CN109833600B - A gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism - Google Patents

Abstract

The invention relates to a gait simulation lower limb rehabilitation training device based on a composite crank-link mechanism, which comprises two composite crank-link mechanisms, a pedal plate and an active and passive training switching unit. Compared with the prior art, the invention can convert the circular motion of the crank into the simulated gait motion of the D vertex of the second triangular frame through the composite crank connecting rod mechanism, and the track of the simulated gait motion is most consistent with the gait track of a person walking; in addition, the device is provided with two modes of active rehabilitation training and passive rehabilitation training, and the training effect is more comprehensive.

Description

A gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism

technical field

The invention relates to the technical field of medical rehabilitation equipment, in particular to a gait simulation lower limb rehabilitation training device based on a composite crank connecting rod mechanism.

Background technique

One of the most common sequelae of stroke and brain injury is limb dysfunction. Long-term bed rest will lead to muscle atrophy in such patients, which hinders the recovery of the disease and future rehabilitation. Passive exercise training in the early stage and active training in the later stage can maintain and restore the joint motion range of the patient, which is beneficial to restore the main motor function of the limbs and improve the daily living ability of the patient. At present, the main products of lower limb rehabilitation training devices on the market are multi-joint traction lower limb rehabilitation devices and end traction rehabilitation devices: multi-joint traction lower limb rehabilitation devices can realize single-joint training and multi-joint coordination training, and the motion trajectory is in the working space. It can be freely programmed, and the multi-joint traction lower limb rehabilitation device can simulate the gait trajectory with high accuracy, but the machine structure is complex and the cost is high, which is not conducive to benefiting the majority of patients; the terminal traction rehabilitation device simulates the terminal motion trajectory to a certain extent. , the representative products are Steel Flex XE-3700 elliptical machine produced by Stevie Company, JOHNSON MX-E5X elliptical machine produced by Qiaoshan Company, etc. These devices use the ankle as the rotation point, and the motion trajectory is an ellipse, which cannot accurately simulate the gait trajectory and joint characteristics of a person when walking, and will have an impact on the joints and overstretch the muscles. great danger.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a gait simulation lower limb rehabilitation training device based on a compound crank connecting rod mechanism with a more realistic rehabilitation effect in order to overcome the above-mentioned defects of the prior art.

The purpose of the present invention can be achieved through the following technical solutions: a gait simulation lower limb rehabilitation training device based on a compound crank connecting rod mechanism, characterized in that the rehabilitation training device includes:

Two compound crank connecting rod mechanisms: each compound crank connecting rod mechanism includes a crank, two triangular frames, and a plurality of connecting rods connected with the two triangular frames and the crank through a rotating shaft, wherein the vertex A of the No. 1 triangular frame is connected to the crank The G end is connected by the No. 1 link, the B vertex of the No. 1 triangle frame is connected to the C vertex of the No. 2 triangle frame through the No. 3 link, and the F vertex of the No. 1 triangle frame is connected to the No. 2 triangle frame through the No. 4 link. The E vertex is connected, the E vertex of the No. 2 triangle frame is connected to the G end of the crank through the No. 2 connecting rod, wherein, the A vertex of the No. 1 triangle frame is higher than the B vertex and F vertex of the No. 1 triangle frame, and the No. 2 triangle The D vertex of the frame is lower than the C vertex and E vertex of the No. 2 triangular frame, the crank makes a circular motion with the O end as the center, and the F vertex of the No. 1 triangular frame in the two compound crank connecting rod mechanisms is connected to both ends of the shaft shaft connection;

Foot pedal: connected to the D vertex of the No. 2 triangular frame in each compound crank linkage mechanism;

Active-passive training switching unit: connected with the O-ends of the cranks of the two compound crank-connecting-rod mechanisms, for driving the cranks to rotate around the O-ends to realize passive rehabilitation training; or for giving the cranks of the two compound crank-connecting-rod mechanisms Rotational resistance for passive rehabilitation. The present invention can transform the circular motion of the active-passive training switching unit and the gait simulation motion of the foot pedal to each other through the compound crank connecting rod mechanism, thereby realizing active rehabilitation training and passive rehabilitation training of lower limb rehabilitation trainers.

