CN108294913A - Lower limbs active-passive rehabilitation training aids - Google Patents

Lower limbs active-passive rehabilitation training aids Download PDF

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Publication number
CN108294913A
CN108294913A CN201710022329.1A CN201710022329A CN108294913A CN 108294913 A CN108294913 A CN 108294913A CN 201710022329 A CN201710022329 A CN 201710022329A CN 108294913 A CN108294913 A CN 108294913A
Authority
CN
China
Prior art keywords
supporting plate
thigh
support mechanism
rehabilitation training
stepper motor
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
Application number
CN201710022329.1A
Other languages
Chinese (zh)
Inventor
张宇玲
孙金悦
焦宗琪
谢巧莲
曾庆鑫
卢鸿润
随力
蔡文杰
赵展
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University of Shanghai for Science and Technology
Original Assignee
University of Shanghai for Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by University of Shanghai for Science and Technology filed Critical University of Shanghai for Science and Technology
Priority to CN201710022329.1A priority Critical patent/CN108294913A/en
Publication of CN108294913A publication Critical patent/CN108294913A/en
Pending legal-status Critical Current

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Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01Constructive details
    • A61H2201/0192Specific means for adjusting dimensions

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  • 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

A kind of lower limbs active-passive rehabilitation training aids, including pedestal, left and right thigh support mechanism, left and right leg support mechanism, footrest, external controller and two Collapsible racks.The present invention uses the folding structure of exoskeleton-type, can be by telescopic thigh leg support mechanism come according to different lower limb sizes, board design goes out the holder that can be bonded legs curve.In transmission system, using two-step stepper motor drive control hip joint, a stepper motor is recycled to be connect with roller bearing lead screw to control ankle-joint.The lasting passive rehabilitation training that the linkage of three joints of hip knee ankle can be achieved, can also complete the rehabilitation training of single ankle-joint by stepper motor.The present invention services the patient that lower limb need rehabilitation training, is actively combined with Passive Mode, and doctor is facilitated to carry out objective rehabilitation assessment, is conducive to the improvement and determination of therapeutic scheme.

