CN108095976B

CN108095976B - Bionic knee joint rehabilitation training device with passive rebound function

Info

Publication number: CN108095976B
Application number: CN201810114922.3A
Authority: CN
Inventors: 张锐; 曹庆秋; 凌雷; 陈骐; 肖书明; 李建桥
Original assignee: Jilin University
Current assignee: Jilin University
Priority date: 2018-02-06
Filing date: 2018-02-06
Publication date: 2023-09-29
Anticipated expiration: 2038-02-06
Also published as: CN108095976A

Abstract

A bionic knee joint rehabilitation training device with a passive rebound function comprises thigh protective equipment, shank protective equipment, a connecting rod piece, a rotating arm, a gas spring balancing device and an electromagnetic force lock device. The thigh protector and the shank protector are provided with binding bands with fixing functions, and the thigh protector and the shank protector are connected with the rotating arm through the connecting rod piece; the connecting rod piece and the connecting part of the rotating arm form an adjusting device; the electromagnetic force lock device comprises an electromagnetic block, a sliding rail, a sliding groove and a top cover, wherein the electromagnetic block slides on the sliding rail, the electromagnetic force lock device and the gas spring balancing device are fixed on the rotating arm, and one end of the rotating arm moves around the main shaft to realize the angular rotation of the thigh protector and the shank protector in a plane. The invention can help the patient to carry out the rehabilitation training of the knee joint, the flexible system formed by the gas spring balance device and the electromagnetic force lock device embodies the passive rebound characteristic, and the secondary damage caused by the rigid movement of the traditional rehabilitation instrument can be avoided.

Description

Bionic knee joint rehabilitation training device with passive rebound function

Technical Field

The invention relates to the field of medical rehabilitation instruments, in particular to a knee joint rehabilitation device with an energy-saving and passive rebound function.

Background

At present, the knee joint rehabilitation training device can be divided into a wearable type and a non-wearable type, the wearable type generally refers to an appliance worn on the leg of a human body, and the device is provided with a limiting module for controlling a certain angle range so as to assist the knee joint to perform buckling and stretching motions, thereby achieving the purpose of early rehabilitation of the knee joint. The existing wearable knee joint rehabilitation device has the disadvantages of small size, convenient operation, suitability for patients in the environments such as families, insufficient power, poor rehabilitation effect and easy secondary damage to the patients; compared with wearable type, the non-wearable type rehabilitation device has stronger functions, is not limited to a certain joint (knee joint, hip joint and ankle joint), but is used for performing rehabilitation training on the whole upper limb or lower limb of a patient, and can increase the muscle strength of the patient and improve the control capability of the patient on muscles. Meanwhile, corresponding rehabilitation auxiliary personnel are needed to cooperate and are complex in operation, and time and labor are consumed during rehabilitation training.

The driving device of the rehabilitation device is divided into a traditional motor driving device and a pneumatic and hydraulic device driving device. The motor drive belongs to rigid drive, and is generally matched with a corresponding rotation-to-linear motion mechanism (such as a worm gear) to assist in realizing knee joint flexion and extension motion. However, the motor battery is high in energy consumption, high in price and heavy, so that the motor battery is not suitable for long-term wearing of patients; the gas-liquid device belongs to flexible driving and has the phenomenon of insufficient power. In addition, the whole set of system is complex and huge in size, and is not suitable for a wearable rehabilitation device. The traditional knee joint rehabilitation training device has the advantages of sound functions, huge body size with protective measures, high cost, time consumption and labor consumption, and inconvenience for patients to perform rehabilitation training; while small-sized rehabilitation apparatuses are convenient to operate, the traditional motor rigid driving mode is easy to cause secondary injury to patients. In view of combining the two conditions, the knee joint rehabilitation training device which is small, convenient and fast and can well avoid secondary injury has a wide application prospect.

