CN108042313B - Pelvis exercise auxiliary structure - Google Patents
Pelvis exercise auxiliary structure Download PDFInfo
- Publication number
- CN108042313B CN108042313B CN201810028994.6A CN201810028994A CN108042313B CN 108042313 B CN108042313 B CN 108042313B CN 201810028994 A CN201810028994 A CN 201810028994A CN 108042313 B CN108042313 B CN 108042313B
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- Prior art keywords
- base
- rotating
- guide rail
- seat
- pelvis
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- 210000004197 pelvis Anatomy 0.000 title claims abstract description 47
- 230000033001 locomotion Effects 0.000 claims abstract description 34
- 239000013585 weight reducing agent Substances 0.000 claims abstract description 8
- 230000005540 biological transmission Effects 0.000 claims description 10
- 208000016261 weight loss Diseases 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000005021 gait Effects 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 210000003141 lower extremity Anatomy 0.000 description 11
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 206010017577 Gait disturbance Diseases 0.000 description 1
- 208000012902 Nervous system disease Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010071368 Psychological trauma Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000006837 decompression Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000004394 hip joint Anatomy 0.000 description 1
- 210000000629 knee joint Anatomy 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
Classifications
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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
- 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
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/1628—Pelvis
- A61H2201/163—Pelvis 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention is suitable for the field of medical equipment, and provides a pelvis movement auxiliary structure which comprises a weight reduction device, a pelvis supporting device and a control system, wherein the weight reduction device comprises a vertical guide rail plate, a weight reduction power source and a pressure sensor, and the pelvis supporting device comprises a base, a sliding seat, a rotating seat and a pelvis bracket; the guide rail plate can be arranged on the frame in a vertically movable manner, the base can be arranged on the vertical guide rail plate in a vertically movable manner, the sliding seat is movably arranged at the top of the base along the length direction of the base, and first elastic return pieces are symmetrically arranged at two sides of the sliding seat; the rotating seat is rotatably arranged on the sliding seat around the width direction parallel to the base, and second elastic return pieces are symmetrically arranged on the rotating seat; the pelvis support is mounted on the rotating seat in a relatively rotatable manner around the vertical direction, and is always parallel to the width direction of the base. The auxiliary structure can realize the free movement of four degrees of freedom of the patient, is more beneficial to the omnibearing movement of the patient and is close to the normal gait.
Description
Technical Field
The invention belongs to the field of medical equipment, and particularly relates to a pelvis movement auxiliary structure.
Background
Aging of the population has gradually become a global trend, and in the elderly, cerebrovascular and nervous system diseases cause dysfunction of the lower limbs. Besides affecting daily life, patients suffer great psychological trauma and seriously affect physical and mental health of the patients, so how to maximally recover the exercise ability of the patients is an important content of clinical rehabilitation therapy.
Research on lower limb rehabilitation equipment has been developed abroad, and so far, more mature products have been developed. Lokomat is a lower limb rehabilitation device invented by swiss engineers of jieli-columbon, and is also the first lower limb rehabilitation medical device in the world, and is used for providing rehabilitation training for patients with lower limb paralysis. The device mainly comprises a lower limb exoskeleton, a support system for reducing the dead weight of a human body and a belt motion table, and the gait of a patient is gradually matched with the gait of normal walking by applying a decompression flat plate therapy.
The domestic lower limb rehabilitation equipment starts later, and the existing representative similar product mainly comprises an exoskeleton type corrector for fixing the hip and the double lower limbs, a weight reduction system and a medical running table. The motion range of the hip joint and the knee joint, gait deflection, guiding force of the two lower limbs, movement speed and other parameters are controlled in real time by a computer. The therapist needs to comprehensively solve the lower limb rehabilitation robot training and evaluating system and continuously adjust the training parameters according to the exercise function condition of the patient.
However, rehabilitation devices, both domestic and foreign, have certain limitations in practical use. The above-mentioned rehabilitation device is unreasonable to design the pelvis and lower limb exercise assisting structure, only provides a single motion path of a preset sagittal plane (i.e. the front-back direction of the human body), the existing rehabilitation device fixes the patient on a platform, limits the spatial motion of the pelvis, and can lead to single exercise habit due to lack of feedback of omnibearing motion and sensory motion, and finally easily forms abnormal gait.
Disclosure of Invention
The invention aims to solve the technical problem that a patient can only singly move along the front and back directions of a human body by using rehabilitation equipment in the prior art.
