CN106176143A - A kind of healthy plint of multi-pose lower limb - Google Patents

A kind of healthy plint of multi-pose lower limb Download PDF

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Publication number
CN106176143A
CN106176143A CN201610789714.4A CN201610789714A CN106176143A CN 106176143 A CN106176143 A CN 106176143A CN 201610789714 A CN201610789714 A CN 201610789714A CN 106176143 A CN106176143 A CN 106176143A
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CN
China
Prior art keywords
lower limb
healthy
motion
plint
thigh
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Granted
Application number
CN201610789714.4A
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Chinese (zh)
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CN106176143B (en
Inventor
王勇
张方双
任刚跃
王聿宏
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Hefei University of Technology
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Hefei University of Technology
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Priority to CN201610789714.4A priority Critical patent/CN106176143B/en
Publication of CN106176143A publication Critical patent/CN106176143A/en
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Publication of CN106176143B publication Critical patent/CN106176143B/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Landscapes

  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of healthy plint of multi-pose lower limb, including the healthy training aids of seat and lower limb；The healthy training aids of described lower limb includes thigh motion, shank motion and the foot motion mechanism being sequentially connected in series, and the structure of described thigh motion and foot motion mechanism is identical, is 3-freedom parallel mechanism；Being connected between described thigh motion and shank motion and have thigh support and fixed component, described shank motion is provided with leg support and fixed component, and the front end of described foot motion mechanism connects foot-operated and fixed component.The present invention can make user sit on the seat, lower limb by each support and fixed component and lower limb healthy training aids binding, then can cosily by the healthy training aids of lower limb with carrying out lower limb exercise.Applied range of the present invention, can realize lower limb rehabilitation training and the exercise of three-dimensional space motion.

Description

A kind of healthy plint of multi-pose lower limb
Technical field
The present invention relates to rehabilitation medical and sport and body-building apparatus field, relate in particular to a kind of healthy instruction of multi-pose lower limb Practice chair.
Background technology
The reasons such as social senilization's degree is deepened day by day, apoplexy, spinal cord injury cause limb function motion to reduce, even Total loss, has had a strong impact on quality of life.Rehabilitation be recover motor function effective way, conventional physical therapist with Patient's man-to-man rehabilitation mode exists that labor intensity is big, the high deficiency of medical expense, and therefore, rehabilitation training equipment solves The effective way of this contradiction.
Since the middle of last century, on rehabilitation training equipment, achieve many achievements, such as single-degree-of-freedom formula, ectoskeleton, hang Hanging etc..But they also exist following deficiency: operation is complicated, forms of motion is single, be difficult to simulation human body three-dimensional motion, Bu Nengshi Answer the exercise etc. of many attitude, develop a human body multi-pose lower limb three-dimensional motion device for healing and training that is capable of and have necessarily Realistic meaning.
Summary of the invention
The technical problem to be solved is to provide a kind of simple and compact for structure, adapts to many attitude, range of application Extensively, the healthy plint of multi-pose lower limb of the rehabilitation at lower limb and fitness training can be applied.
In order to solve above-mentioned technical problem, the present invention adopts the following technical scheme that a kind of healthy plint of multi-pose lower limb, Including the healthy training aids of seat and lower limb；
The healthy training aids of described lower limb includes thigh motion, shank motion and the foot motion being sequentially connected in series Mechanism, the structure of described thigh motion and foot motion mechanism is identical, is 3-freedom parallel mechanism；
It is connected between described thigh motion and shank motion and has thigh support and fixed component, described shank Motion is provided with leg support and fixed component, and the front end of described foot motion mechanism connects foot-operated and fixed component.
Further, described seat includes bracing frame, cushion structure and is connected between bracing frame and cushion structure For the expansion link driving cushion structure to lift, the healthy training aids of described lower limb is arranged on cushion structure.
Further, described cushion structure includes cushion, described cushion inFont.
Further, described seat includes that backrest, described backrest are hinged on the rear side of cushion structure.
Further, the front side of described cushion structure is provided with two spaced apart handrail supports, and a bar is erected at On two handrail supports.
Further, described cushion structure includes the handrail of two left and right sides being separately fixed at cushion, two Handrail support is separately positioned on the front end of two handrails, and one of them handrail holder pivots is arranged on the front end of corresponding handrail, One end of bar is hinged on this one of them handrail support, and the other end of bar is detachably secured to another handrail and props up On frame.