African ostrich is the most heavy and fast-lived bipedal animal existing in the world. The weight of the adult can reach 100 kg, the continuous speed is 50-60 km/h, the continuous time can last for more than 30 minutes, and the sprint speed exceeds 70 km/h. High-speed running is not only advantageous by the ostrich foot but also related to the structural characteristics of the intertarsal joint of the ostrich. The passive rebound characteristic is one of the main characteristics of the ligaments of the ostrich tarsal joint, and is based on the roll-slip joint of the ostrich tarsal joint, and during bending rotation, the joint engagement-non-engagement change is caused due to the interaction of the apophyma and the ligaments, and the passive rebound characteristic is that when the ostrich joint is in the maximum extension state, the joint is prevented from being excessively extended due to the limit function of the distal rear part of the tibial tarsal joint. When the joint is bent at a certain angle, the tarsometatarsal bone is released and returns to the original position, i.e., the maximum extension position of the joint.

The device is designed to imitate the passive rebound characteristic of the ostrich tarsal joint based on the engineering bionics principle, and achieves the passive rebound function so as to achieve the effect of avoiding secondary injury when a patient uses the device to perform knee joint rehabilitation training.

Disclosure of Invention

In order to better solve the problems, the invention designs a portable, energy-saving and secondary injury-avoiding knee joint rehabilitation training device which imitates the passive rebound characteristic of the ostrich tarsal joint. The device is designed to imitate the passive rebound characteristic of the ostrich tarsal joint based on the engineering bionics principle, and achieves the passive rebound function so as to achieve the effect of avoiding secondary injury when a patient uses the device to perform knee joint rehabilitation training.

The invention comprises a connecting rod piece, a thigh protector, a first chute, a main shaft, a shank protector, a gas spring balancing device, an electromagnetic force lock device, a fastening bolt, a rotating arm and a binding belt; the thigh and the shank of the patient are respectively fixed with the thigh protector and the shank protector through the binding bands, and the thigh protector and the shank protector are connected with the connecting rod piece through bolts; the connecting rod piece is connected with the rotating arm through a bolt; the first sliding groove on the rotating arm is connected through a fastening bolt, a deep groove ball bearing is embedded in a hole at one end of the rotating arm, and the bearings of the two rotating arms are sleeved on the main shaft;

the two ends of the gas spring balancing device are respectively fixed on the two rotating arms;

as shown in the figure, the electromagnetic force lock device comprises a slide rail, a top cover, electromagnetic blocks and a second slide groove, wherein the slide rail is internally provided with two electromagnetic blocks, the top cover is arranged on the slide rail, the two ends of the slide rail are provided with the second slide grooves, the two second slide grooves are respectively arranged on slide posts on the two rotating arms, and the second slide grooves can move left and right under the limit of the slide posts; the two electromagnetic blocks are respectively connected with the two rotating arms, the electromagnetic blocks can slide on the sliding rails, and the two electromagnetic blocks can inwards slide to drive the thigh protector and the shank protector to bend; the circuit of the electromagnetic force lock device is arranged inside the top cover.

The material of the big and small leg protector cavity is medical plastic, is tough and elastic, and has good chemical inertia and biological safety. The leg part is bonded in the cavity and made of soft EVA, and the cavity binding band is fastened by adopting a nylon hasp.

The gas spring balancing device and the electromagnetic lock device are both fixed between the two rotating arms, and the stroke of the gas spring balancing device ensures the range of the included angle between the two rotating arms, so that the situation of overlarge or undersize angle can not occur; under the condition that the electromagnetic force lock device is electrified, the electromagnetic blocks can be adsorbed in opposite directions along the sliding rail, the outage magnetic force disappears, and the electromagnetic blocks are in a free state. The air spring balancing device and the sliding block are fixed with the rotating arm, and the linear motion of the air spring balancing device and the sliding block can drive the rotating arm to rotate, so that the knee joint is assisted to perform buckling and stretching motions.

The invention has the beneficial effects that:

the invention has compact and reasonable structure, the rotating arm is provided with the sliding groove, so that the invention is convenient for people with different heights and leg lengths to use, the device is adjusted to a proper position for tightening after being worn, the rehabilitation training can be carried out, the man-machine fitting degree is high, the body type is small, the carrying is easy, and the device is simple and convenient to operate.