The active and passive training switching unit includes a drive wheel connected with the O end of the crank, a pulley connected with the drive wheel through a belt, a rotating shaft passing through the center of the pulley and rotating together with the pulley, an active electromagnetic clutch and a passive electromagnetic clutch arranged at both ends of the rotating shaft. The electromagnetic clutch, the electromagnetic damper connected with the active electromagnetic clutch through the gear set, and the deceleration motor connected with the passive electromagnetic clutch through the gear set, the active electromagnetic clutch and the passive electromagnetic clutch cannot mesh with the rotating shaft at the same time. The working principle of the present invention is as follows: when the active electromagnetic clutch is engaged with one end of the rotating shaft, the active rehabilitation training starts, and the rehabilitation trainer steps on the pedals and drives the pedals to follow the trajectory of gait simulation by walking. Movement, and through the transmission of the compound crank connecting rod mechanism, the transmission wheel rotates, the pulley is driven to rotate through the belt, and then the force is transmitted to the electromagnetic damper through the rotating shaft, the active electromagnetic clutch and the gear set. Larger resistance, so that the muscles of the legs can be exercised and active rehabilitation training can be realized. When the passive electromagnetic clutch is engaged with one end of the rotating shaft, the passive rehabilitation training is started, and the rotation of the stepping motor sequentially drives the transmission wheel to rotate through the gear set, passive electromagnetic clutch, rotating shaft, pulley, and belt, and then through the transmission of the compound crank connecting rod mechanism, It makes the foot pedal move in a gait simulation trajectory, thereby driving the rehabilitation trainer standing on the foot pedal to simulate walking and realize passive rehabilitation training.

The O ends of the cranks of the two compound crank connecting rod mechanisms are axially connected with the central axis of the transmission wheel, and the two cranks are distributed at 180°.

The gear set includes at least two gears that mesh with each other, so that the transmission distance is longer, the transmission is more stable and easy to control.

The length ratio of the first side, the second side, the third side and the crank of the No. 1 triangle frame is (5-5.3): (4-4.2): (3.7-4): 1, and the No. 2 triangle The length ratio of the No. 1 side, No. 2 side and No. 3 side of the frame to the crank is (6.4-7.2): (5.2-5.5): (3.8-4): 1, the No. 1 connecting rod and No. 2 connecting rod , the length ratio of the third connecting rod, the fourth connecting rod and the crank is (4.5~5):(7~7.5):(4.5~4.8):(4.3~4.5):1. For the compound crank-link mechanism with the above length ratio, the trajectory of the simulated gait motion of the D vertex of the final No. 2 triangular frame is most consistent with the gait trajectory of a person when walking.

The ratio of the length of the crank to the height of the lower limb rehabilitation trainer is 1:(2.9-3). Under this ratio, the swing range of the lower limb rehabilitation trainer's feet is similar to the walking range of a normal person, and the simulated trajectory is more realistic. Rehabilitation training is also more effective.

The D vertex of the No. 2 triangular frame is provided with a stepper motor for controlling the rotation of the foot pedal around the D vertex. By setting the stepper motor at the D vertex, the lower limb rehabilitation trainee's foot can rotate around the ankle, closer to the trajectory of walking.

The foot pedal includes a front part connected with the D vertex of the No. 2 triangular frame, a rear part connected with the front part through a circular polished rod, and protrusions arranged on the edges of the front part and the rear part, and the bottom of the rear part. There is a hole for inserting a circular polished rod, the hole is provided with a pin hole, the circular polished rod is provided with a plurality of positioning holes, and a positioning pin passes through the pin hole and the positioning hole to connect the rear part with the circle. The shaped polished rod is fixedly connected, through this setting, the length of the foot pedal can be adjusted to make it fit more closely with the foot of the rehabilitation trainee.

Two through holes are arranged at the D vertex of the No. 2 triangular frame, and bandages for binding the ankles of lower limb rehabilitation trainers are pierced in the two through holes.

The rehabilitation training device includes a base, a bracket and a handrail, and the active-passive training switching unit is fixedly connected to the bracket.

Compared with the prior art, the beneficial effects of the present invention are embodied in the following aspects:

(1) Through the compound crank connecting rod mechanism, the circular motion of the crank can be transformed into the simulated gait motion of the D vertex of the No. 2 triangular frame, and the trajectory of the simulated gait motion is most in line with the gait trajectory when a person walks;

(2) According to the height of the lower extremity rehabilitation trainer, change the length of the crank, so that the swing range of the lower extremity rehabilitation trainee's feet is similar to that of a normal person's walking, the simulated trajectory is more realistic, and the effect of rehabilitation training is better;

(3) The device has two modes of active rehabilitation training and passive rehabilitation training, and the training effect is more comprehensive.

