CN106974802B - Multi-rod type lower limb rehabilitation massage trainer - Google Patents

Abstract

The invention discloses a multi-rod lower limb rehabilitation massage trainer. The invention comprises an adjustable fixing device, a crank rocker type joint movable device, a cam link slider type foot massage device and a guide rod type leg massage device. The crank-rocker type joint movement device realizes different degrees of joint movement through three different lengths of cranks; the cam-link slider type foot massage device uses the relative movement of the first connecting rod and the rocker, and uses the direct follower cam mechanism The foot massage part is driven to realize foot massage; the guide rod type leg massage device utilizes the guide rod mechanism to drive the leg massage part to realize leg massage by virtue of the movement of the calf during the joint movement. The invention promotes the blood circulation of the legs and the soles of the feet, accelerates the rehabilitation of the lower limbs, does not need the company of professional nurses, effectively reduces the medical rehabilitation costs of people with movement disorders of the legs, and improves the quality of rehabilitation training.

Description

A multi-rod lower limb rehabilitation massage trainer

technical field

The invention belongs to the field of medical rehabilitation equipment, and relates to a lower limb rehabilitation massage machine, in particular to a multi-rod lower limb rehabilitation massage trainer.

Background technique

Elderly or disabled people with movement disorders often need to go to professional medical centers for rehabilitation training. There is an urgent need for a lower limb rehabilitation massage trainer that can be used by patients at home or in the workplace, which can improve the lower limb rehabilitation of people with movement disabilities as much as possible. Convenience of training, reduce medical expenses.

Contents of the invention

The purpose of the present invention is to provide a multi-rod lower limb rehabilitation massage trainer, which can be used by patients at home or in the workplace, so that patients can obtain more independent living ability and improve the quality of life of patients.

In order to achieve the above object, the technical scheme adopted in the present invention is:

The invention includes an adjustable fixing device, a crank rocker type joint movable device, a cam link slider type foot massage device and a guide rod type leg massage device. The adjustable fixing device includes a U-shaped base and a screw clamp; the screw clamp is connected with the upper part of the U-shaped base through a thread pair.

The crank-rocker type articulation device includes a driving motor, a left seated bearing, a right seated bearing, a coupling, a transmission shaft, a crank, a first connecting shaft, a first connecting rod, a second connecting shaft, a rocker , the third connecting shaft, U-shaped connecting piece, the second connecting rod, connecting rod and sole support; the drive motor, left bearing with seat and right bearing with seat are all fixed on the U-shaped base by bolts; the transmission shaft Supported on the left seated bearing, one end is fixedly connected to the output shaft of the drive motor through a coupling, the other end is connected to one end of the crank through a key, and the other end of the crank is hinged to one end of the first connecting rod through the first connecting shaft. The other end of the first connecting rod is hinged with one end of the rocker through the second connecting shaft, and the other end of the rocking rod is hinged with the right seated bearing through the third connecting shaft; one arm of the U-shaped connector is connected with the first connecting rod through a bolt Fixed connection, the other arm is fixedly connected to the second connecting rod through bolts, and an integrally formed circular boss is provided at the bottom; one end of the connecting rod is connected to the first connecting rod through bolts, and the other end is connected to the foot through bolts. The supporting parts are fixedly connected; slideways are provided on the first connecting rod, the second connecting rod and the foot supporting part.

The cam-link slider type foot massage device includes a cam group, a driven roller shaft, a first roller, a second roller, a third roller, a sleeve, a nut, a spring support, a return spring, The foot massage connecting rod, the fourth connecting shaft, the foot massage parts and the foot massage ball; the cam group includes three cams, the cam group is vacantly sleeved on the second connecting shaft, and is fixedly connected with the rocker; the driven roller The first roller, the second roller, the third roller and the sleeve are sleeved in sequence on the shaft, the driven roller shaft passes through the first connecting rod and the second connecting rod, the first roller and the cam group A cam constitutes a cam pair, the second roller is placed in the slideway of the second connecting rod, the third roller is placed in the slideway of the first connecting rod, and the sleeve is placed outside the first connecting rod; the driven roller shaft One end of the sleeve is provided with a thread connected with the nut; the spring support is connected to the driven roller shaft through a key, and one end of the return spring is vacantly sleeved on the spring support, and the other end is vacantly sleeved on the U-shaped connector. One end of the foot massage connecting rod is hinged with the driven roller shaft through the sleeve, and the other end is hinged with the foot massage part through the fourth connecting shaft; two stick groups are symmetrically arranged on both sides of the foot massage part. The set includes a plurality of sticks equidistantly distributed, and all the sticks are supported in the slideway of the foot support through bearings; each stick is nested with a foot massage ball.