In order to solve the technical problems, the invention is realized in such a way that the pelvis movement auxiliary structure comprises a weight reduction device, a pelvis supporting device and a control system;
the weight reducing device comprises a vertical guide rail plate, a weight reducing power source and a pressure sensor, wherein the vertical guide rail plate is arranged on a frame of rehabilitation equipment in a vertically movable manner so as to adjust the height of the vertical guide rail plate, the weight reducing power source is arranged on one side of the vertical guide rail plate, and the pressure sensor is arranged on a power output end of the weight reducing power source;
the pelvis supporting device comprises a base, a sliding seat, a rotating seat and a pelvis support, wherein the base is movably arranged on the vertical guide rail plate along the vertical direction, the bottom of the base is always contacted with the pressure sensor, the pressure sensor is electrically connected with the control system, and the control system receives a pressure signal transmitted by the pressure sensor and correspondingly controls the weight-reducing power source to work so as to drive the base to ascend or descend along the vertical direction; the sliding seat is horizontally arranged at the top of the base and can reciprocate along the length direction parallel to the base, and first elastic return pieces are symmetrically arranged on two sides of the sliding seat along the horizontal movement direction; the rotating seat is rotatably arranged on the sliding seat around the width direction parallel to the base, and second elastic return pieces are symmetrically arranged on the rotating seat; the pelvis support is mounted on the rotating seat in a relatively rotatable manner around the vertical direction, and is always parallel to the width direction of the base.
Further, set up vertical guide rail on the vertical guide rail board, install the slider on the vertical guide rail, the slider with subtract heavy power supply transmission and be connected, pressure sensor connects between slider and the base, it drives to subtract heavy power supply the slider is followed vertical guide rail reciprocates, the slider will be forced transmission extremely on the pressure sensor, and correspondingly drive the base is followed vertical guide rail reciprocates.
Further, the weight-reducing power source is a weight-reducing motor, a driving wheel is arranged at the power output end of the weight-reducing motor, a driven wheel is arranged on the vertical guide rail plate, and a belt is connected between the driving wheel and the driven wheel; the weight reducing device further comprises a screw rod and a screw nut, one end of the screw rod is fixed on the driven wheel, the screw nut is screwed with the screw rod, and the sliding piece is fixed on the screw nut.
Further, the top of sliding seat has two otic placodes, all seted up first through-hole on two otic placodes, the axis of two first through-holes is mutual coincide and be on a parallel with the fore-and-aft direction of running platform, each first through-hole in all install first bearing, the roating seat is inlayed between two otic placodes, just the second through-hole has been seted up with the corresponding position of two first through-holes on the roating seat, wear to be equipped with the rotation axis in two first through-holes and the second through-hole.
Further, the rotating seat is provided with a third through hole along the vertical direction, a fixed shaft is arranged in the third through hole in a penetrating manner, the fixed shaft protrudes out of the top of the rotating seat, a second bearing is sleeved on the fixed shaft, and the pelvis support is sleeved on the second bearing and is rotatably arranged on the top of the rotating seat along the vertical direction.
Further, the pelvis support includes two dwang and two connecting rods, two dwang all are on a parallel with the length direction of base, and the center of every dwang all has seted up the fourth through-hole, every the dwang all the cover is established on the second bearing, every the connecting rod on all seted up the fifth through-hole, just two connecting rods all connect the both ends at two dwang through the third bearing.
Further, each the bottom of dwang all is fixed with horizontal guide, and each the both ends of dwang all install the sliding sleeve, the connecting rod passes through the third bearing and connects the sliding sleeve bottom, the pelvis support still includes rotatory adjusting part, rotatory adjusting part with the sliding sleeve transmission at dwang both ends is connected, rotatory adjusting part can drive the sliding sleeve at dwang both ends is followed the common inside shrink or the outside expansion of horizontal guide.
Further, the rotation adjusting assembly comprises two screw rods, two fixing plates and a hand wheel, each fixing plate is provided with a gear set, two ends of each screw rod are provided with reverse threads, the middle part of each screw rod is a smooth round rod, and sliding sleeves at two ends of each rotating rod are respectively connected with two ends of each screw rod in a rotating mode; the middle part of every lead screw all is fixed with the bevel gear, the bevel gear of two lead screws meshes with the gear train of two fixed plates respectively, just two gear trains are connected with each other in the transmission, the hand wheel is installed on the gear train of one of them fixed plate, the rotation of hand wheel drives the gear train rotates, the gear train drives correspondingly the bevel gear rotates, the rotation of bevel gear drives the sliding sleeve at lead screw both ends is followed the horizontal guide rail is inwards contracted jointly or outwards is expanded.
