leg binder 505.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in detail.
As shown in Figures 1 to 10, a kind of hip joint power-assisted convalescence device based on lasso trick transmission of the present invention, comprises lumbar support assemblies 1 and two cover executive modules.Often overlap executive module and comprise lasso trick driven element assembly 2, lasso trick transmission sub-component 3, hip joint execution sub-component 4 and sensor subassemblies 5.Lasso trick driven element assembly 2 is connected in lumbar support assemblies 1; Lasso trick transmission sub-component 3 performs sub-component 4 with lasso trick driven element assembly 2 and hip joint respectively and is connected, and sensor subassemblies 5 and hip joint perform sub-component 4 and be connected.
As a kind of embodiment, as shown in Figure 2, in above-mentioned hip joint power-assisted convalescence device, lumbar support assemblies 1 comprises lumbar support plate 101, right lumbar region width adjustment plate 102, left lumbar region width adjustment plate 103 and bandage 104, the two ends of lumbar support plate 101 are connected with one end of right lumbar region width adjustment plate 102 and one end of left lumbar region width adjustment plate 103 respectively, and the two ends of bandage 104 are fixedly connected with the other end of left lumbar region width adjustment plate 103 with the other end of right lumbar region width adjustment plate 102 respectively.
As a kind of embodiment, as shown in Figure 3, in above-mentioned hip joint power-assisted convalescence device, lasso trick driven element assembly 2 comprises DC brushless motor 201, decelerator 202, motor fixed block 203, motor mounting plate 204, lasso trick drivewheel 205 and axle head end cap 208, the power output shaft of DC brushless motor 201 matches with the power input shaft of decelerator 202, DC brushless motor 201 and decelerator 202 are fixedly connected on lumbar support plate 101 by motor fixed block 203, motor mounting plate 204 is fixedly connected on motor fixed block 203, lasso trick drivewheel 205 is fixedly connected on the power output shaft of decelerator 202, axle head end cap 208 is fixedly connected on the Power output the tip of the axis of decelerator 202, offsets with lasso trick drivewheel 205.
As another embodiment, lasso trick driven element assembly 2 also comprises the first lasso trick drivewheel rope fixed block 206 and the second lasso trick drivewheel rope fixed block 207, lasso trick drivewheel 205 is provided with two U-shaped step troughs, first lasso trick drivewheel rope fixed block 206 is fixedly connected in a U-shaped step trough of lasso trick drivewheel 205, second lasso trick drivewheel rope fixed block 207 is fixedly connected in another U-shaped step trough of lasso trick drivewheel 205, one end of rope 306 is through the through hole on the first lasso trick drivewheel rope fixed block 206 or the through hole on the second lasso trick drivewheel rope fixed block 207, be fixedly connected on lasso trick drivewheel 205 by the first block tin 307.
As a kind of embodiment, as Fig. 3, shown in Fig. 4, in above-mentioned hip joint power-assisted convalescence device, described lasso trick transmission sub-component 3 comprises lasso trick pretension adjusting pole 301, lasso trick pretension fixing head 302, clamp nut 303, adjustment screw 305, lasso trick fixing head 308, lasso trick fixed support 309 and two gear units, lasso trick pretension adjusting pole 301 is fixedly connected with the U-type groove of motor mounting plate 204, lasso trick pretension fixing head 302 is fixedly connected on lasso trick pretension adjusting pole 301, lasso trick fixed support 309 is fixedly connected on hip joint fixing head 401, lasso trick fixing head 308 is fixedly connected on lasso trick fixed support 309, adjustment screw 305 is positioned at the screwed hole of lasso trick pretension adjusting pole 301, and the side end face of the end of adjustment screw 305 and motor mounting plate 204 offsets, and clamp nut 303 is spun in adjustment screw 305.Each gear unit comprises sleeve pipe 304, rope 306 through sleeve pipe 304, the top of sleeve pipe 304 is nested in the counter sink between lasso trick pretension adjusting pole 301 and lasso trick pretension fixing head 302, and the bottom of sleeve pipe 304 is nested in the counter sink between lasso trick fixed support 309 and lasso trick fixing head 308; One end of rope 306 is fixedly connected on lasso trick drivewheel 205 by the first block tin 307, and the other end of rope 306 is fixedly connected on lasso trick driven pulley 405 by the second block tin 310.