The guide rod type leg massage device includes a leg support, a fifth connection shaft, a leg massage link, a sixth connection shaft, a seventh connection shaft, a leg massage piece and a leg massage ball; The leg support is hinged to the connecting rod through the sixth connecting shaft, and there are slideways on both sides of the leg supporting part; two leg massage connecting rods are distributed on both sides of the leg supporting part, and one end is connected to the leg through the seventh connecting shaft. The massage parts on the back are hinged, and the other ends are hinged to the foot support through the fifth connecting shaft; one end of the two leg massage parts and the slideways on both sides of the leg support respectively constitute a sliding pair, and the other ends are nested with multiple legs. Massage ball at the head; the end of the sliding pair formed by the slideway of the leg massaging part and the leg support part is fixed with the seventh connecting shaft.

The included angle between the connecting rod and the first connecting rod is 30°, the ratio of the distance from the point where the connecting rod is fixedly connected to the first connecting rod to the hinge point of the crank and the first connecting rod to the total length of the first connecting rod It is 5:6.

The crank length has three specifications of 50mm, 100mm and 150mm.

The length of the first connecting rod is 300mm, and the length of the rocker is 260mm.

A plurality of through holes are evenly distributed on both sides of the leg support, and ropes are passed through the through holes.

The beneficial effects that the present invention has are:

The adjustable fixing device adopted in the present invention can fix the entire rehabilitation massage trainer on various furniture such as beds and tables of different thicknesses, which is convenient for patients to use at home or in the workplace; there are 3 cranks in the crank rocker type joint movable device Three sizes can be selected, and the three sizes correspond to three different foot movement trajectories respectively to achieve different ranges of joint movement. At the same time, the selected structural size parameters can make the back and forth movement trajectories of the feet basically coincide, so that the patient's The range of joint activities is basically consistent; the cam-link slider type foot massage device uses the relative movement of the first connecting rod and the rocker, and uses the direct-moving follower cam mechanism to drive the foot massager to achieve foot massage. The massage device uses the movement of the calf during the joint movement and uses the guide rod mechanism to drive the leg massage parts to achieve leg massage. These two sets of massage devices make reasonable use of the power source and add massage to the legs and soles during the joint rehabilitation training process. It can promote blood circulation in the legs and soles of the feet, and accelerate the recovery of the lower limbs. The invention is simple and easy to use, applicable to a wide range of people, does not need professional nursing staff to accompany it during operation and use, and can effectively reduce medical rehabilitation costs for people with leg movement disorders.

Description of drawings

Fig. 1 is the perspective view of the overall structure of the present invention;

Fig. 2 is a schematic diagram of the assembly relationship between the adjustable fixing device and the crank-rocker type articulation device in the present invention;

Fig. 3 is a structural schematic diagram of the crank-rocker type joint movement device in the present invention;

Fig. 4 is the structural representation of cam-link slider type foot massage device among the present invention;

Fig. 5 is a schematic diagram of the assembly relationship between the sole support member and the sole massage member in the present invention;

Fig. 6 is a structural schematic diagram of a guide rod type leg massage device in the present invention;

In the figure: A, adjustable fixing device, B, crank rocker type joint movable device, C, cam link slider type foot massage device, D, guide rod type leg massage device, 1, U-shaped base, 2, Screw fixture, 3, driving motor, 4-1, left bearing with seat, 4-2, right bearing with seat, 5, coupling, 6, transmission shaft, 7, crank, 8-1, first connecting shaft, 9. The first connecting rod, 8-2, the second connecting shaft, 10, the rocker, 8-3, the third connecting shaft, 11, the U-shaped connector, 12, the second connecting rod, 13, the connecting rod, 14 , foot support, 15, cam group, 16, driven roller shaft, 17, first roller, 18, second roller, 19, third roller, 20, sleeve, 21, nut, 22, Spring supporting part, 23, return spring, 24, foot massage connecting rod, 8-4, the fourth connecting shaft, 25, foot massage part, 26, foot massage ball, 27, leg support part, 8-5, the 4th connecting shaft Five connecting shafts, 28, leg massage connecting rod, 8-6, the sixth connecting shaft, 8-7, the seventh connecting shaft, 29, leg massage parts, 30, leg massage balls.