Further, the auxiliary structure further comprises a first rotary encoder, a second rotary encoder and a linear encoder, wherein the first rotary encoder is arranged on one side of the sliding seat and corresponds to the rotary seat; the second rotary encoder is arranged between the two fixed plates and is in transmission connection with the gear sets on the two fixed plates; the linear encoder is mounted on one side of the sliding seat.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a pelvis movement assisting structure, which comprises a weight reducing device, a pelvis supporting device and a control system. After the integral height of the auxiliary structure is adjusted through the up-and-down movement of the vertical guide rail plate, the auxiliary structure is stopped. The crotch of the patient is supported on the pelvis support, and the patient can realize the up-and-down movement through the up-and-down movement of the base along the vertical guide rail plate; the horizontal movement of the sliding seat along the length direction of the base can be used for the left and right movement of a patient; the patient can swing left and right by rotating the rotating seat around the width direction parallel to the base; meanwhile, the rotation of the pelvis support along the vertical direction helps the patient to twist the crotch. Therefore, the pelvis motion auxiliary structure can realize the free motion of four degrees of freedom of the patient, and compared with the prior art, the pelvis motion auxiliary structure has the advantages that the patient can only move singly along the front and back directions of the human body, the auxiliary structure is more beneficial to the omnibearing motion of the patient, and the patient is more similar to the normal gait.
Drawings
FIG. 1 is a schematic view of the overall structure of a pelvic exercise assist structure provided in an embodiment of the invention;
FIG. 2 is a schematic view of the weight-loss apparatus of FIG. 1;
FIG. 3 is a schematic view of the structure of the pelvic support apparatus of FIG. 1;
FIG. 4 is an exploded view of FIG. 3;
FIG. 5 is a schematic view of the sliding seat of FIG. 3;
FIG. 6 is a schematic view of the structure of the swivel mount of FIG. 3;
fig. 7 is a schematic view of the structure of the pelvic bracket of fig. 3.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1, a pelvic exercise assisting structure 100 according to an embodiment of the present invention includes a weight-reducing device 1, a pelvic support device 2, and a control system (not shown). The weight reducing device 1 is used for reducing the gravity applied by the upper body of a patient to the two legs; the pelvic support apparatus 2 is for supporting the crotch of a patient and effecting four degrees of freedom of movement of the patient.
Specifically, referring to fig. 2, the weight-reducing device 1 includes a vertical rail plate 11, a weight-reducing power source 12, and a pressure sensor 13. The vertical guide rail plate 11 is installed on a rack (not shown) in a vertically movable manner so as to adjust the height of the vertical guide rail plate 11, so that patients with different heights can be accommodated, and the vertical guide rail plate 11 can not move after being adjusted in position, so that the stability of the whole mechanism is ensured.
A vertical guide rail 111 is arranged on the vertical guide rail plate 11, and a sliding piece 112 is arranged on the vertical guide rail 111; the weight-reducing power source 12 is mounted on one side of the vertical guide rail plate 11, the sliding piece 112 is in transmission connection with the weight-reducing power source 12, and the pressure sensor 13 is connected between the sliding piece 112 and the pelvis supporting device 2 and is used for receiving pressure applied by a patient to the pelvis supporting device 2. The weight-reducing power source 12 drives the sliding member 112 to move up and down along the vertical guide rail 111, the sliding member 112 transmits force to the pressure sensor 13, and correspondingly drives the pelvis supporting device 2 to move up and down along the vertical guide rail 111, so as to adjust the pressure applied by the patient to the pelvis supporting device 2.
In the above embodiment, the weight-reducing power source 12 is a weight-reducing motor, a driving wheel 14 is installed on the power output end of the weight-reducing motor 12, a driven wheel 15 is installed on the vertical guide rail plate 11, and a belt 16 is connected between the driving wheel 14 and the driven wheel 15. The weight reducing device 1 further comprises a screw 17 and a nut (not shown), wherein one end of the screw 17 is fixed on the driven wheel 15, the nut is screwed with the screw 17, and the sliding piece 112 is fixed on the nut. During specific movement, the weight-reducing motor 12 drives the driving wheel 14 to rotate, the driving wheel 14 drives the driven wheel 15 to rotate through the belt 16, the rotation of the driven wheel 15 drives the screw rod 17 to rotate, and as the screw nut is fixedly connected with the sliding piece 112, the sliding piece 112 is driven to move up and down along the vertical guide rail 111 by the rotation of the screw rod 17, and the sliding piece 112 transmits force to the pelvis supporting device 2 through the pressure sensor 13.