Description

Lower limbs active-passive rehabilitation training aids
Technical field
The present invention relates to a kind of rehabilitation training equipment more particularly to a kind of lower limbs active-passive rehabilitation training aids.
Background technology
Joint function rehabilitation device system orthopedic rehabilitation medical instrument, with continuous passive motion (i.e. CONTINUES PASSIVE MOTION, abbreviation CPM) it is theoretical based on, pass through and simulate human body natural's movement, the natural recuperability of exciting human plays tissue Compensation carries out joint of lower extremity functional recovery training, in clinical application there is safe and practical, no pain, patient to be happy to connect It is big by, range of motion, effectively eliminate synarthrophysis and downright bad joint survives, wound healing and detumescence, promotes articular cartilage The advantages of itself repairing, transparent articular cartilage be converted to conducive to transplanting periosteum of damage.
Currently, most of CPM machines cannot be carried out at the same time the linkage training of three joint of hip knee ankle, cause it that there is certain limitation Property, it is unfavorable for the rehabilitation training to three joint of lower limb;In addition mostly based on passive exercise, active training is not added CPM machines;Together When leg training lack Real-time Feedback, assessment can not quantify;Bulky, inconvenience is moved, time-consuming and laborious, gives patient and medical care Personnel bring inconvenience.
Invention content
The purpose of the present invention is exactly to solve the above-mentioned problems, to provide a kind of lower limbs active-passive rehabilitation training aids.
In order to achieve the above object, the present invention is achieved through the following technical solutions:
A kind of lower limbs active-passive rehabilitation training aids comprising:
Pedestal, built-in left and right stepper motor and roller bearing lead screw transmission mechanism;
Left and right thigh support mechanism, one end are connected with the left and right stepper motor transmission in pedestal respectively;
Left and right leg support mechanism, the other end of the one end respectively with left and right thigh support mechanism are movably connected;
Footrest, the other end of the left and right sides respectively with left and right leg support mechanism are movably connected, and are passed with roller bearing lead screw Dynamic mechanism driving is connected;
External controller is connected with left and right stepper motor and roller bearing lead screw transmission mechanism electric wire respectively, control institute connection machine The movement of structure simultaneously shows real time data.
Left and right thigh support mechanism include respectively before thigh supporting plate, thigh rear supporting plate and be connected to supporting plate before thigh, Thigh telescopic rod between thigh rear supporting plate, the length of the entire thigh support mechanism of length adjustment by adjusting thigh telescopic rod Degree;Supporting plate is also connected with the transmission of left and right stepper motor respectively before the thigh of left and right.
Left and right leg support mechanism include respectively before shank supporting plate, shank rear supporting plate and be connected to supporting plate before shank, Shank telescopic rod between shank rear supporting plate, the length of the entire leg support mechanism of length adjustment by adjusting shank telescopic rod Degree;Supporting plate is also movably connected with left and right thigh rear supporting plate respectively before the shank of left and right, left and right shank rear supporting plate also respectively with footrest The left and right sides is movably connected.
The roller bearing lead screw transmission mechanism includes lead screw stepper motor, roller bearing lead screw, positioning sliding block and ankle-joint control-rod, Roller bearing lead screw is connected with the transmission of lead screw stepper motor, and positioning sliding block is connect with roller bearing wire rod thread, one end of ankle-joint control-rod It is movably connected with positioning sliding block, the other end is movably connected with footrest.
Further include two Collapsible racks, two Collapsible racks are respectively symmetrically mounted on the both sides of pedestal.
The beneficial effects of the invention are as follows:
1, using exoskeleton-type structure design, design is light and handy portable (foldable), largely saves parking space;
2, it is equipped with thigh telescopic rod and shank telescopic rod, can go out come board design according to the lower limb size of different people can It is bonded the supporting mechanism of thigh shank curve, the uncomfortable feeling that reduction of patient is generated in training;
3, the rehabilitation training of three joint linkage of hip knee ankle can be achieved, the toe of single ankle-joint is bent and the Various Complexes rehabilitations such as dorsiflex Training;
4, possess multi-mode mixed function, it can be achieved that the accurately controlling of similar recovery training appliance for recovery, record training parameter and Show real-time range of motion, to carry out the real-time rehabilitation assessment of objective quantitative, determining and change conducive to doctor's therapeutic scheme Into.
Description of the drawings
Fig. 1 is the positive structure diagram of the present invention.
Fig. 2 is the decomposition texture schematic diagram of the present invention.
Fig. 3 is the partial structural diagram of the present invention.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 1, cooperation is referring to Fig. 2, Fig. 3, lower limbs active-passive rehabilitation training aids of the invention, including pedestal 1, left and right are greatly Leg supporting mechanism 2, left and right leg support mechanism 3, footrest 4, external controller 5 and two Collapsible racks 6.
Left and right stepper motor 7 and roller bearing lead screw transmission mechanism 8 are equipped in pedestal 1.
One end of left and right thigh support mechanism 2 is connected with the left and right stepper motor transmission in pedestal respectively, left and right shank branch The other end of the one end of support mechanism 3 respectively with left and right thigh support mechanism is movably connected, the left and right sides of footrest 4 respectively with left and right The other end of leg support mechanism is movably connected, and is connected with the transmission of roller bearing lead screw transmission mechanism.External controller 5 respectively with a left side Right stepper motor and roller bearing lead screw transmission mechanism electric wire are connected, and the movement of bindiny mechanism of control institute simultaneously shows real time data.Two Collapsible rack is respectively symmetrically mounted on the both sides of pedestal.
Referring to Fig. 2, the left and right thigh support mechanism 2 in the present invention includes respectively supporting plate 21, thigh rear supporting plate before thigh for cooperation 22 and it is connected to thigh telescopic rod 23 before thigh between supporting plate, thigh rear supporting plate, passes through the length for adjusting thigh telescopic rod Adjust the length of entire thigh support mechanism;Supporting plate is also connected with the transmission of left and right stepper motor respectively before the thigh of left and right.
Referring to Fig. 2, the left and right leg support mechanism 3 in the present invention includes respectively supporting plate 31, shank rear supporting plate before shank for cooperation 32 and it is connected to shank telescopic rod 33 before shank between supporting plate, shank rear supporting plate, passes through the length for adjusting shank telescopic rod Adjust the length of entire leg support mechanism;Supporting plate is also movably connected with left and right thigh rear supporting plate respectively before the shank of left and right, left and right Shank rear supporting plate also respectively be movably connected at left and right sides of footrest.
Cooperation referring to Fig. 3, the roller bearing lead screw transmission mechanism 8 in the present invention include lead screw stepper motor 81, roller bearing lead screw 82, Positioning sliding block 83 and ankle-joint control-rod 84, roller bearing lead screw are connected with the transmission of lead screw stepper motor, positioning sliding block and roller bearing lead screw It is threadedly coupled, one end and the positioning sliding block of ankle-joint control-rod are movably connected, and the other end is movably connected with footrest.
When patient uses this training aids, pressing regulating switch 231 can be bonded greatly according to the lower limb size of different people The holder of leg shank curve, while being fixed using fixed band 24, if there is special requirement, recycling thigh fixed card slot 25 is put Upper fixation brings immobilized patients thigh, carrys out the uncomfortable feeling that reduction of patient is generated in training as far as possible.
With reference to shown in Fig. 2, it is respectively equipped with one group of transmission gear 11 in the both sides of pedestal 1, with the biography in supporting plate before thigh 21 Dynamic internal gear 211 matches, and transmits the power of the stepper motor 7 in pedestal 1, while being respectively equipped with one group of hip in pedestal both sides and closing Stop screw 12 is saved, is matched with the hip joint limiting slot 212 in supporting plate before thigh 21, defines the scope of activities of hip joint, Match equipped with the knee joint limiter 311 in knee joint limiting slot 231, with supporting plate before shank 31 in left and right thigh rear supporting plate 23 It closes, defines kneed scope of activities, ankle-joint limiting slot 321 also is provided in corresponding both sides shank rear supporting plate 32, with Ankle restriction device 41 in footrest 4 matches, and defines the scope of activities of ankle-joint;Defining three joints of hip knee ankle After ensure that trained safety, the operation of different mode is carried out using controller 5 for normal activity range.
Referring to Fig. 3, roller bearing lead screw 82 is then fixed on the bottom plate 13 of pedestal 1 by two bearings 821, is located at simultaneously for cooperation Mobile sliding block 83 on roller bearing lead screw 82 is connected by pin 85 with ankle-joint control-rod 84, and ankle-joint control-rod 84 is in foot Movement in the control-rod sliding slot 42 of support 4, in conclusion when three stepper motors operate simultaneously, there is determination in thigh support mechanism 2 Movement, and footrest 4 also has centainly variable movement.

