CN107928993A - Shank drives training institution - Google Patents
Shank drives training institution Download PDFInfo
- Publication number
- CN107928993A CN107928993A CN201610894360.XA CN201610894360A CN107928993A CN 107928993 A CN107928993 A CN 107928993A CN 201610894360 A CN201610894360 A CN 201610894360A CN 107928993 A CN107928993 A CN 107928993A
- Authority
- CN
- China
- Prior art keywords
- driving mechanism
- shank
- pedipulator
- lead screw
- horizontal lead
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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 in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
-
- 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
Abstract
Two-dimensional motion before and after a kind of shank driving training institution, including pedipulator and pedipulator driving mechanism, pedipulator and pedipulator driving mechanism are movably connected and can make under the action of pedipulator driving mechanism up and down.The pedipulator includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism.Pedipulator driving mechanism includes horizontal drive mechanism and upright driving mechanism；Upright driving mechanism is connected with horizontal drive mechanism transmission, and the pedipulator is connected with upright driving mechanism movable drive.Driving mechanism is placed on shank position by the present invention, the lower limb knee joint for belonging to flexural pivot joint, can accurately simulate the training of space gait.
Description
Technical field
The present invention relates to medical rehabilitation instrument, more particularly to a kind of shank driving training institution.
Background technology
Since the patient of motor dysfunction of lower limb caused by disease or injury gained in sports is very much, it is rehabilitation to recover independent ambulation ability
Treat the primary goal made great efforts.Due to the plasticity of brain, medically allowed typically by training repeated, particular task
Patient carries out enough repetition sexualities.So that the cerebral cortex in restructuring is learnt and is stored correctly by deep experience
Motor pattern.This method has obtained good clinical effectiveness, is crossing in last year, tablet ambulation training and gait training device instruction
Experienced treatment method has been introduced into as neural method of rehabilitation, is largely used in neural clinical rehabilitation.
At present in leg training apparatus mostly all be sole driving and joint drive type, commercialized gait lower limb health
There is MikeTopping companies of the Britain Handy1 developed in 1987 in multiple robot.Secondly another kind is successfully entered the rehabilitation in market
Robot is the MANUS healing robots of Dutch Exact Dynamics companies exploitation, the NUSTEP device for rehabilitation in the U.S., Germany
THERA.Vital intelligent rehabilitation image training robots, the MOTINMAKER of the WORTEC companies research and development of Switzerland, all such robots
Using joint drive pattern.Another oblique bed loss of weight lower limb rehabilitation training device, can be very good to solve using horizontal loss of weight
The rehabilitation at initial stage of severe case, its type of drive are driven using sole, it is possible to achieve training and joint training,
However, the movement of the driving lower limb of sole is limited be subject to linear actuation motion, it can not realize that spatial movement is trained,
Gait motion can not be simulated.Joint drive type is suitable for the joint function recovery training after lower limb orthopaedics corrective surgery, for belonging to
For the lower limb knee joint in flexural pivot joint, gait also can not be accurately simulated.
The content of the invention
The purpose of the present invention, is exactly to solve the above-mentioned problems, there is provided a kind of shank drives training institution, according to setting
Track carries out lower limb gait training, can realize the compound motion of joint of lower extremity energy.
In order to achieve the above object, present invention employs following technical scheme：A kind of shank drives training institution, including machine
Tool leg and pedipulator driving mechanism, pedipulator are movably connected with pedipulator driving mechanism and can be in the effects of pedipulator driving mechanism
Front and rear two-dimensional motion above and below lower work.
The pedipulator includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism.
The big leg mechanism includes thick link, thigh push rod and thigh length adjusting knob, the lower end of thigh push rod with
Small leg mechanism is flexibly connected；Pivot bush unit is connected between thick link and thigh push rod, and passes through thigh length adjusting knob tune
The length of the whole big leg mechanism of section.
The small leg mechanism includes foot pedal, shank link, shank push rod, lower-leg length adjusting mechanism and knee joint cover,
Shank link is installed on the footrests, and shank push rod is connected with shank link pivot bush unit, and passes through lower-leg length adjusting mechanism
Adjust the length of whole small leg mechanism；Knee joint cover is fixedly linked with shank link, in shank push rod upper end and big leg mechanism
Thigh push rod is movably connected.
The pedipulator driving mechanism includes horizontal drive mechanism and upright driving mechanism；Upright driving mechanism drives with horizontal
Dynamic mechanism driving is connected, and the pedipulator is connected with upright driving mechanism movable drive.
The horizontal drive mechanism includes bearing, horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and horizontal silk
Bar electric driving mechanism；Horizontal lead screw fixed station is connected on bearing, and horizontal lead screw is connected on horizontal lead screw fixed station, horizontal
Screw slide block set can move back and forth on horizontal lead screw along horizontal lead screw, and horizontal lead screw electric driving mechanism is connected to horizontal silk
Bar fixed station rear end, is connected with horizontal lead screw transmission by stepper motor and drives horizontal lead screw to rotate.