Referring to fig. 3 and 4, the pelvis supporting means 2 includes a base 21, a slide base 22, a swivel base 23, and a pelvis bracket 24. The base 21 is used for realizing the up-and-down movement of a patient; the sliding seat 22 is mounted on the base 21 and is used for realizing the left-right movement of a patient; the rotating seat 23 is mounted on the sliding seat 22 and is used for realizing the left-right swinging of a patient; the pelvis support 24 is mounted on the swivel base 23 for supporting the crotch of the patient and effecting twisting of the crotch; the pelvic support apparatus 2 together enables four degrees of freedom of movement of the patient.
Specifically, the base 21 is movably mounted on the vertical guide rail 111 along a vertical direction, and the bottom of the base 21 is always in contact with the pressure sensor 13, the pressure sensor 13 is electrically connected with the control system, and the control system receives a pressure signal transmitted by the pressure sensor 13 and correspondingly controls the power output end of the weight-reducing power source 12 to drive the base 21 to ascend or descend along the vertical guide rail 111, so as to regulate the pressure exerted by the patient on the pelvis supporting device 2. The pressure sensor 13 collects the tension and pressure values in the vertical direction between the patient and the pelvis supporting device 2, the pressure value (for example, 20N) can be preset, when the tension or pressure applied by the patient to the pelvis supporting device 3 is greater than 20N, the tension and pressure sensor 13 transmits data information to the control system, and the control system controls the output end of the power source 22 to rotate forward or backward correspondingly, so that real-time intelligent weight reduction control is performed on the patient.
The sliding seat 22 is horizontally mounted on the top of the base 21 and can move along a length direction parallel to the base 21, and first elastic return members 221 are symmetrically arranged on two sides of the sliding seat 22 along the horizontal movement direction. By the horizontal movement of the slide base 22 on the base 21, the patient can freely move in the left-right direction, and the first elastic return members 221 on both sides of the slide base 22 can return to the original position when the slide base 22 slides to either side, thereby realizing the left-right movement of the patient.
Referring to fig. 5 and 6, the top of the sliding seat 22 has two lugs 222, the two lugs 222 are provided with first through holes 223, and axes of the two first through holes 223 are mutually coincident and parallel to the front-rear direction of the running table 5. Each first through hole 223 is internally provided with a first bearing 224, the rotating seat 23 is embedded between the two ear plates 222, the rotating seat 23 is provided with a second through hole 231 corresponding to the two first through holes 223, and the two first through holes 223 and the second through hole 231 are internally provided with a rotating shaft 25. The rotating base 23 is rotatable about the axis of the rotating shaft 25, so that the pelvis support 24 mounted on the rotating base 23 is rotated together, and the patient is shaken left and right by the rotation of the pelvis support 24. Meanwhile, the second elastic return members 232 are symmetrically arranged on the rotating seat 23, so that the patient can return to the original position when the patient shakes to any side.
With continued reference to fig. 6, the rotary seat 23 is provided with a third through hole 233 along a vertical direction, a fixed shaft 234 is penetrated in the third through hole 233, the fixed shaft 234 protrudes out of the top of the rotary seat 23, and a second bearing 235 is sleeved on the fixed shaft 234. The pelvis support 24 is sleeved on the second bearing 235 and is rotatably installed at the top of the rotating seat 23 in the vertical direction, and twisting of the crotch of the patient can be achieved by rotation of the pelvis support 24 in the vertical direction.
Referring to fig. 7, the pelvis support 24 includes two rotating rods 241 and two connecting rods 242, the two rotating rods 241 are parallel to the length direction of the base 21, a fourth hole 2411 is formed in the center of each rotating rod 241, and each rotating rod 241 is sleeved on the second bearing 235 by using the fourth hole 2411, so that each rotating rod 241 can rotate around the fixed shaft 234. Meanwhile, a fifth through hole 2421 is formed in each of the connecting rods 242, and the two connecting rods 242 are connected to two ends of the two rotating rods 241 through a third bearing 246, so as to form a quadrilateral structure together. Since the centers of the two rotating rods 241 rotate around the fixed shaft 234, no matter which position the two rotating rods 241 rotate to, the connecting line of the two end points of the same end of the two rotating rods 241 is always parallel to the width direction of the base 21, that is, no matter how the rotating rods 241 rotate, the connecting rod 242 always keeps parallel to the width direction of the base 21, so that the patient can have a clear sense of direction while moving in all directions.