In above-mentioned hip joint power-assisted convalescence device, as shown in Figure 4, described hip joint performs sub-component 4 and comprises hip joint fixing head 401, anterior flexion and rear stretching rotating shaft 402, first anterior flexion and rear stretching rotary motion plate 403, deep groove ball bearing 404, lasso trick driven pulley 405, nylon jacket 408, rolling bearing units 409, outer pendulum adduction rotating shaft 410, second anterior flexion and rear stretching rotary motion plate 411, angular transducer 412 and femur rod 413, hip joint fixing head 401 is fixedly connected on left lumbar region width adjustment plate 103 by rolling bearing units 409 and outer pendulum adduction rotating shaft 410, anterior flexion and rear stretching rotating shaft 402 is fixedly connected on hip joint fixing head 401, first anterior flexion and rear stretching rotary motion plate 403 and the second anterior flexion and rear stretching rotary motion plate 411 are enclosed within anterior flexion and rear stretching rotating shaft 402 two ends by deep groove ball bearing 404, the top of femur rod 413 is fixedly connected with the bottom of the second anterior flexion and rear stretching rotary motion plate 411 with the bottom of the first anterior flexion and rear stretching rotary motion plate 403 respectively, the bottom of femur rod 413 is fixedly connected with sensor subassemblies 5, lasso trick driven pulley 405 is fixedly connected on the side of the first anterior flexion and rear stretching rotary motion plate 403, and nylon jacket 408 is fixedly connected on the side of lasso trick driven pulley 405, the stiff end of angular transducer 412 is fixedly connected on by locking nut in the endoporus of anterior flexion and rear stretching rotating shaft 402, and the round end of angular transducer 412 is connected with the endoporus interference fit of nylon jacket 408.
As another embodiment, as Fig. 6, shown in Fig. 7, hip joint performs sub-component 4 and also comprises the first lasso trick driven pulley rope fixed block 406 and the second lasso trick driven pulley rope fixed block 407, lasso trick driven pulley 405 is provided with two U-shaped step troughs, first lasso trick driven pulley rope fixed block 406 and the second lasso trick driven pulley rope fixed block 407 are fixedly connected in the U-shaped step trough of lasso trick driven pulley 405, the other end of rope 306 is through the through hole on the first lasso trick driven pulley rope fixed block 406 or the through hole on the second lasso trick driven pulley rope fixed block 407, be fixed on lasso trick driven pulley 405 by the second block tin 310.
As a kind of embodiment, as shown in Figure 5, in above-mentioned hip joint power-assisted convalescence device, described sensor subassemblies 5 comprises femur rod front apron 501, Velcro hook side 502, VELCRO hair side 503, air bag sensor 504 and leg binder 505; Air bag sensor 504 is encapsulated in VELCRO hair side 503, and VELCRO hair side 503 two ends are fixedly connected with leg binder 505, and VELCRO hair side 503 is pasted onto in Velcro hook side 502, and Velcro hook side 502 is fixedly connected on femur rod front apron 501; The bottom of femur rod 413 is fixedly connected with femur rod front apron 501.