The air spring balancing device and the electromagnetic force locking device realize the passive rebound characteristic, and the energy saving characteristic of the rehabilitation device is reflected when the included angle between the two rotating arms is changed from small to large, namely, the knee joint is in a bending state to an extending state without energy consumption.

The rehabilitation device is driven in a rigid driving mode of the motor in the traditional sense, and the electromagnetic force lock device is adopted, so that the power is enough, the rotation speed is guaranteed to be in line with the condition of a patient under the action of the bidirectional damping of the gas spring, and the secondary damage to the patient caused by the rigid driving is avoided.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is another perspective view of the present invention.

Fig. 3 is an exploded perspective view of the electromagnetic force lock device of the present invention.

Fig. 4 is a schematic view of the structure of the present invention in the buckling limit position, and the included angle between the two rotating arms is 70 °.

Fig. 5 is a schematic view of the structure of the invention in the extended limit position, wherein the included angle between the two rotating arms is 170 degrees.

Wherein: 1. a connecting rod piece; secondly, thigh protective equipment; third, a first chute; 4. a main shaft; 5. shank protective equipment; 6. a gas spring balancing device; 8. an electromagnetic force lock device; 81. a slide rail; 82. a top cover; 83. electromagnetic block; 84. a second chute; 9. a fastening bolt; 10. a bolt; 11, rotating an arm; 12. a binding band.

Description of the embodiments

As shown in fig. 1 and 2, the present invention includes a connection rod 1, a thigh supporter 2, a first chute 3, a main shaft 4, a shank supporter 5, a gas spring balance device 6, an electromagnetic force lock device 8, a fastening bolt 9, a bolt 10, a rotating arm 11, and a strap 12; the thigh and the shank of the patient are respectively fixed with the thigh protector 2 and the shank protector 5 through the binding bands 12, and the thigh protector 2 and the shank protector 5 are connected with the connecting rod piece 1 through bolts 10; the connecting rod piece 1 is connected with the rotating arm 11 through a bolt; the first sliding chute 3 on the rotating arm 11 is connected through a fastening bolt 9, a deep groove ball bearing is embedded in a hole at one end of the rotating arm 11, and the bearings of the two rotating arms 11 are sleeved on the main shaft 4;

the two ends of the gas spring balancing device 6 are respectively fixed on the two rotating arms 11;

as shown in fig. 3, the electromagnetic force lock device 8 includes a sliding rail 81, a top cover 82, electromagnetic blocks 83 and a second sliding groove 84, wherein two electromagnetic blocks 83 are arranged in the sliding rail 81, the top cover 82 is arranged on the sliding rail 81, the two second sliding grooves 84 are respectively arranged on sliding posts on the two rotating arms 11, and the second sliding grooves 84 can move left and right under the restriction of the sliding posts; the two electromagnetic blocks 83 are respectively connected with the two rotating arms 11, the electromagnetic blocks 83 can slide on the sliding rails 81, and the two electromagnetic blocks 83 can inwards slide to drive the thigh protector 2 and the calf protector 5 to bend; the wiring of the electromagnetic force lock device 8 is installed inside the top cover 82.

When the invention is used for knee joint rehabilitation, the method comprises the following steps:

1) After wearing the rehabilitation device, the patient uses the binding belt 12 to fasten the leg of the patient with the thigh protector 2 and the shank protector 5, adjusts the first chute 3 according to the comfort level of the patient, and uses the fastening bolt 9 to fix

2) Before the device works, the damping coefficient of the gas spring balance device 6 is regulated, and the piston rod stroke of the gas spring balance device 6 is regulated to the maximum; at this time, the electromagnetic block 83 is adjusted to the two ends of the sliding rail 81, and the knee joint is opened and angled at 170 degrees, as shown in fig. 5.