In the above embodiment, the bottom of each rotating rod 241 is fixed with a horizontal guide rail 243, and two ends of each rotating rod 241 are respectively provided with a sliding sleeve 244, the connecting rods 242 are connected to the bottom of the sliding sleeve 244 through a third bearing 246, the pelvis support 24 further includes a rotation adjusting assembly 245, the rotation adjusting assembly 245 is in driving connection with the sliding sleeves 244 at two ends of the rotating rods 241, and the rotation adjusting assembly 245 can drive the sliding sleeves 244 at two ends of the rotating rods 241 to retract inwards or expand outwards along the horizontal guide rails 243 together, so as to adjust the relative distance between the two connecting rods 242 to adapt to different fat and thin patients.
Specifically, the rotation adjusting assembly 245 includes two screw rods 2451, two fixing plates 2452 and a hand wheel 2453, each fixing plate 2452 has a gear set 2454, two ends of each screw rod 2451 have reverse threads, the middle of the screw rod 2451 is a smooth round rod, and sliding sleeves 244 at two ends of the rotating rod 241 are respectively screwed with two ends of the screw rod 2451. The middle part of each screw 2451 is fixed with a bevel gear 2455, the bevel gears 2455 of the two screws are respectively meshed with the gear sets 2454 of the two fixed plates, the two gear sets 2454 are in transmission connection with each other, and the hand wheel 2453 is arranged on the gear set 2454 of one of the fixed plates. The rotation of the hand wheel 2453 drives the gear set 2454 to rotate, the gear set 2454 correspondingly drives the bevel gear 2455 to rotate, and the rotation of the bevel gear 2455 drives the sliding sleeves 244 at two ends of the screw 2451 to retract inwards or expand outwards along the horizontal guide rail 243.
Referring to fig. 4, the auxiliary structure 100 further includes a first rotary encoder 3, a second rotary encoder 4, and a linear encoder 5. The first rotary encoder 3 is installed at one side of the sliding seat 22 and corresponds to the rotating seat 23; the second rotary encoder 4 is arranged between the two fixed plates 2452 and is in transmission connection with a gear set 2454 on the two fixed plates 2452; the linear encoder 5 is installed at one side of the sliding seat 22. The first rotary encoder 3, the second rotary encoder 4 and the linear encoder 5 are all electrically connected with a control system, and the first rotary encoder 3, the second rotary encoder 4 and the linear encoder 5 are used for collecting data of rotation angles and linear displacement, and the collected data are used for analyzing and evaluating rehabilitation effects.
In summary, according to the pelvic exercise assisting structure 100 provided by the embodiment of the invention, the patient can freely move in four degrees of freedom, and compared with the prior art, the pelvic exercise assisting structure 100 is more beneficial to the omnibearing exercise of the patient and is closer to the normal gait because the patient can only singly move along the front and back directions of the human body.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. A pelvis movement assisting structure, which is characterized by comprising a weight reducing device, a pelvis supporting device and a control system;
the weight reducing device comprises a vertical guide rail plate, a weight reducing power source and a pressure sensor, wherein the vertical guide rail plate is arranged on a frame of rehabilitation equipment in a vertically movable manner so as to adjust the height of the vertical guide rail plate, the weight reducing power source is arranged on one side of the vertical guide rail plate, and the pressure sensor is arranged on a power output end of the weight reducing power source;
the pelvis supporting device comprises a base, a sliding seat, a rotating seat and a pelvis support, wherein the base is movably arranged on the vertical guide rail plate along the vertical direction, the bottom of the base is always contacted with the pressure sensor, the pressure sensor is electrically connected with the control system, and the control system receives a pressure signal transmitted by the pressure sensor and correspondingly controls the weight-reducing power source to work so as to drive the base to ascend or descend along the vertical direction; the sliding seat is horizontally arranged at the top of the base and can reciprocate along the length direction parallel to the base, and first elastic return pieces are symmetrically arranged on two sides of the sliding seat along the horizontal movement direction; the rotating seat is rotatably arranged on the sliding seat around the width direction parallel to the base, and second elastic return pieces are symmetrically arranged on the rotating seat; the pelvis support is arranged on the rotating seat in a relatively rotatable manner around the vertical direction, and is always parallel to the width direction of the base;
the rotary seat is provided with a third through hole along the vertical direction, a fixed shaft is arranged in the third through hole in a penetrating manner, the fixed shaft protrudes out of the top of the rotary seat, a second bearing is sleeved on the fixed shaft, and the pelvis support is sleeved on the second bearing and is rotatably arranged on the top of the rotary seat along the vertical direction.