Detailed ways

The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

As shown in Fig. 1 and Fig. 2, a multi-rod type lower limb rehabilitation massage trainer includes an adjustable fixing device A, a crank rocker type joint movable device B, a cam link slider type foot massage device C and a guide rod type Leg massage device D. The adjustable fixing device A includes a U-shaped base 1 and a screw clamp 2; a through hole is reserved on the upper part of the U-shaped base 1 to fix the joint movable device; the screw clamp 2 is connected with the upper part of the U-shaped base 1 through a thread pair.

As shown in Fig. 3, the crank-rocker type articulation device B includes a driving motor 3, a left bearing with seat 4-1, a right bearing with seat 4-2, a shaft coupling 5, a transmission shaft 6, a crank 7, a first connection Shaft 8-1, first connecting rod 9, second connecting shaft 8-2, rocker 10, third connecting shaft 8-3, U-shaped connecting piece 11, second connecting rod 12, connecting rod 13 and sole support 14. The drive motor 3, the left bearing with seat 4-1 and the right bearing with seat 4-2 are all fixed on the U-shaped base 1 by bolts; the transmission shaft 6 is supported on the left bearing with seat 4-1, and one end passes through the coupling The device 5 is fixedly connected with the output shaft of the drive motor 3, and the other end is connected with one end of the crank 7 through a key, and the other end of the crank 7 is hinged with one end of the first connecting rod 9 through the first connecting shaft 8-1, and the first connecting rod The other end of 9 is hinged with one end of the rocking bar 10 through the second connecting shaft 8-2, and the other end of the rocking bar 10 is hinged with the right belt seat bearing 4-2 through the third connecting shaft 8-3; the U-shaped connector 11 One arm is fixedly connected with the first connecting rod 9 through bolts, the other arm is fixedly connected with the second connecting rod 12 through bolts, and the bottom is provided with an integrally formed circular boss; one end of the connecting rod 13 is connected with the first connecting rod 9 through bolts. Fixed connection, the other end is fixedly connected with the foot support 14 through bolts, the angle between the connecting rod 13 and the first connecting rod 9 is 30°, and the position of the connecting rod 13 fixedly connected on the first connecting rod 9 reaches the crank 7 The ratio of the distance from the hinge point of the first connecting rod 9 to the total length of the first connecting rod 9 is 5:6, so that the foot support 14 drives the foot to move back and forth in the space, and the reciprocating motion trajectory basically coincides; the first connecting rod 9. There are slideways on the second connecting rod 12 and the foot support 14; the length of the crank has three specifications: 50mm, 100mm and 150mm; the length of the first connecting rod 9 is 300mm, and the length of the rocker 10 is 260mm, which can realize The flexion range of the knee joint is 0°-130°, the flexion range of the hip joint is 30°-100°, and the dorsiflexion and plantarflexion ranges of the bare joint are 0-20° and 0-45°, respectively.

As shown in Figures 4 and 5, the cam-link slider type foot massage device C includes a cam group 15, a driven roller shaft 16, a first roller 17, a second roller 18, a third roller 19, a sleeve 20, nut 21, spring support member 22, return spring 23, sole massage connecting rod 24, the fourth connecting shaft 8-4, sole massage part 25 and sole massage ball 26; cam group 15 comprises three cams, corresponding to three cams respectively. Cranks 7 of different length specifications, the cam group 15 is vacantly sleeved on the second connecting shaft 8-2, and is firmly connected with the rocker 10; the driven roller shaft 16 is sequentially sleeved with the first roller 17, the second The roller 18, the third roller 19 and the sleeve 20, the driven roller shaft 16 passes through the first connecting rod 9 and the second connecting rod 12, the first roller 17 and a cam in the cam group 15 form a cam pair , the second roller 18 is placed in the slideway of the second connecting rod 12, the third roller 19 is placed in the slideway of the first connecting rod 9, the sleeve 20 is placed outside the first connecting rod 9; the driven roller One end of the shaft 16 where the sleeve 20 is placed is provided with a screw thread connected with the nut 21, and the position of the driven roller shaft 16 is adjusted through the nut 21, so that the first roller 17 is respectively in contact with different cams in the cam group 15; the spring support 22 is connected with the driven roller shaft 16 through a key, one end of the return spring 23 is vacantly sleeved on the spring support 22, and the other end is vacantly sleeved on the circular boss of the U-shaped connector 11; one end of the foot massage connecting rod 24 passes through The sleeve 20 is hinged with the driven roller shaft 16, and the other end is hinged with the foot massaging part 25 through the fourth connecting shaft 8-4; the foot massaging part 25 is symmetrically provided with two stick groups on both sides, and the stick groups include equidistantly distributed A plurality of sticks, all of which are supported in the slideway of the foot support 14 by bearings; each stick is sheathed with a foot massage ball 26.