Further, the bottom of described cushion structure is provided with connector, and described connector is provided with rotating shaft, described lower limb health Strong training aids is fixed in rotating shaft.
Further, also including the driving structure for controlling axis of rotation, described driving structure includes driving gear, uses In the motor driving driving gear to rotate, and the driven gear being fixed in rotating shaft, described driving gear and driven gear phase Engagement mutually.
Further, described 3-freedom parallel mechanism includes front end-plate, end plate and is connected to front end-plate and rear end Three line handspikes between plate, one end of each line handspike is hinged with end plate by spherical hinge, and the other end passes through flat hinge Hinged with the boss on front end-plate plate face, three line handspikes are in a circumferential direction in 1200Spaced apart.
Further, described shank motion includes contiguous block, support bar and promotion expansion link, described support bar and pushing away One end of dynamic expansion link is respectively hinged on contiguous block, and the other end of described promotion expansion link is hinged on the middle part of support bar.
Beneficial effects of the present invention is embodied in:
The present invention can make user sit on the seat, and lower limb are by each support and fixed component and the healthy training aids of lower limb Binding, then can cosily by the healthy training aids of lower limb with carrying out lower limb exercise.
Applied range of the present invention, can realize the limbs rehabilitation training under the many attitudes such as sitting posture, prone position, stance and exercise.
Rehabilitation training pattern of the present invention is various, it is possible to achieve synchronous/asynchronous is trained.
Present configuration is compact flexibly, can take up room little with folding shrinking when not using with freedom retractable.
The present invention has controllability, and thigh, shank and foot three part can realize tandem compound and can also take apart and carry out Respectively to, the rehabilitation training of SCID Mice.
The present invention realizes different tracks, the training of different amplitude so that it is both adapted to same position trainer in difference Convalescence and the situation of exercise of physical training condition, the trainer that can meet again different height carries out the need of rehabilitation and exercise Ask.
During active training, the control electric current by regulation motor self can resistance link, it is possible to realize active training, not only Can make for rehabilitation limbs as convalescence exerciser, and can make for health invigorating as health and fitness facilities.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the invention.
Fig. 2 is the healthy training aids of the lower limb in one embodiment of the invention and the structural representation of connected mode thereof.
Fig. 3 is the top view of one embodiment of the invention.
Being labeled as of each parts in accompanying drawing: 001 front end-plate, 002 end plate, 003 line handspike, 10 thigh motions, 20 shank motions, 30 foot motion mechanisms, 40 thigh support and fixed component, 50 leg support and fixed component, 60 feet Step on fixed component, 201 contiguous blocks, 202 support bars, 203 promote expansion links, 401 first support bars, 402 thigh pallets, 403 Thigh bandage, 501 shank pallets, 502 shank bandages, 601 foot-operated, 602 foot's bandages, 70 seats, 701 bracing frames, 702 stretch Bar, 703 cushion, 704 handrails, 705 backrests, 706 handrail supports, 707 bars, 80 connectors, 801 connecting plates, 802 companies Extension bar, 803 contiguous blocks, 804 rotating shafts, 901 driving gears, 902 driven gears.
Detailed description of the invention
The invention will be further described below in conjunction with the accompanying drawings:
See Fig. 1, Fig. 2 and Fig. 3.
The healthy plint of multi-pose lower limb of one embodiment of the invention, including the healthy training aids of seat 70 and lower limb；
The healthy training aids of described lower limb includes thigh motion 10, shank motion 20 and the foot being sequentially connected in series Motion 30, the structure of described thigh motion 10 and foot motion mechanism 30 is identical, is three-freedom parallel Structure；
It is connected between described thigh motion 10 and shank motion 20 and has thigh support and fixed component 40, institute Stating shank motion 20 and be provided with leg support and fixed component 50, the front end connection of described foot motion mechanism 30 has foot-operated With fixed component 60.
During use, user is sitting on seat 70, and lower limb are tied up by each support training aids healthy with fixed component and lower limb Fixed, then can cosily by the healthy training aids of lower limb with carrying out lower limb exercise.
In the present embodiment, described seat 70 includes bracing frame 701, cushion structure and is connected to bracing frame 701 and medicated cushion The expansion link 702 being used for driving cushion structure to lift between structure, the healthy training aids of described lower limb is arranged on cushion structure. By expansion link 702, cushion structure is adjusted to suitable height, to meet the needs of different crowd, it is often more important that, pass through Elevating cushion structure, it is possible to achieve the pattern taken exercise under sitting posture and stance；When being embodied as, expansion link 702 can be electronic Line handspike, hydraulic push rod even turbine and worm is secondary, if flexible, adjustable length.
