CN110123578A - Drop foot rehabilitation training equipment - Google Patents
Drop foot rehabilitation training equipment Download PDFInfo
- Publication number
- CN110123578A CN110123578A CN201910394716.7A CN201910394716A CN110123578A CN 110123578 A CN110123578 A CN 110123578A CN 201910394716 A CN201910394716 A CN 201910394716A CN 110123578 A CN110123578 A CN 110123578A
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- Prior art keywords
- foot
- fixing component
- drop foot
- rehabilitation training
- shank
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- 238000012549 training Methods 0.000 title claims abstract description 63
- 210000002683 foot Anatomy 0.000 claims abstract description 168
- 210000000544 articulatio talocruralis Anatomy 0.000 claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 210000003423 ankle Anatomy 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 4
- 238000006243 chemical reaction Methods 0.000 claims description 3
- 210000001364 upper extremity Anatomy 0.000 claims description 3
- 239000007787 solid Substances 0.000 claims description 2
- 239000004744 fabric Substances 0.000 claims 1
- 230000006378 damage Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 208000027418 Wounds and injury Diseases 0.000 abstract description 4
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 2
- 210000001699 lower leg Anatomy 0.000 description 56
- 230000000694 effects Effects 0.000 description 13
- 239000003638 chemical reducing agent Substances 0.000 description 9
- 230000006870 function Effects 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000001939 inductive effect Effects 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 238000005496 tempering Methods 0.000 description 3
- 241000239290 Araneae Species 0.000 description 2
- 206010034701 Peroneal nerve palsy Diseases 0.000 description 2
- 208000006011 Stroke Diseases 0.000 description 2
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 210000000629 knee joint Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000007659 motor function Effects 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 208000030886 Traumatic Brain injury Diseases 0.000 description 1
- 206010052428 Wound Diseases 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013481 data capture Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- 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
-
- 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
- A61H1/024—Knee
-
- 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
- A61H1/0266—Foot
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- 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
- A61H2205/12—Feet
Abstract
The present embodiments relate to medical treatment thanks technical field, solves the problems, such as that effective rehabilitation training can not be provided for individual with drop foot.The embodiment of the invention discloses a kind of drop foot rehabilitation training equipment, it includes chassis assembly, controller and drop foot correction component, drop foot correction component is installed on chassis assembly, drop foot correction component includes shank fixing component, foot's fixing component and ankle-joint rotating drive mechanism, shank fixing component is used for the shank of immobilized patients, foot's fixing component is used to support foot, it is rotatably mounted relative to foot's fixing component around rotation axis corresponding with ankle in the driving lower shank fixing component of ankle-joint rotating drive mechanism, the control terminal of ankle-joint rotating drive mechanism is connect with controller signals.The invention has the benefit that can be used for the rehabilitation of drop foot；Training program is customized according to conditions of patients；Avoid training process bring secondary injury.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of drop foot rehabilitation training equipment.
Background technique
The lower limb paralysis patient populations as caused by apoplexy, spinal cord injury and brain trauma are very big at present, and ascendant trend is presented.Under
After symptomatic treatment of the acroparalysis patient Jing Guo acute stage, generally require by longer rehabilitation, to restore patient's
Lower extremity motor function.Wherein kinesiatrics is essential in the rehabilitation stage, mainly improves fortune by active/passive movement
Dynamic obstacle mainly includes range of motion training, enhancing exercise for power and correcting posture training etc..Promote the training of motor function
It to be carried out under the guidance of rehabilitation teacher, differently to achieve the purpose that restore limb motion.
Treadmill training can be the muscular strength of exercise and to prevent anchylosis, and during rehabilitation, rehabilitation teacher can basis
The actual conditions of patient provide different size of resistance for the training in each stage, until reaching the standard of rehabilitation.However it is general
With the patient of drop foot symptom, Calf muscle is unable to get effective training.Therefore, it is necessary to a kind of drop foot rehabilitation trainings to set
It is standby, with solve or at least mitigate the above problem.