Description of drawings

Fig. 1 is the external structure schematic diagram of the present invention;

Fig. 2 is the internal structure schematic diagram of the present invention;

3 is a schematic structural diagram of the composite crank connecting rod mechanism of the present invention;

4 is a schematic diagram of the motion trajectory of the crank connecting rod mechanism in Embodiment 1;

5 is a schematic structural diagram of an active-passive training switching unit of the present invention;

Fig. 6 is the structural representation of the foot pedal of the present invention;

7 is a schematic diagram of the motion trajectory of the crank connecting rod mechanism in Embodiment 2;

8 is a schematic diagram of the motion trajectory of the crank connecting rod mechanism in Example 3.

Among them, 1 is a compound crank connecting rod mechanism, 11 is a through hole, 2 is a pedal, 21 is the front, 22 is a round polished rod, 23 is the rear, 24 is a protrusion, 25 is a pin hole, and 26 is a positioning Pin, 27 is a positioning hole, 3 is an active and passive training switching unit, 31 is a transmission wheel, 32 is a belt, 33 is a pulley, 34 is a rotating shaft, 35 is an active electromagnetic clutch, 36 is a passive electromagnetic clutch, 37a, 37b are gear sets , 38 is the electromagnetic damper, 39 is the deceleration motor, 4 is the stepping motor, 5 is the base, 6 is the bracket, 7 is the armrest, 8 is the connecting shaft, OG is the crank, AB is the No. 1 side of the No. 1 triangle frame, AF is the second side of the No. 1 triangle frame, BF is the third side of the No. 1 triangle frame, CD is the No. 1 side of the No. 2 triangle frame, DE is the second side of the No. 2 triangle frame, CE is the No. 2 triangle frame On the third side, AG is the first connecting rod, EG is the second connecting rod, BC is the third connecting rod, and EF is the fourth connecting rod.

Detailed ways

The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and provides a detailed implementation manner and a specific operation process, but the protection scope of the present invention is not limited to the following implementation. example.

Example 1

A gait simulation lower limb rehabilitation training device based on a compound crank connecting rod mechanism 1, characterized in that the rehabilitation training device comprises two compound crank connecting rod mechanisms 1, a foot pedal 2, an active and passive training switching unit 3, and a base 5 , bracket 6 and armrest 7, the external structure of which is shown in Figure 1.

Wherein, each compound crank connecting rod mechanism 1 includes a crank OG, two triangular frames, and a plurality of connecting rods connected with the two triangular frames and the crank OG through the rotating shaft, wherein the vertex A of the first triangular frame is connected to the G of the crank OG. The ends are connected by the No. 1 link AG, the B vertex of the No. 1 triangle frame is connected to the C vertex of the No. 2 triangle frame through the No. 3 link BC, and the F vertex of the No. 1 triangle frame is connected to the No. 2 triangle frame through the No. 4 link EF The E vertex of the No. 2 triangle frame is connected with the G end of the crank OG through the No. 2 connecting rod EG, wherein the A vertex of the No. 1 triangle frame is higher than the B vertex and F vertex of the No. 1 triangle frame. The D vertex of the triangular frame is lower than the C vertex and E vertex of the second triangular frame, the crank OG makes a circular motion with the O end as the center, and the F vertex of the No. The two ends are axially connected, as shown in Figures 2 and 3; among them, the length of each connecting rod, the length of the side of the triangular frame, the length of the crank and the height of the lower limb rehabilitation trainer in this embodiment are shown in Table 1.

line segment Length (cm) line segment Length (cm) height 175 DE 327.2 OG 59.7 CE 220 AB 310.5 AG 290.5 AF 248.2 EG 430.3 BF 229.1 BC 269 CD 422.36 EF 261.5

After computer simulation, the composite crank-link mechanism with the above length is used, and its simulated gait trajectory is shown in Figure 4. From this, we can find that the trajectory is very close to the gait trajectory of normal people walking.

Foot pedal 2: It is axially connected with the D vertex of the No. 2 triangular frame in each compound crank link mechanism 1. The structure of the foot pedal 2 is shown in Figure 6, including the front part connected with the D vertex of the No. 2 triangular frame 21. The rear part 23 connected with the front part through the circular polished rod 22 and the protrusions 24 arranged on the edges of the front part 21 and the rear part 23. The bottom of the rear part 23 is provided with a hole for inserting the circular polished rod 22. A pin hole 25 is provided, and the circular polished rod 22 is provided with a plurality of positioning holes 27. A positioning pin 26 passes through the pin hole 25 and the positioning hole 27 to fixedly connect the rear part 23 with the circular polished rod 22. Through this setting, The length of the footrest 2 can be adjusted to make it fit better with the foot of the rehabilitation trainee.