2. The pelvic exercise assisting structure according to claim 1, wherein a vertical rail is provided on the vertical rail plate, a slider is mounted on the vertical rail, the slider is in driving connection with the weight-reduction power source, the pressure sensor is connected between the slider and the base, the weight-reduction power source drives the slider to move up and down along the vertical rail, and the slider transmits force to the pressure sensor and correspondingly drives the base to move up and down along the vertical rail.
3. The pelvic exercise assisting structure according to claim 2, wherein the weight-reducing power source is a weight-reducing motor, a driving wheel is arranged on a power output end of the weight-reducing motor, a driven wheel is arranged on the vertical guide rail plate, and a belt is connected between the driving wheel and the driven wheel; the weight reducing device further comprises a screw rod and a screw nut, one end of the screw rod is fixed on the driven wheel, the screw nut is screwed with the screw rod, and the sliding piece is fixed on the screw nut.
4. The pelvic exercise assisting structure according to claim 1, wherein the top of the sliding seat is provided with two ear plates, the two ear plates are provided with first through holes, the axes of the two first through holes are mutually overlapped and parallel to the front-back direction of the running table, each first through hole is internally provided with a first bearing, the rotating seat is embedded between the two ear plates, the rotating seat is provided with a second through hole at a position corresponding to the two first through holes, and the two first through holes and the second through holes are internally provided with rotating shafts in a penetrating manner.
5. The pelvic exercise assisting structure according to claim 1, wherein the pelvic support includes two rotating rods and two connecting rods, the two rotating rods are parallel to the length direction of the base, a fourth through hole is formed in the center of each rotating rod, each rotating rod is sleeved on the second bearing, a fifth through hole is formed in each connecting rod, and the two connecting rods are connected to two ends of the two rotating rods through a third bearing.
6. The pelvic exercise assisting structure according to claim 5, wherein a horizontal guide rail is fixed to the bottom of each of the rotating rods, sliding sleeves are mounted to both ends of each of the rotating rods, the connecting rods are connected to the bottoms of the sliding sleeves through third bearings, the pelvic support further comprises a rotation adjusting assembly in driving connection with the sliding sleeves at both ends of the rotating rods, and the rotation adjusting assembly can drive the sliding sleeves at both ends of the rotating rods to retract inwards or expand outwards along the horizontal guide rails.
7. The pelvic exercise assisting structure according to claim 6, wherein the rotation adjusting assembly comprises two screw rods, two fixing plates and a hand wheel, each fixing plate is provided with a gear set, two ends of each screw rod are provided with reverse threads, the middle part of each screw rod is a smooth round rod, and sliding sleeves at two ends of each rotating rod are respectively screwed with two ends of each screw rod; the middle part of every lead screw all is fixed with the bevel gear, the bevel gear of two lead screws meshes with the gear train of two fixed plates respectively, just two gear trains are connected with each other in the transmission, the hand wheel is installed on the gear train of one of them fixed plate, the rotation of hand wheel drives the gear train rotates, the gear train drives correspondingly the bevel gear rotates, the rotation of bevel gear drives the sliding sleeve at lead screw both ends is followed the horizontal guide rail is inwards contracted jointly or outwards is expanded.
8. The pelvic motion assist structure according to claim 7, further comprising a first rotary encoder, a second rotary encoder, and a linear encoder, the first rotary encoder being mounted on one side of the slide mount and corresponding to the rotary mount; the second rotary encoder is arranged between the two fixed plates and is in transmission connection with the gear sets on the two fixed plates; the linear encoder is mounted on one side of the sliding seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810028994.6A CN108042313B (en) | 2018-01-12 | 2018-01-12 | Pelvis exercise auxiliary structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810028994.6A CN108042313B (en) | 2018-01-12 | 2018-01-12 | Pelvis exercise auxiliary structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108042313A CN108042313A (en) | 2018-05-18 |
| CN108042313B true CN108042313B (en) | 2023-10-27 |
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ID=62126673
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810028994.6A Active CN108042313B (en) | 2018-01-12 | 2018-01-12 | Pelvis exercise auxiliary structure |
Country Status (1)
| Country | Link |
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| CN (1) | CN108042313B (en) |
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| CN112842811A (en) * | 2020-12-24 | 2021-05-28 | 阁步(上海)医疗科技有限公司 | Pelvis supporting mechanism for lower limb rehabilitation training device |
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