Summary of the invention
In order to solve the above problem in the prior art, in order to solve that effective rehabilitation can not be provided for individual with drop foot
Training, the embodiment of the present invention are supplied to a kind of drop foot rehabilitation training equipment, comprising:
Chassis assembly；
Controller；And
Drop foot correction component, the drop foot correction component are installed on the chassis assembly, the drop foot correction group
Part includes shank fixing component, foot's fixing component and ankle-joint rotating drive mechanism, and the shank fixing component is for fixing
The shank of patient, foot's fixing component are used to support foot, described under the driving of the ankle-joint rotating drive mechanism
Shank fixing component is rotatably mounted relative to foot's fixing component around rotation axis corresponding with ankle, the ankle-joint
The control terminal of rotating drive mechanism is connected with the controller in a signal way..
In some preferred embodiments, the chassis assembly includes:
Bottom plate, the shank fixing component and foot's fixing component are mounted on the bottom plate；And
Idler wheel, the idler wheel be it is multiple, be rotatably installed on the bottom of the bottom plate.
It in some preferred embodiments, further include accessory part, the accessory part further includes front stop lever, the front stop lever
It is installed on the rear end of the bottom plate, and the front stop lever is laterally arranged, the both ends of the front stop lever are extended to the left and right respectively
The edge of the bottom plate is to stop the foreleg of seat to move forward；Or
The accessory part further includes seat, and the seat is fixed on the bottom plate, also, the seat is located at the bottom
The rear end of plate.
In some preferred embodiments, the accessory part further includes handrail, and the handrail height can be adjustably mounted to
The chassis assembly, the handrail are installed on the front of the chassis assembly.
In some preferred embodiments, the accessory part further includes display screen, and the display screen and the controller are logical
Letter connection, the display screen is installed on the front of the chassis assembly height-adjustablely, and the display location is in described
The direction of the top of handrail, the display screen is adjustably arranged.
In some preferred embodiments, the ankle-joint rotating drive mechanism includes:
First power unit and contractibility, the both ends of the contractibility are individually fixed in the shank fixing component and described
Foot's fixing component, and the contractibility applies the shank fixing component and institute under the driving of first power unit
The gathering power that foot's fixing component collapses each other is stated, the control terminal of first power unit and the controller communicate to connect；
And
Damper Braces part, two damping ends of the Damper Braces part are connected to the shank fixing component and described respectively
Foot's fixing component, the support force opened each other to provide the shank fixing component and foot's fixing component.
In some preferred embodiments, the drop foot correction component further include:
Angle control unit, the angle control unit are installed on the fixed structure of the shank fixing component or the foot
Part, for detecting the angle between the shank fixing component and foot's fixing component, the letter of the angle control unit
Number output end and the controller communicate to connect；And
Incremental encoder, the incremental encoder are arranged in around first power unit, to detect the receipts
The signal output end of the movement travel of contracting part, the incremental encoder is connected with the controller in a signal way..
In some preferred embodiments, the drop foot rehabilitation training equipment further includes pedal assembly, the pedal assembly
It is rotatably installed on the vehicle in perpendicular including the second power unit and under the driving of second power unit
Two cranks of frame component, described two cranks are arranged at 180 °；
The distal end of described two cranks is separately installed with foot's fixing component, alternatively, crank
Distal end is equipped with foot's fixing component, and the distal end of another crank is equipped with a pedal, and the pedal can
To be switched fast with the drop foot correction component, realizes and turn between drop foot rehabilitation training and rehabilitation treadmill training function
It changes.
In some preferred embodiments, the pedal assembly further include:
Driving pulley, the driving pulley are rotatably installed on the chassis assembly, the driving pulley and described the
The transmission connection of two power units；
Driven pulley, the driven pulley are rotatably installed on the chassis assembly, the distal end of the crank it is opposite
The rotation axis of the driven pulley is fixed at end；And
Driving belt, the driving belt is on the driving pulley and the driven pulley.
In some preferred embodiments, the pedal assembly further include:
Torque sensor, the torque sensor is mounted on the power output shaft of second power unit, to detect
The torque of the second power unit output is stated, the signal output end of the torque sensor is connected with the controller in a signal way.；And
Absolute value encoder, the absolute value encoder are installed on the chassis assembly, to detect the distal end of the crank
The length in turned path.