In the present embodiment, described cushion structure includes cushion 703 and two left sides being separately fixed at cushion 703 The handrail 704 of right both sides.It is respectively connected with described expansion link 702, described seat between front side and the bracing frame 701 of each handrail 704 Connect between rear side and the bracing frame 701 of pad body 703 and have two expansion links 702.So, four expansion links 702, structure altogether Simply, and ensure that stability in use and the safety of device.
In the present embodiment, described seat 70 includes that backrest 705, described backrest 705 are hinged on the rear side of cushion 703, Described backrest 705 overturns to being suitable to human body and leans on, it is also possible to overturns to being suitable to human body and lies low.So design, may be implemented in sitting posture Performing physical exercise with under each attitude such as prone position, have multiple training attitude to select for user, pattern is various, applied range, increases Comfort level.When being embodied as, the structure of existing invertible back support can be used to realize the switching of state, such as, by being arranged on medicated cushion originally Motor on body 703 drives jointed shaft to rotate, and automaticity is high.
In the present embodiment, the bottom of described cushion 703 is provided with connector 80, and described connector 80 is provided with rotating shaft 804, the healthy training aids of described lower limb is fixed in rotating shaft 804.Use this structure, can adjust by rotating the second rotating shaft 802 The angle of the healthy training aids of lower limb, to perform physical exercise under sitting posture, prone position, stance with the use of person, the second general water of rotating shaft 802 Flat left and right is arranged, meets the human body lower limbs characteristics of motion.
Certainly, the present invention not only can perform physical exercise under sitting posture, prone position, stance, the transition between these attitudes Can also perform physical exercise under attitude, applied widely.
In the present embodiment, also include that described driving structure includes driving tooth for controlling the driving structure that rotating shaft 804 rotates Wheel 901, for the motor driving driving gear 901 to rotate, and the driven gear 902 being fixed in rotating shaft 804, described active Gear 901 engages each other with driven gear 902, and motor and driving gear 901 may be provided on connector 80.This driving side Formula, simple in construction, convenient control, easily implement.
Certainly, the present invention can not also use above-mentioned driving structure, direct hand rotation the second rotating shaft 802, waits to go to close After suitable angle, locked by limit methods such as bearing pins.
In being embodied as, this device configures a pair healthy training aids of lower limb, meets the exercise of a pair of lower limb, in order to just In making, installing, connector 80 arranges two, and the two ends of rotating shaft 804 are rotatably installed in two connectors 80 by bearing respectively On, and rotating shaft 804 in separated, the gap of rotating shaft 804 is connected by shaft coupling, and driven gear 902 is arranged on shaft coupling Outside.
In being embodied as, described connector 80 includes connecting plate 801, connecting rod 802 and contiguous block 803, and connecting plate 801 is used In being connected with cushion 703, connecting rod 802 turns forward layout, and the upper end of connecting rod 802 is affixed with connecting plate 801, connects The lower end of bar 802 is affixed with contiguous block 803, and described rotating shaft 804 is rotatably installed in the bottom of contiguous block 803.This structure designs Rationally, connector 80 will not hinder lower limb and the combination of the healthy training aids of lower limb and motion.
In the present embodiment, described cushion 703 inFont.Using this structure, human thigh position can be saturating The vacancy crossing cushion 703 is combined with thigh motion, reasonable in design, it is possible to be greatly simplified apparatus structure, here DescribedFont is not necessarily to what font understood, if having two breach corresponding with thigh be accordingly to be regarded as be on State shape, belong to protection scope of the present invention.
It addition, above-mentioned cushion 703 also can facilitate user to be trained under stance, need to train under stance Time, by expansion link 702, cushion structure being raised, stand through the vacancy of cushion 703 in thigh position, and by driving The angle of the healthy training aids of structural adjustment lower limb, to meet stance needs, then can carry out next step exercise.
In the present embodiment, the front end of said two handrail 704 is respectively equipped with handrail support 706, and a bar 707 is erected at On the handrail support 706 of the front end of two handrails 704.Bar 707 is used for preventing user from turning forward and produces potential safety hazard, Protect user further.