As shown in Figure 6, the guide rod type leg massage device D includes a leg support 27, a fifth connecting shaft 8-5, a leg massage link 28, a sixth connecting shaft 8-6, a seventh connecting shaft 8- 7. The leg massager 29 and the leg massage ball 30; the leg supporter 27 is hinged with the connecting rod 13 through the sixth connecting shaft 8-6, and a plurality of through holes are evenly distributed on both sides of the leg supporter 27, and through the penetrating The rope in the through hole connects the leg supporting part 27 with the shank of the people, and the two sides of the leg supporting part 27 are provided with slideways; The seventh connecting shaft 8-7 is hinged with the leg massager 28, and the other end is hinged with the foot support 14 through the fifth connecting shaft 8-5; one end of the two leg massagers 29 is hinged with the leg support 27 The slideways on both sides respectively form a sliding pair, and the other end is evenly nested with a plurality of leg massage balls 30; 7 fixed.

The working principle of the multi-bar lower limb rehabilitation massage trainer is:

The adjustable fixing device A is fixed on furniture such as the bed edge and the table edge through the screw clamp 2, thereby fixing the entire rehabilitation massage trainer. The lower limb rehabilitation massage training exercise can be divided into three parts: joint rehabilitation training, foot massage and leg massage. Joint rehabilitation training: the power is input by the drive motor 3, and the crank-link mechanism composed of the crank 7, the first connecting rod 9 and the rocker 10 is driven to rotate through the coupling 5, and then drives the The foot support 14 moves together. During the rehabilitation training process, the foot is put into the foot support 14 to drive the foot to move back and forth, and the back and forth motion tracks basically overlap, so that the knee joint, hip joint, and bare joint can be adjusted within a certain range. Activity. Foot massage: the cam group 15 is fixedly connected with the rocker 10, and the second roller 18 and the third roller 19 on the driven roller shaft 16 are respectively placed in the slideways of the first connecting rod 9 and the second connecting rod 12, When the first connecting rod 9 and the second connecting rod 12 rotate relative to the rocker 10, the cam promotes the driven roller shaft 16 to advance in the slideways of the first connecting rod 9 and the second connecting rod 12, and the foot massaging connecting rod The transmission of 24 drives the foot massaging part 25 to advance in the slideway of the foot support 14. When it moves to the maximum stroke position of the cam, the return spring 23 is fully compressed, and thereafter, driven by the action of the return spring 23. Roller shaft 16 returns to initial position in slideway, and drives sole massage part 25 to return to initial position, and sole massage part 25 is equipped with sole massage ball 26, realizes the massage of sole by the back and forth motion of sole massage part 25. Leg massage: leg support 27, leg massage connecting rod 28 and leg massage part 29 form the guide bar mechanism, leg support 27 is connected to the People's calf is fixedly connected. During the joint movement, the movement of the calf drives the leg supporting part 27 to rotate around the sixth connecting shaft 8-6, and through the constraints of the leg massaging connecting rod 28, the leg massaging part 29 is positioned on the leg. The leg massage ball 30 arranged on the leg massager 29 presses the legs.