3) When the device works, the electromagnetic force lock device 8 is electrified, the electromagnetic block 83 can absorb and slide along the sliding rail 81 in opposite directions, the electromagnetic block 83 is fixed with the rotating arm 11, the electromagnetic block 83 can drive the rotating arm 11 to rotate through linear motion, the auxiliary knee joint can bend from the stretching limit position, and the knee joint of the gas spring balance device 6 bends at a small speed due to the bidirectional damping effect of the gas spring balance device 6, as shown in fig. 4, the bending limit included angle of the two rotating arms is 70 degrees

When the buckling limit position is reached, the electromagnetic force lock device 8 is powered off, the magnetic force disappears, at the moment, the spring of the gas spring balance device 6 is in a compressed state, the spring of the gas spring balance device 6 is connected with the piston rod under the action of no external force, so the spring slowly restores to push the piston rod under the damping condition, and the piston rod and the cylinder barrel of the gas spring are respectively fixed with the rotating arms 11, so the included angle between the two rotating arms 11 can be driven to be increased, and the knee joint is assisted to be slowly opened from the buckling limit state to the extending limit state.

Repeating the step 2) and the step 3) is the normal working process of the device, and assists the knee joint to perform the actions of extension, buckling and extension.

The device is provided with a safety module, is positioned at one end of the gas spring balancing device 6 and is knob, the self-locking mode can constantly control the compression amount of the spring at any time, and the whole device stops working to avoid accidents.

Claims

1. Bionic knee joint rehabilitation training device with passive rebound function, its characterized in that: the device comprises a connecting rod piece (1), a thigh protector (2), a first chute (3), a main shaft (4), a shank protector (5), a gas spring balancing device (6), an electromagnetic force lock device (8), a fastening bolt (9), a bolt (10), a rotating arm (11) and a binding belt (12); the thigh and the shank of the patient are respectively fixed with the thigh protector (2) and the shank protector (5) through the binding bands (12), and the thigh protector (2) and the shank protector (5) are connected with the connecting rod piece (1) through bolts (10); the connecting rod piece (1) is connected with the rotating arm (11) through a bolt; the first sliding groove (3) on the rotating arm (11) is connected through a fastening bolt (9), a deep groove ball bearing is embedded in a hole at one end of the rotating arm (11), and the bearings of the two rotating arms (11) are sleeved on the main shaft (4);

two ends of the gas spring balancing device (6) are respectively fixed on the two rotating arms (11);

the electromagnetic force lock device (8) comprises a sliding rail (81), a top cover (82), electromagnetic blocks (83) and a second sliding groove (84), wherein the sliding rail (81) is internally provided with two electromagnetic blocks (83), the top cover (82) is arranged on the sliding rail (81), the second sliding grooves (84) are arranged at two ends of the sliding rail (81), the two second sliding grooves (84) are respectively arranged on sliding posts on the two rotating arms (11), and the second sliding grooves (84) can move left and right under the limitation of the sliding posts; the two electromagnetic blocks (83) are respectively connected with the two rotating arms (11), the electromagnetic blocks (83) can slide on the sliding rails (81), and the two electromagnetic blocks (83) can inwards slide to drive the thigh protector (2) and the shank protector (5) to bend; the wiring of the electromagnetic force lock device 8 is installed inside the top cover 82;

when the knee joint rehabilitation is carried out, the method comprises the following steps:

1) After wearing the rehabilitation training device, the patient uses the binding belt 12 to fasten the legs of the patient, the thigh protector 2 and the shank protector 5, and adjusts the first sliding chute 3 according to the comfort level of the patient to be fixed by the fastening bolt 9;

2) Before the rehabilitation training device works, the damping coefficient of the gas spring balancing device 6 is regulated, the stroke of a piston rod of the gas spring balancing device 6 is regulated to the maximum, at the moment, the electromagnetic blocks 83 are regulated to the two ends of the sliding rail 81, and the knee joint opening and angle are 170 degrees;

3) When the rehabilitation training device works, the electromagnetic force lock device 8 is electrified, the electromagnetic block 83 can be adsorbed and slid along the sliding rail 81 in opposite directions, the electromagnetic block 83 is fixed with the rotating arm 11, so that the linear motion of the electromagnetic block 83 can drive the rotating arm 11 to rotate, the auxiliary knee joint can bend from the stretching limit position, and then the knee joint of the gas spring balancing device 6 bends at a small speed due to the bidirectional damping effect of the gas spring balancing device 6, and the bending limit included angle of the two rotating arms is 70 degrees;