As a kind of embodiment, as shown in Figure 8, the often cover executive module of described hip joint power-assisted convalescence device comprises two degree of freedom: anterior flexion and rear stretching degree of freedom and outer pendulum adduction degree of freedom, and wherein the pendulum angle scope of anterior flexion and rear stretching degree of freedom is: anteflexion 90 ° ~ after stretch 30 °; The pendulum angle scope of outer pendulum adduction degree of freedom is: outer pendulum 10 ° ~ adduction 5 °.Anterior flexion and rear stretching degree of freedom is realized by anterior flexion and rear stretching rotating shaft 402, first anterior flexion and rear stretching rotary motion plate 403 and the second anterior flexion and rear stretching rotary motion plate 411, rotation axis and anterior flexion and rear stretching rotating shaft 402 dead in line; Outer pendulum adduction degree of freedom is realized by rolling bearing units 409 and outer pendulum adduction rotating shaft 410, the dead in line of rotation axis and outer pendulum adduction rotating shaft 410.
Between two U-shaped step troughs of lasso trick drivewheel 205 to lasso trick drivewheel 205 center, the angle of line is 60 °, and between two U-shaped step troughs of lasso trick driven pulley to lasso trick driven pulley center, the angle of line is 60 °.When the present invention is in original state, position as shown in Figure 9, the effective angle that lasso trick drivewheel 205 turns clockwise and hip joint is anteflexion is 0 ° ~ 90 °, lasso trick drivewheel 205 is rotated counterclockwise and the effective angle stretched after hip joint is 0 ° ~ 30 °, thus can realize anteflexion maximum 90 ° of human hip, after stretch the training rehabilitation angle of maximum 30 °.
As a kind of preferred version, the axis of described sleeve pipe 304 respectively with the notch of lasso trick drivewheel 205 and the notch of lasso trick driven pulley 405 tangent.This can reduce rope 306 and the frictional force of sleeve pipe 304 as much as possible, reduces the loss of energy.
The two ends of lumbar support plate 101 are respectively equipped with the first U-type groove, the one end on the waist width adjustment plate right side 102 and the one end on a waist width adjustment plate left side 103 are respectively equipped with the second U-type groove, first U-type groove is relative with the second U-type groove, right lumbar region width adjustment plate 102 and left lumbar region width adjustment plate 103 is fixedly connected on lumbar support plate 101 by screw-nut.
As shown in Figure 9, apparatus, with of the present invention move human hip anteflexion time, lasso trick drivewheel 205 rotates clockwise α angle (0 °≤α≤90 °), lasso trick drivewheel 205 pulls rope 306 to slide in the groove of lasso trick drivewheel 205 and lasso trick driven pulley 405, thus drive lasso trick driven pulley 405 to rotate clockwise α angle (0 °≤α≤90 °) around anterior flexion and rear stretching rotating shaft 402, and then human hip is driven to realize anteflexion rotation.When apparatus, with of the present invention is stretched after moving human hip, lasso trick drivewheel 205 rotates counterclockwise β angle (0 °≤β≤30 °), lasso trick drivewheel 205 pulls rope 306 to slide in the groove of lasso trick drivewheel 205 and lasso trick driven pulley 405, thus drive lasso trick driven pulley 405 to rotate counterclockwise β angle (0 °≤β≤30 °) around anterior flexion and rear stretching rotating shaft 402, and then stretch rotation after driving human hip to realize.
In hip joint power-assisted convalescence device of the present invention, lumbar support plate 101 is provided with two groups of parallel U-type groove, right lumbar region width adjustment plate 102 and left lumbar region width adjustment plate 103 are connected in the parallel U-type groove of lumbar support plate 101 liang group, and are fixed together by bandage 104 with the waist of people.By regulating right lumbar region width adjustment plate 102 and left lumbar region width adjustment plate 103 relative to the distance of lumbar support plate 101, with the waist sizes of applicable human body.