The invention has the benefit that
Under the driving of ankle-joint rotating drive mechanism, shank fixing component relative to foot's fixing component around with ankle pair
The rotation axis answered can be rotated, so that shank is fixed on shank fixing component, foot's fixing component gaskin is fixed in foot is opposite
It can be rotated in sole, so that the purpose for tempering ankle-joint is played, so as to the rehabilitation for drop foot；
The control terminal of ankle-joint rotating drive mechanism is connect with controller signals, so that the work of ankle-joint rotating drive mechanism
It is controllable to make state, so that fixing component is controllable relative to foot's fixing component velocity of rotation, angle, so as to according to each trouble
The drop foot state of an illness of person it is different and formulate personalized rehabilitation training scheme (can be automatic by the program being pre-stored in controller
Execute, can also be controlled by parameter that controller receiving sensor detects), guarantee preferable rehabilitation training effect.
Detailed description of the invention
Fig. 1 is the perspective view of one embodiment of drop foot rehabilitation training equipment；
Fig. 2 is the overall structure figure of one embodiment of chassis assembly；
Fig. 3 is the left view of one embodiment of accessory part；
Fig. 4 is the left view of one embodiment of drop foot correction component；
Fig. 5 is the right view of one embodiment of drop foot correction component；
Fig. 6 is the schematic perspective view of one embodiment of pedal assembly；
Fig. 7 is the control figure of one embodiment of drop foot rehabilitation training equipment.
In figure:
1, chassis assembly；101, idler wheel；102, profile；103, bottom plate；104, hand the turn of the screw；105, front stop lever；106, type
Material corner fittings；
2, accessory part；201, column；202, boot seal；203, hand the turn of the screw；204, sliding tube；205, handrail is pacified
Fill pedestal；206, hand the turn of the screw；207, handrail；208, display/panel bracket；209, display screen；
3, pedal assembly；301, driving pulley；302, driving belt；303, driven pulley；304, encoder mounting seat；
305, slip ring spider；306, transmission shaft；307, absolute value encoder；308, conducting slip ring；309, torque sensor connector；
310, torque sensor；311, speed reducer connector；312, speed reducer mounting seat；313, speed reducer；314, the second power packages
Part；315, pedal；316, crank；317, output shaft；318, bearing block；319, bearing block connector；320, adjusting screw rod；321,
Fixed block；
4, drop foot correction component；401, incremental encoder；402, deceleration machine support；403, capstan winch；404, spool branch
Frame；405, pedal；406, pneumatic bracket；407, gas bar axis；408, gas-pressure mandril；409, pedal shaft；410, spool card；411, it steps on
Plate connector；412, articulated shaft；413, protecting plate bracket；414, brake cable；415, L-type support；416, small leg guard；417, flexible
Part；418, limit switch；419, inductive switching piece；
5, seat.
Specific embodiment
The preferred embodiment of the present invention described with reference to the accompanying drawings.It will be apparent to a skilled person that this
A little embodiments are used only for explaining technical principle of the invention, it is not intended that limit the scope of the invention.
Referring to Fig.1, the embodiment of the invention discloses a kind of drop foot rehabilitation training equipment comprising chassis assembly 1, control
Device and drop foot correction component 4, in which: drop foot correction component is installed on chassis assembly, and drop foot correction component includes shank
Fixing component, foot's fixing component and ankle-joint rotating drive mechanism, shank fixing component are used for the shank of immobilized patients, foot
Fixing component is used to support foot, fixes structure relative to foot in the driving lower shank fixing component of ankle-joint rotating drive mechanism
Part is rotatably mounted around rotation axis corresponding with ankle, and the control terminal and controller signals of ankle-joint rotating drive mechanism connect
It connects.
Under the driving of ankle-joint rotating drive mechanism, shank fixing component relative to foot's fixing component around with ankle pair
The rotation axis answered can be rotated, so that shank is fixed on shank fixing component, foot's fixing component gaskin is fixed in foot is opposite
It can be rotated in sole, so that the purpose for tempering ankle-joint is played, so as to the rehabilitation for drop foot.
The control terminal of ankle-joint rotating drive mechanism is connect with controller signals, so that the work of ankle-joint rotating drive mechanism
It is controllable to make state, so that fixing component is controllable relative to foot's fixing component velocity of rotation, angle, so as to according to each trouble
The drop foot state of an illness of person it is different and formulate personalized rehabilitation training scheme (can be automatic by the program being pre-stored in controller
Execute, can also be controlled by parameter that controller receiving sensor detects), guarantee preferable rehabilitation training effect.