Claims (5)

1. a kind of lower limbs active-passive rehabilitation training aids, it is characterised in that including:
Pedestal, built-in left and right stepper motor and roller bearing lead screw transmission mechanism;
Left and right thigh support mechanism, one end are connected with the left and right stepper motor transmission in pedestal respectively;
Left and right leg support mechanism, the other end of the one end respectively with left and right thigh support mechanism are movably connected;
Footrest, the other end of the left and right sides respectively with left and right leg support mechanism are movably connected, and with roller bearing screw rod transmission machine Structure transmission is connected;
External controller is connected with left and right stepper motor and roller bearing lead screw transmission mechanism electric wire respectively, bindiny mechanism of control institute It moves and shows real time data.
2. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that:Left and right thigh support mechanism Include respectively supporting plate, thigh rear supporting plate and being connected to thigh telescopic rod before thigh between supporting plate, thigh rear supporting plate before thigh, leads to Overregulate the length of the entire thigh support mechanism of length adjustment of thigh telescopic rod;Supporting plate is also walked with left and right respectively before the thigh of left and right Stepper motor transmission is connected.
3. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that:Left and right leg support mechanism Include respectively supporting plate, shank rear supporting plate and being connected to shank telescopic rod before shank between supporting plate, shank rear supporting plate before shank, leads to Overregulate the length of the entire leg support mechanism of length adjustment of shank telescopic rod;Supporting plate is also big with left and right respectively before the shank of left and right Leg rear supporting plate is movably connected, left and right shank rear supporting plate also respectively be movably connected at left and right sides of footrest.
4. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that:The roller bearing lead screw transmission mechanism Including lead screw stepper motor, roller bearing lead screw, positioning sliding block and ankle-joint control-rod, roller bearing lead screw is driven phase with lead screw stepper motor Even, positioning sliding block is connect with roller bearing wire rod thread, and one end and the positioning sliding block of ankle-joint control-rod are movably connected, the other end and foot Support is movably connected.
5. wanting the lower limbs active-passive rehabilitation training aids described in 1 according to right, it is characterised in that:Further include two Collapsible racks, Two Collapsible racks are respectively symmetrically mounted on the both sides of pedestal.
CN201710022329.1A 2017-01-12 2017-01-12 Lower limbs active-passive rehabilitation training aids Pending CN108294913A (en)