Active and passive training switching unit 3: connected with the O ends of the cranks of the two compound crank connecting rod mechanisms 1, and used to drive the cranks to rotate around the O ends to realize passive rehabilitation training; Resistance to crank rotation for passive rehabilitation. The present invention can transform the circular motion of the active and passive training switching unit 3 and the gait simulation motion of the foot pedal 2 to each other through the compound crank connecting rod mechanism 1, thereby realizing active and passive rehabilitation training of lower limb rehabilitation trainers.

The structure of the active and passive training switching unit 3 is shown in FIG. 5, including a transmission pulley 31 connected with the O end of the crank, a pulley 33 connected with the transmission pulley 31 through a belt 32, a pulley 33 passing through the center of the pulley 33 and rotating together with the pulley 33. The rotating shaft 34, the active electromagnetic clutch 35 and the passive electromagnetic clutch 36 arranged at both ends of the rotating shaft 34, the electromagnetic damper 38 connected with the active electromagnetic clutch 35 through the gear set, and the deceleration motor 39 connected with the passive electromagnetic clutch 36 through the gear set, the active electromagnetic The clutch 35 and the passive electromagnetic clutch 36 cannot be engaged with the rotating shaft at the same time, wherein the transmission wheel 31 and the belt 32 are shown in FIG. 2;

When the active electromagnetic clutch 35 is engaged with one end of the rotating shaft 34, the active rehabilitation training is started, and the rehabilitation trainee steps on the foot pedal 2 and drives the foot pedal 2 to move according to the trajectory simulated by the gait by walking. Through the transmission of the compound crank link mechanism 1, the transmission wheel 31 is rotated, the pulley 33 is driven to rotate by the belt 32, and then the force is transmitted to the electromagnetic damper 38 through the rotating shaft 34, the active electromagnetic clutch 35 and the gear set. The walking will be subjected to greater resistance, so that the muscles of the legs can be exercised and active rehabilitation training can be realized. When the passive electromagnetic clutch 36 is engaged with one end of the rotating shaft, the passive rehabilitation training is started, and the rotation of the stepping motor 4 drives the transmission wheel 31 to rotate through the gear set, the passive electromagnetic clutch 36, the rotating shaft 34, the pulley 33 and the belt 32 in turn, and then through the compound The transmission of the crank connecting rod mechanism 1 makes the foot pedal 2 move in a gait simulation trajectory, thereby driving the rehabilitation trainee standing on the foot pedal 2 to simulate walking and realize passive rehabilitation training.

A stepping motor 4 for controlling the rotation of the foot pedal 2 around the D vertex is provided at the D vertex of the No. 2 triangular frame. By setting the stepping motor 4 at the D vertex, the lower limb rehabilitation trainee's foot can rotate around the ankle, closer to the trajectory of walking.

Two through holes are arranged at the D vertex of the No. 2 triangular frame, and bandages for tying the ankles of lower limb rehabilitation trainers are pierced in the two through holes.

Example 2

Adopt the same lower limb rehabilitation training device structure as Example 1, the difference is:

In this embodiment, the length of each connecting rod, the side length of the triangular frame, the length of the crank and the height of the lower limb rehabilitation trainer are shown in Table 2.

After computer simulation, using the above-mentioned length of the compound crank-link mechanism, the simulated gait trajectory is shown in Figure 7, from which we can find that the trajectory is closer to the gait trajectory of normal people walking.

Example 3

Adopt the same lower limb rehabilitation training device structure as Example 1, the difference is:

In this embodiment, the length of each connecting rod, the side length of the triangular frame, the length of the crank, and the height of the lower limb rehabilitation trainer are shown in Table 3.

line segment Length (cm) line segment Length (cm) height 175 DE 320.82 OG 58.33 CE 233.32 AB 309.15 AG 291.65 AF 245 EG 437.48 BF 215.82 BC 279.98 CD 419.98 EF 262.49

After computer simulation, the composite crank-link mechanism with the above-mentioned length is used, and the simulated gait trajectory is shown in Figure 8. From this, we can find that the trajectory is similar to that of a normal person walking, making the gait trajectory closer.