It should be noted that hinged mounting means can be used therebetween in shank fixing component and foot fixing piece, such as
Shown in figure, the distance of the upper surface of articulated shaft 412 to foot's fixing component should be the height (4cm- of the ankle of normal person
10cm), certainly, in order to guarantee that ankle can be overlapped with articulated shaft, mode one, by the top of articulated shaft and foot's fixing component it
Between height be set as upper height limit (such as 10cm) to meet under the premise of the maximum crowd of ankle height can use, for ankle
Height pads the pad of upper different size or multiple same sizes in upper height limit crowd below, on the top of foot's fixing component
Piece can (not shown), to guarantee wider crowd's scope of application, while but also ankle is consistent with articulated shaft height,
Both avoid inconsistent influences rehabilitation training effect in addition caused by secondary damage；Mode two sets foot's fixing component to
Separate structure comprising connector and foot's fixed plate, the upper end of connector and articulated shaft are hinged, and the lower end of connector is provided with
Multiple groups mounting hole, multiple groups mounting hole is arranged along the length direction of connector, by the way that foot's fixed plate to be fixed to different installations
Hole adjusts the distance between foot's mounting plate and articulated shaft, so that ankle can be overlapped with articulated shaft height, to keep away
Secondary damage caused by exempting from the inconsistent influence rehabilitation training effect of the two even.Those of skill in the art would appreciate that in order to make
It is consistent with the height of ankle to obtain articulated shaft, can also take other modes, for description aspect, does not enumerate herein.
It should be noted that referring to Fig. 4 and Fig. 5 shank fixing component include posterior leg is wrapped in, by rigidity
The front side of protecting plate bracket 413 made of material, protecting plate bracket is open, convenient that shank is put into protecting plate bracket by the opening,
Shank fixing component further includes flexible piece (such as bandage), and flexible piece is fixed on the front side of protecting plate bracket, is bypassed by flexible piece 417
The front side of shank, to fix shank on laterally, fixation is further ensured that rehabilitation training effect.Certainly, this field skill
Art personnel are it is appreciated that shank fixing component may also be configured to other structures, as long as its purpose is to fixed shanks, no
It enumerates again.
In addition, in the fixed small leg guard 416 in the upper end of protecting plate bracket, to protect the side of shank, when preventing rehabilitation training
Secondary injury.
Foot's fixing component is similar with the structure of shank fixing component, and only shape is different, specifically, the fixed structure of foot
Part includes foot's fixed plate and the flexible piece that is fixed on above foot's fixed plate, supports foot, soft upwards by foot's fixed plate
Property part (such as bandage, figure in be not drawn into) is across the downward pressing part of foot's fixed plate, so that good fixed effect is formed to foot,
It is further ensured that rehabilitation training effect.Certainly, those of skill in the art would appreciate that for fixed foot portion purpose foot fixing piece
It may also be configured to other structures, will not enumerate.
Referring to Fig. 2 and Fig. 3, a kind of specific structure of chassis assembly are as follows: it includes bottom plate 103 and idler wheel 101, and bottom plate provides
Whole support, shank fixing component and foot's fixing component are installed on bottom plate, in order to guarantee the steady of movement, are mounted on
The idler wheel of bottom base plate should be steady in order to further ensure moving to be multiple, multiple idler wheels at isosceles triangle, rectangle, etc.
The forms symmetrically arranged on the left and the right such as waist is trapezoidal.It is equipped with profile 102 (such as aluminum profile), is rolled by connectors such as bolts below bottom plate
Wheel is mounted below profile, and profile plays connection function, and increases the forced area of idler wheel and bottom plate, is played reinforcement and is fixed
Effect.Mounting hole is set on bottom plate, and the installation for other component (such as drop foot correction component) provides position.
Therefore drop foot rehabilitation training equipment should provide a seat 5 for drop foot rehabilitation training so that patient multiplies
Sit, which can be a part of drop foot rehabilitation training equipment, can also be independently of drop foot rehabilitation training equipment except,
Which kind of mode is specifically used, can flexibly be selected according to practical.