Claims (5)

1. a multi-bar type lower limb rehabilitation massage trainer, comprising adjustable fixing device, crank rocker type joint movable device, cam link slider type foot massage device and guide rod type leg massage device, is characterized in that: all The adjustable fixing device described above includes a U-shaped base and a screw clamp; the screw clamp is connected to the upper part of the U-shaped base through a thread pair; The crank-rocker type articulation device includes a driving motor, a left seated bearing, a right seated bearing, a coupling, a transmission shaft, a crank, a first connecting shaft, a first connecting rod, a second connecting shaft, a rocker , the third connecting shaft, U-shaped connecting piece, the second connecting rod, connecting rod and sole support; the drive motor, left bearing with seat and right bearing with seat are all fixed on the U-shaped base by bolts; the transmission shaft Supported on the left seated bearing, one end is fixedly connected to the output shaft of the drive motor through a coupling, the other end is connected to one end of the crank through a key, and the other end of the crank is hinged to one end of the first connecting rod through the first connecting shaft. The other end of the first connecting rod is hinged with one end of the rocker through the second connecting shaft, and the other end of the rocking rod is hinged with the right seated bearing through the third connecting shaft; one arm of the U-shaped connector is connected with the first connecting rod through a bolt Fixed connection, the other arm is fixedly connected to the second connecting rod through bolts, and an integrally formed circular boss is provided at the bottom; one end of the connecting rod is connected to the first connecting rod through bolts, and the other end is connected to the foot through bolts. The supports are fixedly connected; slideways are provided on the first connecting rod, the second connecting rod and the foot support; The cam-link slider type foot massage device includes a cam group, a driven roller shaft, a first roller, a second roller, a third roller, a sleeve, a nut, a spring support, a return spring, The foot massage connecting rod, the fourth connecting shaft, the foot massage parts and the foot massage ball; the cam group includes three cams, the cam group is vacantly sleeved on the second connecting shaft, and is fixedly connected with the rocker; the driven roller The first roller, the second roller, the third roller and the sleeve are sleeved in sequence on the shaft, the driven roller shaft passes through the first connecting rod and the second connecting rod, the first roller and the cam group A cam constitutes a cam pair, the second roller is placed in the slideway of the second connecting rod, the third roller is placed in the slideway of the first connecting rod, and the sleeve is placed outside the first connecting rod; the driven roller shaft One end of the sleeve is provided with a screw thread connected with the nut, and the position of the driven roller shaft is adjusted through the nut so that the first rollers are respectively in contact with different cams in the cam group; the spring support is connected with the driven roller through the key The roller shaft is connected, one end of the return spring is vacantly sleeved on the spring support, and the other end is vacantly sleeved on the circular boss of the U-shaped connector; one end of the foot massage connecting rod is hinged to the driven roller shaft through a sleeve, and the other end is vacantly sleeved on the circular boss of the U-shaped connector; One end is hinged to the foot massaging part through the fourth connecting shaft; two stick groups are symmetrically arranged on both sides of the foot massaging part, and the stick group includes a plurality of sticks distributed equidistantly, and all the sticks are supported in the slideway of the foot support part through bearings; Foot massage balls are placed on each stick; The guide rod type leg massage device includes a leg support, a fifth connection shaft, a leg massage link, a sixth connection shaft, a seventh connection shaft, a leg massage piece and a leg massage ball; The leg support is hinged to the connecting rod through the sixth connecting shaft, and there are slideways on both sides of the leg supporting part; two leg massage connecting rods are distributed on both sides of the leg supporting part, and one end is connected to the leg through the seventh connecting shaft. The massage parts on the back are hinged, and the other ends are hinged to the foot support through the fifth connecting shaft; one end of the two leg massage parts and the slideways on both sides of the leg support respectively constitute a sliding pair, and the other ends are nested with multiple legs. Massage ball at the head; the end of the sliding pair formed by the slideway of the leg massaging part and the leg support part is fixed with the seventh connecting shaft. 2. A multi-rod lower limb rehabilitation massage trainer according to claim 1, characterized in that: the angle between the connecting rod and the first connecting rod is 30°, and the connecting rod is fixedly connected to the first connecting rod The ratio of the distance from the upper position point to the hinge point of the crank and the first connecting rod to the total length of the first connecting rod is 5:6. 3. A multi-rod lower limb rehabilitation massage trainer according to claim 1, characterized in that: said crank has three specifications of 50mm, 100mm and 150mm in length. 4. A multi-rod lower limb rehabilitation massage trainer according to claim 1, characterized in that: the length of the first connecting rod is 300 mm, and the length of the rocker is 260 mm. 5. A multi-rod lower limb rehabilitation massage trainer according to claim 1, characterized in that: a plurality of through holes are evenly distributed on both sides of the leg support, and ropes are threaded through the through holes.

Images