Priority Applications (1)

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CN201710022329.1A CN108294913A (en) 2017-01-12 2017-01-12 Lower limbs active-passive rehabilitation training aids

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Application Number Priority Date Filing Date Title
CN201710022329.1A CN108294913A (en) 2017-01-12 2017-01-12 Lower limbs active-passive rehabilitation training aids

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Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109730900A (en) * 2019-03-22 2019-05-10 兰州大学 A kind of lower limbs joint recovered device
CN109846665A (en) * 2019-01-18 2019-06-07 童泽富 A kind of sitting and lying formula recovery training appliance for recovery lower limbs material
CN109998856A (en) * 2019-04-10 2019-07-12 杭州市余杭区第五人民医院 A kind of rheumatic sufferers foot mobilizer
CN110236884A (en) * 2019-07-04 2019-09-17 青岛市中心医院 A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device
CN113499221A (en) * 2021-07-14 2021-10-15 合肥技加医疗科技有限公司 Lower limb multidimensional rehabilitation training device
CN113520791A (en) * 2021-07-14 2021-10-22 新疆维吾尔自治区人民医院 Recovered auxiliary device of bone joint activity
CN114699278A (en) * 2022-03-22 2022-07-05 华北医疗健康集团邢台总医院 Early rehabilitation training device for active and passive activities of joints
CN116251330A (en) * 2022-10-19 2023-06-13 天津医科大学总医院空港医院 Knee joint rehabilitation training machine

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FR2407710A1 (en) * 1977-11-04 1979-06-01 Pecheux Jean Claude Harness for exercising leg - has frame jointed at knee and pivoting on supports, with drive by motor and screw rod to provide flexing
US4825852A (en) * 1986-10-31 1989-05-02 Sutter Biomedical, Inc. Continuous passive motion device
US4834073A (en) * 1987-02-20 1989-05-30 Medical Technology, Inc. Passive motion exerciser
CN2190985Y (en) * 1994-05-03 1995-03-08 张福顺 Recovering training treatment machine for joint of lower limb
CN2255255Y (en) * 1993-11-11 1997-06-04 北京市结核病胸部肿瘤研究所 Lower limb passive function exerciser
CN1268045A (en) * 1997-02-27 2000-09-27 史密夫及内修运动技术有限公司 Device for producing continuous passive motion
CN2796691Y (en) * 2005-05-11 2006-07-19 哈尔滨工程大学 Horizontal training device for leg convalescence
CN2815336Y (en) * 2005-07-29 2006-09-13 乙勤 Intelligent lower limb joint function restorer
CN202776920U (en) * 2012-09-26 2013-03-13 朱峰 Power-assist training device for lower limb rehabilitation
CN203524945U (en) * 2013-09-30 2014-04-09 常州市钱璟康复器材有限公司 Micro-computer lower limb joint passive training machine
CN203852549U (en) * 2014-05-15 2014-10-01 浙江大学台州研究院 Lower limb rehabilitation device
CN104382724A (en) * 2014-11-28 2015-03-04 常宗瑜 New type lower limb rehabilitation physiotherapy apparatus
CN105963102A (en) * 2016-04-12 2016-09-28 南京航空航天大学 Parallel link-type lower limb rehabilitation robot and working method thereof
CN206950326U (en) * 2017-01-12 2018-02-02 上海理工大学 Lower limbs active-passive rehabilitation training aids