In hip joint power-assisted convalescence device of the present invention, lasso trick driven element assembly 2 is fixed on lumbar support plate 101 by motor fixed block 203, remains unchanged relative to the position of people.Rope 306 can slide in sleeve pipe 304.One end of lasso trick transmission sub-component 3 is connected with the lasso trick drivewheel 205 of lasso trick driven element assembly 2, and the lasso trick driven pulley 405 that the other end and hip joint perform sub-component 4 is connected.The top of sleeve pipe 304 is nested in the counter sink between lasso trick pretension adjusting pole 301 and lasso trick pretension fixing head 302, to keep rope 306 and lasso trick drivewheel 205 tangent all the time.The bottom of sleeve pipe 304 is nested in the counter sink between lasso trick fixed support 309 and lasso trick fixing head 308, and same rope 306 and the lasso trick driven pulley 405 of keeping is tangent all the time.Lasso trick pretension adjusting pole 301 is connected in the U-type groove of motor mounting plate 204 by screw-nut, regulates rope pretightning force by changing the precession degree of depth of adjustment screw 305, is used for carrying out the pretension of lasso trick, avoids lasso trick transmission sub-component to occur lax.Lasso trick pretension adjusting pole 301 and lasso trick fixed support 309 have the effect that rope 306 direction keeps concurrently.Angular transducer 412 is used for detecting the change of Hip Angle.
Work process in hip joint power-assisted convalescence device of the present invention is: start DC brushless motor 201, decelerator 202 runs, decelerator 202 drives lasso trick drivewheel 205 to rotate, lasso trick drivewheel 205 pulls rope 306 to slide in the groove of lasso trick drivewheel 205 and lasso trick driven pulley 405, thus drive lasso trick driven pulley 405 to rotate around anterior flexion and rear stretching rotating shaft 402, and then human hip is driven to rotate.Specifically: meeting compressing gasbag sensor 504 when human thigh has flexion to be intended to, sensor detects that people will carry out anteflexion action, start DC brushless motor 201, decelerator 202 runs clockwise, decelerator 202 drives lasso trick drivewheel 205 to rotate clockwise, lasso trick drivewheel 205 pulls rope 306 to slide in the groove of lasso trick drivewheel 205 and lasso trick driven pulley 405, thus drive lasso trick driven pulley 405 to rotate clockwise same angle around anterior flexion and rear stretching rotating shaft 402, and then femur rod 413 and human hip is driven to realize anteflexion rotation.The compression to air bag sensor 504 can be alleviated when stretching motion intention after human thigh has, sensor detects that people stretches action after will carrying out, start DC brushless motor 201, decelerator 202 runs counterclockwise, lasso trick drivewheel 205 rotates counterclockwise, lasso trick drivewheel 205 pulls rope 306 to slide in the groove of lasso trick drivewheel 205 and lasso trick driven pulley 405, thus drive lasso trick driven pulley 405 to rotate counterclockwise same angle around anterior flexion and rear stretching rotating shaft 402, and then stretch rotation after driving femur rod 413 and human hip to realize.
Of the present inventionly a kind ofly based on the pretension process in the hip joint power-assisted convalescence device of lasso trick transmission be: revolve adjustment screw 305 inwards, lasso trick pretension adjusting pole 301 outwards slides in the U-type groove of motor mounting plate 204, rope 306 is made to be in tensioning state, tighten clamp nut 303 in the other direction, make adjustment screw 305 be locked on lasso trick pretension adjusting pole 301, lasso trick pretension adjusting pole 301 is fixed on motor mounting plate 204.
Hip joint power-assisted convalescence device of the present invention, driven by motor lasso trick drivewheel rotates, and rope ends is connected with lasso trick drivewheel and lasso trick driven pulley respectively, and driving moment is delivered to lasso trick driven pulley by lasso trick transmission sub-component, lasso trick driven pulley is connected with femur rod, drives hip joint motion.Lasso trick drivewheel and lasso trick driven pulley are provided with U-shaped step trough, can limit the range of movement of hip joint.Lasso trick pre-tightening apparatus regulates rope pretightning force by the precession degree of depth changing adjustment screw, avoids lasso trick transmission sub-component to occur lax.The present invention can carry out postoperative hip joint healing training and walking power-assisted to hip joint wearing and tearing or injured patient, have employed and can realize long-distance transmission and mechanical mechanism is simple.The present invention can realize driven unit and perform being separated of sub-component with hip joint, overcome the quality in each joint of joint recovering device in the past and the excessive problem of inertia, and structure is simply light and handy, controls safe and simple, is convenient to commercial production and promotes on a large scale.