In the present embodiment, one of them handrail support 706 is rotatably installed in the front end of corresponding handrail 704, bar 707 One end is hinged on this one of them handrail support 706, and the other end of bar 707 is detachably secured to another by pin and holds up On shaft bar 706, so designing, handrail support 706 is not easy to lose, and can open the most quickly and close, and conveniently makes User enters and is sitting in cushion, substantially increases the practicality of device.
In said structure, 3-freedom parallel mechanism include front end-plate 001, end plate 002 and be connected to front end-plate with Three line handspikes 003 between end plate, one end of each line handspike is hinged with end plate 002 by spherical hinge, the other end Hinged with the boss on front end-plate plate face by flat hinge；Further, three line handspikes are in a circumferential direction in 1200Interval point Cloth.Thigh motion 10 and foot motion mechanism 30 are 3-freedom parallel mechanism, and in other words, each motion is equal There is front end-plate, end plate.
The healthy training aids of described lower limb is fixed in rotating shaft 804 with the end plate in thigh motion 10.
Thigh support includes with fixed component 40: the first support bar 401 of connecting firmly with the front end-plate of thigh motion 10, The thigh pallet 402 connected firmly with the first support bar, the thigh bandage 403 being located on thigh pallet 402；The end of thigh pallet 402 Face is connected with shank motion 20 by connector.
Every line handspike is driven by the motor of himself, can regulate the length of line handspike, and three linear electric motors are same Time elongate or shorten the translation of the front end-plate that just can realize thigh motion 10, wherein two line handspikes extend simultaneously or Shortening just can realize thigh motion 10 front end-plate and rotate around the 3rd line handspike top.In like manner, wantonly two straight lines Stretching of push rod, the front end-plate that can realize thigh motion 10 rotates around the 3rd line handspike top, it is achieved Quan Fang The exercise of position.
The operating principle of foot motion mechanism 30 is identical, realizes the training of the different motion track of shank and foot respectively. Further, the action of parent body can drive the action of Lower Establishment, such as, the action of thigh motion, and shank can be driven to transport Motivation structure, the action of foot motion mechanism, by that analogy.
During concrete structure is arranged, above-mentioned shank motion is not 3-freedom parallel mechanism, comprising: contiguous block 201, Support bar 202 and promotion expansion link 203, contiguous block 201 is fixed on thigh pallet, described support bar 202 and promotion expansion link The upper end of 203 is respectively hinged on contiguous block 201, and the lower end of described support bar 202 is solid with the end plate of foot motion mechanism 30 Fixed connection, the lower end of described promotion expansion link 203 is hinged on the middle part of support bar 202；
Above-mentioned leg support includes with fixed component 50: fixing with connecting rod 201 be connected shank pallet 501, be located at little Shank bandage 502 on leg support dish；Ride and include with fixed component 60: be foot-operated with what the front end-plate of foot motion mechanism connected firmly 601 and foot's bandage 602 of being located on foot-operated 601.
For convenience of molding and installation, shank pallet 501 is fixed on support bar 202 by fixed block, promotes expansion link 203 Lower end be hinged on this fixed block.
When being trained, shank is taken and is placed on shank motion 20, and solid with fixed component 21 by leg support Fixed, flexible promotion expansion link 203, support bar 202 can be driven up and down reciprocatingly to rotate, thus drive shank to lift and fall, obtain Take exercise.
In the present embodiment, thigh pallet 111 and shank pallet 211 U-shaped in general are block, respectively by corresponding bandage Enclose formation and limit space, thus hold onto thigh or shank.
In motion, wherein, the motion of the front end-plate of first 401 thigh motions 10 of support bar is delivered to huckle Point, driving thigh to move, train leg muscle and hip joint, 403 thighs of thigh pallet 402 and thigh bandage are fixed, with Thigh pallet 402 action.
Support bar 201, promotion 202 stretching motions of expansion link are delivered to lower leg portion, drive shank to move, take exercise little Lower limb lifts and falls, and training Calf muscle and knee joint, 502 shanks of shank pallet 501 and shank bandage are fixed, along with shank Pallet 501 action.In specifically arranging, expansion link can be electric pushrod, hydraulic push rod even turbine and worm pair etc., if energy Flexible.
Human foot is fixed on foot-operated 601 by foot's bandage 602, foot motion mechanism drive motion, it is achieved sole Left and right upset, on action, training foot muscles and the ankle joint such as carry off.