The upright driving mechanism includes vertical screw fixed station, vertical screw, vertical screw sliding block and vertical screw electricity
Dynamic driving mechanism, vertical screw fixed station are fixedly connected with the horizontal lead screw sliding block in horizontal drive mechanism, vertical screw sliding block
Being sleeved on vertical screw can move up and down along vertical screw, and vertical screw electric driving mechanism is connected to vertical screw fixed station
Upper end, is connected with vertical screw rod transmission by stepper motor and drives vertical screw to rotate.
Driving mechanism is placed on shank position by the present invention, and the lower limb knee joint for belonging to flexural pivot joint can accurate mould
Intend the training of space gait.
Brief description of the drawings
Fig. 1 is the overall structure diagram that shank of the present invention drives training institution；
Fig. 2 is the structure diagram of pedipulator driving mechanism；
Fig. 3 is the structure diagram of pedipulator.
Embodiment
Referring to Fig. 1, Fig. 2, Fig. 3, shank of the invention driving training institution, including pedipulator 31 and pedipulator driving mechanism
32, pedipulator and pedipulator driving mechanism be movably connected and can make under the action of pedipulator driving mechanism it is upper and lower before and after two maintenance and operations
It is dynamic.Wherein, pedipulator 31 includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism；Big leg mechanism bag
Thick link 311, thigh push rod 312 and thigh length adjusting knob 313 are included, the lower end of thigh push rod connects with the activity of small leg mechanism
Connect；Pivot bush unit is connected between thick link and thigh push rod, and adjusts whole big leg mechanism by thigh length adjusting knob
Length.Small leg mechanism includes foot pedal 314, shank link 315, shank push rod 316, lower-leg length adjusting mechanism 317 and knee
Knuckle guard 318, shank link are installed on the footrests, and shank push rod is connected with shank link pivot bush unit, and passes through leg length
Spend the length that adjusting mechanism adjusts whole small leg mechanism；Knee joint cover is fixedly linked with shank link, shank push rod upper end with it is big
Leg push rod is movably connected, and the upper end of shank link is connected with pedipulator driving mechanism movable drive, whole pedipulator is realized work(
Can movement.Pedipulator driving mechanism 32 includes horizontal drive mechanism and upright driving mechanism；Horizontal drive mechanism includes bearing
321, horizontal lead screw fixed station 322, horizontal lead screw 323, horizontal lead screw sliding block 324 and horizontal lead screw electric driving mechanism 325；Water
Flat screw fixed station is connected on bearing, and horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set is mounted in water
It can be moved back and forth on flat screw along horizontal lead screw, horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end, leads to
Cross stepper motor and the drive horizontal lead screw rotation that is connected is driven with horizontal lead screw；Upright driving mechanism includes vertical screw fixed station
326th, vertical screw 327, vertical screw sliding block 328 and vertical screw electric driving mechanism 329, vertical screw fixed station and level
Screw sliding block is fixedly connected, and vertical screw slide block set can move up and down on vertical screw along vertical screw, vertical screw electricity
Dynamic driving mechanism is connected to vertical screw fixed station upper end, and being connected by stepper motor with vertical screw rod transmission drives vertical screw
Rotate；Stepper motor by adjusting horizontal drive mechanism and upright driving mechanism can realize vertical screw sliding block in the horizontal direction
With the two-dimensional motion of vertical direction, and then the two-dimensional motion of pedipulator is realized.
Claims (7)
1. a kind of shank drives training institution, it is characterised in that：Including pedipulator and pedipulator driving mechanism, pedipulator and machinery
Two-dimensional motion before and after leg driving mechanism is movably connected and can make under the action of pedipulator driving mechanism up and down.
2. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator includes big leg mechanism and small
Leg mechanism, big leg mechanism are flexibly connected with small leg mechanism.
3. shank as claimed in claim 2 drives training institution, it is characterised in that：The big leg mechanism include thick link,
Thigh push rod and thigh length adjusting knob, the lower end of thigh push rod are flexibly connected with small leg mechanism；Thick link is pushed away with thigh
Pivot bush unit is connected between bar, and the length of whole big leg mechanism is adjusted by thigh length adjusting knob.
4. shank as claimed in claim 2 drives training institution, it is characterised in that：The small leg mechanism includes foot pedal, small
Leg connecting rod, shank push rod, lower-leg length adjusting mechanism and knee joint cover, shank link install on the footrests, shank push rod with
Shank link pivot bush unit is connected, and the length of whole small leg mechanism is adjusted by lower-leg length adjusting mechanism；Knee joint cover with
Shank link is fixedly linked, and shank push rod upper end is movably connected with the thigh push rod in big leg mechanism.
5. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator driving mechanism includes level
Driving mechanism and upright driving mechanism；Upright driving mechanism is connected with horizontal drive mechanism transmission, and the pedipulator drives with vertical
Motivation structure movable drive is connected.
6. shank as claimed in claim 5 drives training institution, it is characterised in that：The horizontal drive mechanism includes bearing,
Horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and horizontal lead screw electric driving mechanism；Horizontal lead screw fixed station connects
On bearing, horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set can be along level on horizontal lead screw
Screw moves back and forth, and horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end, passes through stepper motor and level
Screw rod transmission, which is connected, drives horizontal lead screw to rotate.
7. shank as claimed in claim 5 drives training institution, it is characterised in that：The upright driving mechanism includes vertical thread
Bar fixed station, vertical screw, vertical screw sliding block and vertical screw electric driving mechanism, vertical screw fixed station and horizontal drive
Horizontal lead screw sliding block in mechanism is fixedly connected, and vertical screw slide block set can move up and down on vertical screw along vertical screw
Dynamic, vertical screw electric driving mechanism is connected to vertical screw fixed station upper end, passes through stepper motor and vertical screw rod transmission phase
Related dynamic vertical screw rotates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610894360.XA CN107928993A (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610894360.XA CN107928993A (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107928993A true CN107928993A (en) | 2018-04-20 |
Family
ID=61928474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610894360.XA Pending CN107928993A (en) | 2016-10-13 | 2016-10-13 | Shank drives training institution |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107928993A (en) |
Citations (11)
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|---|---|---|---|---|
| US4889108A (en) * | 1984-01-06 | 1989-12-26 | Loredan Biomedical, Inc. | Exercise and diagnostic system and method |
| US5403251A (en) * | 1993-06-04 | 1995-04-04 | Chattanooga Group, Inc. | Patient positioning system and method for computer controled muscle exercising machine |
| JP2000308661A (en) * | 1999-04-28 | 2000-11-07 | Koji Sutani | Lumbago treatment appliance |
| WO2009035176A1 (en) * | 2007-09-10 | 2009-03-19 | Klmed Co., Ltd. | Gait trajectory guiding device of gait rehabilitation device |
| CN201375582Y (en) * | 2009-03-30 | 2010-01-06 | 扬州大学 | 3-DOF (three-degree-of-freedom) rehabilitation bracket |
| EP2311421A2 (en) * | 2009-10-13 | 2011-04-20 | In-Tra-Tec GmbH | Delordosing device |
| CN102711929A (en) * | 2009-11-12 | 2012-10-03 | 英诺瓦德私人有限责任公司 | Exercise equipment intended for exercising legs of a person |
| CN102727363A (en) * | 2011-03-31 | 2012-10-17 | 上银科技股份有限公司 | Gait rehabilitation machine and using method |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN106137681A (en) * | 2016-07-27 | 2016-11-23 | 营口春港康复辅助器具科技有限公司 | Intelligent lower limb recovery training appliance for recovery |
| CN206434546U (en) * | 2016-10-13 | 2017-08-25 | 上海理工大学 | Shank drives training institution |
-
2016
- 2016-10-13 CN CN201610894360.XA patent/CN107928993A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4889108A (en) * | 1984-01-06 | 1989-12-26 | Loredan Biomedical, Inc. | Exercise and diagnostic system and method |
| US5403251A (en) * | 1993-06-04 | 1995-04-04 | Chattanooga Group, Inc. | Patient positioning system and method for computer controled muscle exercising machine |
| JP2000308661A (en) * | 1999-04-28 | 2000-11-07 | Koji Sutani | Lumbago treatment appliance |
| WO2009035176A1 (en) * | 2007-09-10 | 2009-03-19 | Klmed Co., Ltd. | Gait trajectory guiding device of gait rehabilitation device |
| CN201375582Y (en) * | 2009-03-30 | 2010-01-06 | 扬州大学 | 3-DOF (three-degree-of-freedom) rehabilitation bracket |
| EP2311421A2 (en) * | 2009-10-13 | 2011-04-20 | In-Tra-Tec GmbH | Delordosing device |
| CN102711929A (en) * | 2009-11-12 | 2012-10-03 | 英诺瓦德私人有限责任公司 | Exercise equipment intended for exercising legs of a person |
| CN102727363A (en) * | 2011-03-31 | 2012-10-17 | 上银科技股份有限公司 | Gait rehabilitation machine and using method |
| CN104398365A (en) * | 2014-11-21 | 2015-03-11 | 深圳市第二人民医院 | Three-degree-of-freedom ankle joint exercising device |
| CN106137681A (en) * | 2016-07-27 | 2016-11-23 | 营口春港康复辅助器具科技有限公司 | Intelligent lower limb recovery training appliance for recovery |
| CN206434546U (en) * | 2016-10-13 | 2017-08-25 | 上海理工大学 | Shank drives training institution |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180420 |
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| RJ01 | Rejection of invention patent application after publication |