Patent Citations (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2407710A1 (en) * 1977-11-04 1979-06-01 Pecheux Jean Claude Harness for exercising leg - has frame jointed at knee and pivoting on supports, with drive by motor and screw rod to provide flexing
US4825852A (en) * 1986-10-31 1989-05-02 Sutter Biomedical, Inc. Continuous passive motion device
US4834073A (en) * 1987-02-20 1989-05-30 Medical Technology, Inc. Passive motion exerciser
CN2255255Y (en) * 1993-11-11 1997-06-04 北京市结核病胸部肿瘤研究所 Lower limb passive function exerciser
CN2190985Y (en) * 1994-05-03 1995-03-08 张福顺 Recovering training treatment machine for joint of lower limb
CN1268045A (en) * 1997-02-27 2000-09-27 史密夫及内修运动技术有限公司 Device for producing continuous passive motion
CN2796691Y (en) * 2005-05-11 2006-07-19 哈尔滨工程大学 Horizontal training device for leg convalescence
CN2815336Y (en) * 2005-07-29 2006-09-13 乙勤 Intelligent lower limb joint function restorer
CN202776920U (en) * 2012-09-26 2013-03-13 朱峰 Power-assist training device for lower limb rehabilitation
CN203524945U (en) * 2013-09-30 2014-04-09 常州市钱璟康复器材有限公司 Micro-computer lower limb joint passive training machine
CN203852549U (en) * 2014-05-15 2014-10-01 浙江大学台州研究院 Lower limb rehabilitation device
CN104382724A (en) * 2014-11-28 2015-03-04 常宗瑜 New type lower limb rehabilitation physiotherapy apparatus
CN105963102A (en) * 2016-04-12 2016-09-28 南京航空航天大学 Parallel link-type lower limb rehabilitation robot and working method thereof
CN206950326U (en) * 2017-01-12 2018-02-02 上海理工大学 Lower limbs active-passive rehabilitation training aids

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109846665A (en) * 2019-01-18 2019-06-07 童泽富 A kind of sitting and lying formula recovery training appliance for recovery lower limbs material
CN109730900A (en) * 2019-03-22 2019-05-10 兰州大学 A kind of lower limbs joint recovered device
CN109998856A (en) * 2019-04-10 2019-07-12 杭州市余杭区第五人民医院 A kind of rheumatic sufferers foot mobilizer
CN109998856B (en) * 2019-04-10 2021-03-19 杭州市余杭区第五人民医院 Foot moving device for rheumatism patient
CN110236884A (en) * 2019-07-04 2019-09-17 青岛市中心医院 A kind of all-around intelligent hip knee ankle-joint passive rehabilitation training device
CN110236884B (en) * 2019-07-04 2024-05-03 青岛市中心医院 All-round intelligent hip knee ankle joint passive rehabilitation training device
CN113499221A (en) * 2021-07-14 2021-10-15 合肥技加医疗科技有限公司 Lower limb multidimensional rehabilitation training device
CN113520791A (en) * 2021-07-14 2021-10-22 新疆维吾尔自治区人民医院 Recovered auxiliary device of bone joint activity
CN114699278A (en) * 2022-03-22 2022-07-05 华北医疗健康集团邢台总医院 Early rehabilitation training device for active and passive activities of joints
CN116251330A (en) * 2022-10-19 2023-06-13 天津医科大学总医院空港医院 Knee joint rehabilitation training machine
CN116251330B (en) * 2022-10-19 2023-09-01 天津医科大学总医院空港医院 Knee joint rehabilitation training machine

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Application publication date: 20180720