In the present embodiment, the motions at different levels of the healthy training aids of lower limb are mutually to interlock, the action meeting of parent body Drive the action of Lower Establishment, such as, the action of thigh motion 10, shank motion 20, foot exercises machine can be driven The action of structure 30, by that analogy.Certainly, above-mentioned motions at different levels can also be separate, is capable of equally effectively forging The purpose of refining.
Be to be understood that example as herein described and embodiment only for explanation, those skilled in the art can make according to it Various amendments or change, in the case of without departing from spirit of the invention, broadly fall into protection scope of the present invention.

Claims (10)

1. the healthy plint of multi-pose lower limb, it is characterised in that: include seat (70) and the healthy training aids of lower limb；
The healthy training aids of described lower limb includes thigh motion (10), shank motion (20) and the foot being sequentially connected in series Motion (30), the structure of described thigh motion (10) and foot motion mechanism (30) is identical, is Three Degree Of Freedom Parallel institution；
It is connected between described thigh motion (10) and shank motion (20) and has thigh support and fixed component (40), Described shank motion (20) is provided with leg support and fixed component (50), and the front end of described foot motion mechanism (30) is even It is connected to foot-operated and fixed component (60).
2. the healthy plint of multi-pose lower limb as claimed in claim 1, it is characterised in that: described seat (70) includes bracing frame (701), cushion structure and be connected between bracing frame (701) and cushion structure for driving what cushion structure lift to stretch Bar (702), the healthy training aids of described lower limb is arranged on cushion structure.
3. the healthy plint of multi-pose lower limb as claimed in claim 2, it is characterised in that: described cushion structure includes that medicated cushion is originally Body (703), described cushion (703) is in " Ш " font.
4. the healthy plint of multi-pose lower limb as claimed in claim 2 or claim 3, it is characterised in that: described seat (70) includes leaning on The back of the body (705), described backrest (705) is hinged on the rear side of cushion structure.
5. the healthy plint of multi-pose lower limb as claimed in claim 2 or claim 3, it is characterised in that: the front side of described cushion structure Being provided with two spaced apart handrail supports (706), a bar (707) is erected on two handrail supports (706).
6. the healthy plint of multi-pose lower limb as claimed in claim 5, it is characterised in that: described cushion structure includes two points Not being fixed on the handrail (704) of the left and right sides of cushion (703), two handrail supports (706) are separately positioned on two and hold up The front end of hands (704), and one of them handrail support (706) is rotatably installed in the front end of corresponding handrail (704), bar (707) one end is hinged on this one of them handrail support (706), and the other end of bar (707) is detachably secured to separately On one handrail support (706).
7. the healthy plint of multi-pose lower limb as claimed in claim 2 or claim 3, it is characterised in that: the bottom of described cushion structure Being provided with connector (80), described connector (80) is provided with rotating shaft (804), and the healthy training aids of described lower limb is fixed on rotating shaft (804) on.
8. the healthy plint of multi-pose lower limb as claimed in claim 7, it is characterised in that: also include for controlling rotating shaft (804) the driving structure rotated, described driving structure includes driving gear (901), is used for driving driving gear (901) to rotate Motor, and the driven gear (902) being fixed in rotating shaft (804), described driving gear (901) and driven gear (902) phase Engagement mutually.
9. the healthy plint of multi-pose lower limb as claimed in claim 1 or 2, it is characterised in that: described three-freedom parallel Structure includes front end-plate (001), end plate (002) and three straight lines being connected between front end-plate (001) and end plate (002) Push rod (003), one end of each line handspike (003) is hinged with end plate (002) by spherical hinge, the other end by flat hinge and Boss on front end-plate (001) plate face is hinged；Three line handspikes (003) are spaced apart in 120 ° in a circumferential direction.
10. the healthy plint of multi-pose lower limb as claimed in claim 1 or 2, it is characterised in that: described shank motion (20) include contiguous block (201), support bar (202) and promote expansion link (203), described support bar (202) and promotion expansion link (203) one end is respectively hinged on contiguous block (201), and the other end of described promotion expansion link (203) is hinged on support bar (202) middle part.
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CN110236885A (en) * 2019-07-11 2019-09-17 燕山大学 A kind of healing robot with waist and leg training function
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CN112451311A (en) * 2020-11-23 2021-03-09 乐陵市人民医院 Cerebral apoplexy rehabilitation exercise device
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CN114642567A (en) * 2022-02-28 2022-06-21 燕山大学 Multi-position open type lower limb rehabilitation robot
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