Claims (10)

1. the hip joint power-assisted convalescence device based on lasso trick transmission, it is characterized in that, this power-assisted convalescence device comprises lumbar support assemblies (1) and two cover executive modules, often overlap executive module and comprise lasso trick driven element assembly (2), lasso trick transmission sub-component (3), hip joint execution sub-component (4) and sensor subassemblies (5), lasso trick driven element assembly (2) is connected in lumbar support assemblies (1); Lasso trick transmission sub-component (3) performs sub-component (4) with lasso trick driven element assembly (2) and hip joint respectively and is connected, and sensor subassemblies (5) and hip joint perform sub-component (4) and be connected.
2. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 1, it is characterized in that, described lumbar support assemblies (1) comprises lumbar support plate (101), right lumbar region width adjustment plate (102), left lumbar region width adjustment plate (103) and bandage (104), the two ends of lumbar support plate (101) are connected with one end of right lumbar region width adjustment plate (102) and one end of left lumbar region width adjustment plate (103) respectively, the two ends of bandage (104) are fixedly connected with the other end of left lumbar region width adjustment plate (103) with the other end of right lumbar region width adjustment plate (102) respectively.
3. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 1, it is characterized in that, described lasso trick driven element assembly (2) comprises DC brushless motor (201), decelerator (202), motor fixed block (203), motor mounting plate (204), lasso trick drivewheel (205) and axle head end cap (208), the power output shaft of DC brushless motor (201) matches with the power input shaft of decelerator (202), DC brushless motor (201) and decelerator (202) are fixedly connected on lumbar support plate (101) by motor fixed block (203), motor mounting plate (204) is fixedly connected on motor fixed block (203), lasso trick drivewheel (205) is fixedly connected on the power output shaft of decelerator (202), axle head end cap (208) is fixedly connected on the Power output the tip of the axis of decelerator (202), offsets with lasso trick drivewheel (205).
4. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 1, it is characterized in that, described lasso trick transmission sub-component (3) comprises lasso trick pretension adjusting pole (301), lasso trick pretension fixing head (302), clamp nut (303), adjustment screw (305), lasso trick fixing head (308), lasso trick fixed support (309) and two gear units, lasso trick pretension adjusting pole (301) is fixedly connected with the U-type groove of motor mounting plate (204), lasso trick pretension fixing head (302) is fixedly connected on lasso trick pretension adjusting pole (301), lasso trick fixed support (309) is fixedly connected on hip joint fixing head (401), lasso trick fixing head (308) is fixedly connected on lasso trick fixed support (309), adjustment screw (305) is positioned at the screwed hole of lasso trick pretension adjusting pole (301), and the side end face of the end of adjustment screw (305) and motor mounting plate (204) offsets, clamp nut (303) is spun in adjustment screw (305), each gear unit comprises sleeve pipe (304), rope (306) through sleeve pipe (304), the top of sleeve pipe (304) is nested in the counter sink between lasso trick pretension adjusting pole (301) and lasso trick pretension fixing head (302), and the bottom of sleeve pipe (304) is nested in the counter sink between lasso trick fixed support (309) and lasso trick fixing head (308), one end of rope (306) is fixedly connected on lasso trick drivewheel (205) by the first block tin (307), and the other end of rope (306) is fixedly connected on lasso trick driven pulley (405) by the second block tin (310).
5. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 1, it is characterized in that, described hip joint performs sub-component (4) and comprises hip joint fixing head (401), anterior flexion and rear stretching rotating shaft (402), first anterior flexion and rear stretching rotary motion plate (403), deep groove ball bearing (404), lasso trick driven pulley (405), nylon jacket (408), rolling bearing units (409), outer pendulum adduction rotating shaft (410), second anterior flexion and rear stretching rotary motion plate (411), angular transducer (412) and femur rod (413), hip joint fixing head (401) is fixedly connected on left lumbar region width adjustment plate (103) by rolling bearing units (409) and outer pendulum adduction rotating shaft (410), anterior flexion and rear stretching rotating shaft (402) is fixedly connected on hip joint fixing head (401), first anterior flexion and rear stretching rotary motion plate (403) and the second anterior flexion and rear stretching rotary motion plate (411) are enclosed within anterior flexion and rear stretching rotating shaft (402) two ends by deep groove ball bearing (404), the top of femur rod (413) is fixedly connected with the bottom of the second anterior flexion and rear stretching rotary motion plate (411) with the bottom of the first anterior flexion and rear stretching rotary motion plate (403) respectively, the bottom of femur rod (413) is fixedly connected with sensor subassemblies (5), lasso trick driven pulley (405) is fixedly connected on the side of the first anterior flexion and rear stretching rotary motion plate (403), and nylon jacket (408) is fixedly connected on the side of lasso trick driven pulley (405), the stiff end of angular transducer (412) is fixedly connected on by locking nut in the endoporus of anterior flexion and rear stretching rotating shaft (402), and the round end of angular transducer (412) is connected with the endoporus interference fit of nylon jacket (408).
6. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 1, it is characterized in that, described sensor subassemblies (5) comprises femur rod front apron (501), Velcro hook side (502), VELCRO hair side (503), air bag sensor (504) and leg binder (505); Air bag sensor (504) is encapsulated in VELCRO hair side (503), VELCRO hair side (503) two ends are fixedly connected with leg binder (505), VELCRO hair side (503) is pasted onto in Velcro hook side (502), and Velcro hook side (502) is fixedly connected on femur rod front apron (501); The bottom of femur rod (413) is fixedly connected with femur rod front apron (501).
7. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 3, it is characterized in that, described lasso trick driven element assembly (2) also comprises the first lasso trick drivewheel rope fixed block (206) and the second lasso trick drivewheel rope fixed block (207), lasso trick drivewheel (205) is provided with two U-shaped step troughs, first lasso trick drivewheel rope fixed block (206) is fixedly connected in a U-shaped step trough of lasso trick drivewheel (205), second lasso trick drivewheel rope fixed block (207) is fixedly connected in another U-shaped step trough of lasso trick drivewheel (205), one end of rope (306) is through the through hole on the first lasso trick drivewheel rope fixed block (206) or the through hole on the second lasso trick drivewheel rope fixed block (207), be fixedly connected on lasso trick drivewheel (205) by the first block tin (307).
8. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 5, it is characterized in that, described hip joint performs sub-component (4) and also comprises the first lasso trick driven pulley rope fixed block (406) and the second lasso trick driven pulley rope fixed block (407), lasso trick driven pulley (405) is provided with two U-shaped step troughs, first lasso trick driven pulley rope fixed block (406) and the second lasso trick driven pulley rope fixed block (407) are fixedly connected in the U-shaped step trough of lasso trick driven pulley (405), the other end of rope (306) is through the through hole on the first lasso trick driven pulley rope fixed block (406) or the through hole on the second lasso trick driven pulley rope fixed block (407), be fixed on lasso trick driven pulley (405) by the second block tin (310).
9. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 5, it is characterized in that, the often cover executive module of described hip joint power-assisted convalescence device comprises two degree of freedom: anterior flexion and rear stretching degree of freedom and outer pendulum adduction degree of freedom, and wherein the pendulum angle scope of anterior flexion and rear stretching degree of freedom is: anteflexion 90 ° ~ after stretch 30 °; The pendulum angle scope of outer pendulum adduction degree of freedom is: outer pendulum 10 ° ~ adduction 5 °.
10. according to the hip joint power-assisted convalescence device based on lasso trick transmission according to claim 4, it is characterized in that, the axis of described sleeve pipe (304) respectively with the notch of lasso trick drivewheel (205) and the notch of lasso trick driven pulley (405) tangent.
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