Claims (10)

1. The utility model provides a gait simulation low limbs rehabilitation training device based on compound crank link mechanism which characterized in that, this rehabilitation training device includes:

two compound crank link mechanisms (1): each composite crank-link mechanism comprises a crank (OG), two triangular frames and a plurality of connecting rods connected with the two triangular frames and the crank through rotating shafts, wherein the vertex A of the first triangular frame is connected with the end G of the crank (OG) through a connecting rod (AG), the vertex B of the first triangular frame is connected with the vertex C of the second triangular frame through a connecting rod (BC), the vertex F of the first triangular frame is connected with the vertex E of the second triangular frame through a connecting rod (EF), the vertex E of the second triangular frame is connected with the end G of the crank (OG) through a connecting rod II (EG), the vertex A of the first triangular frame is higher than the vertex B and the vertex F of the first triangular frame, the vertex D of the second triangular frame is lower than the vertex C and the vertex E of the second triangular frame, and the crank (OG) performs circular motion by taking the end O as the center, the vertex F of the first triangular frame in the two composite crank link mechanisms is coupled with two ends of the connecting shaft (8) by shafts;

foot board (2): the D vertex of a second triangular frame in each composite crank connecting rod mechanism is in shaft connection;

active and passive training switching unit (3): the O ends of the cranks (OG) of the two compound crank-link mechanisms are connected, and the cranks (OG) are driven to rotate around the O ends to realize passive rehabilitation training; or for imparting resistance to rotation of the cranks (OG) of the two compound crank-link mechanisms to achieve passive rehabilitation training.

2. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the active and passive training switching unit (3) comprises a transmission wheel (31) connected with the O end of a crank (OG), a belt pulley (33) connected with the transmission wheel (31) through a belt (32), a rotating shaft (34) penetrating through the center of the belt pulley (33) and rotating together with the belt pulley (33), an active electromagnetic clutch (35) and a passive electromagnetic clutch (36) arranged at the two ends of the rotating shaft (34), an electromagnetic damper (38) connected with the active electromagnetic clutch (35) through a gear set (37a) and a reduction motor (39) connected with the passive electromagnetic clutch (36) through a gear set (37b), the active electromagnetic clutch (35) and the passive electromagnetic clutch (36) cannot be simultaneously engaged with the rotating shaft (34).

3. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 2, characterized in that the O ends of the cranks (OG) of the two compound crank-link mechanisms are coupled with the circle center of the driving wheel (31), and the two cranks (OG) are distributed in 180 degrees.

4. A gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism according to claim 2, characterized in that the gear set (37a, 37b) comprises at least two gears meshing with each other.

5. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the length ratio of the first side (AB), the second side (AF), the third side (BF) and the crank (OG) of the first triangular frame is (5-5.3): (4-4.2): (3.7-4): 1, the length ratio of a first side (CD), a second side (DE), a third side (CE) and a crank (OG) of the second triangular frame is (6.4-7.2): (5.2-5.5): (3.8-4): 1, the length ratio of the first connecting rod (AG), the second connecting rod (EG), the third connecting rod (BC), the fourth connecting rod (EF) to the crank (OG) is (4.5-5): (7-7.5): (4.5-4.8): (4.3-4.5): 1.

6. a gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism according to claim 1 or 5, characterized in that the ratio of the length of the crank (OG) to the height of the lower limb rehabilitation trainer is 1: (2.9-3).

7. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1, characterized in that a stepping motor (4) for controlling the rotation of the pedal (2) around the D vertex is arranged at the D vertex of the second triangular frame.

8. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1 or 7, characterized in that the pedal (2) comprises a front part (21) connected with the D vertex of the triangle frame II, a rear part (23) connected with the front part (21) through a circular polished rod (22), and protrusions (24) arranged on the edges of the front part (21) and the rear part (23), the bottom of the rear part (23) is provided with a hole for inserting the circular polished rod (22), the hole is provided with a pin hole (25), the circular polished rod (22) is provided with a plurality of positioning holes (27), and a positioning pin (26) passes through the pin hole (25) and the positioning hole (27) to fixedly connect the rear part (23) and the circular polished rod (22).

9. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1, characterized in that two through holes (11) are provided at the D vertex of the second triangular frame, and a bandage for binding the ankle of the lower limb rehabilitation training person is threaded in the two through holes (11).

10. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the rehabilitation training device comprises a base (5), a support (6) and a handrail (7), and the active and passive training switching unit (3) is fixedly connected with the support (6).

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