When the seat is independently of drop foot rehabilitation training equipment (as shown in Figure 1), drop foot rehabilitation training equipment is also wrapped
Accessory part 2 is included, accessory part further includes front stop lever 105, and front stop lever is installed on the rear end of bottom plate, and front stop lever is laterally set
Set, the edge of bottom plate is extended to the left and right respectively to stop the foreleg of seat to move forward in the both ends of front stop lever, thus prevent seat to
Preceding movement, so that avoiding being moved forward due to seat is influenced rehabilitation training effect, even causes secondary injury, meanwhile, seat can make
With daily chair, stool, even sofa, so that drop foot rehabilitation training device structure is simple, small in size, light weight and cost
It is low, product competitiveness is improved, convenient for storage, transport and installation.Front stop lever is locked on bottom plate using hand the turn of the screw 104, side
Just it installs, dismantle.
When the seat is a part of drop foot rehabilitation training equipment, accessory part further includes seat, and seat is fixed on
Bottom plate, also, seat is located at the rear end of bottom plate.Bottom plate upper fixed seat chair, functions of the equipments are complete.
In addition, chassis assembly further includes handrail 207, handrail height can be adjustably mounted to chassis assembly, and handrail is installed on
The front of chassis assembly.By the setting of handrail, allows to carry out in the patient of rehabilitation training or more seat or training process and use hand
The handrail is held, auxiliary is provided for the action that patient provides, avoids the generation of unexpected thing, prevent secondary wound when rehabilitation training
Evil.Meanwhile the height adjustment of the handrail be arranged, with adapt to different building shape people use, expand the scope of application.As handrail
A kind of mode of height adjustment, accessory part include column 201 and sliding tube, and bottom plate is fixed in the lower end of column, and column is hollow,
Sliding tube is slidably mounted in hollow column, and hand the turn of the screw 206 is arranged and locks times that sliding tube slides in column
Meaning position, handrail mounting seat are fixed on sliding tube, and handrail clamps handrail by hand the turn of the screw.Through-hole is offered on column, it should
Capping has boot seal 202 on through-hole, and user protects the harness (harness of connection display screen) in column.
Accessory part further includes display screen 209, and display screen and controller communicate to connect, and display screen is installed height-adjustablely
In the front of chassis assembly, and display location, in the top of handrail, the direction of display screen is adjustably arranged.By with control
The display screen of device communication connection can show equipment running status, for information such as the videos of patient entertainment.Rehabilitation training equipment simultaneously
It may also include user interface, the user interface and controller communicate to connect and are shown in display screen, as previously mentioned, can
It is realized to controller input control program by the user interface to the motion state of ankle-joint rotating drive mechanism
Control.Meanwhile display screen is arranged in the front of chassis assembly, meets human engineering, the direction of display screen is adjustable, so that display
Screen can be adjusted to any angle, facilitates patient to watch, further conforms to Ergonomics design.Display screen is fixed on display/panel bracket
208, display/panel bracket connects mode by ball and is installed on sliding tube.
A kind of specific structure of ankle-joint rotating drive mechanism is the first power unit, contractibility and Damper Braces part,
The both ends of contractibility are individually fixed in shank fixing component and foot's fixing component, and receive under the driving of the first power unit
Contracting part applies the gathering power that shank fixing component and foot's fixing component collapse each other, the control terminal and control of the first power unit
Device communication connection；Two damping ends of Damper Braces part are connected to shank fixing component and foot's fixing component respectively, to mention
The support force opened each other for shank fixing component and foot's fixing component.Contractibility work is driven by the first power unit,
So that shank fixing component and foot's fixing component have the tendency that collapsing each other, by the setting of Damper Braces part, so that shank
Fixing component and foot's fixing component have distracted trend each other.Therefore, when the gathering effect of the first power unit is greater than damping
When strutting effect of supporting element, shank fixing component collapse each other with foot's fixing component, and angle between the two becomes smaller, i.e. foot
The direction that ankle reduces to the angle between sole and shank rotates；When the gathering effect of the first power unit is less than Damper Braces part
When strutting effect, shank fixing component struts each other with foot's fixing component, and angle between the two increases, i.e. ankle is to foot
The direction that angle between the palm and shank increases rotates.Successively, make ankle reciprocating rotation, so that the purpose for tempering ankle is played,
To complete drop foot training.In addition, the maximum value and minimum value of angle between the two, can pass through the stroke of Damper Braces part
Endpoint, the instruction of pre-stored the first power unit of control work in the controller, locking member end point of travel adjust, ability
Field technique personnel do not do repeated explanation it is appreciated that can complete by the related content of sport dynamics herein.
First power unit, contractibility and the mating reaction of Damper Braces part fix structure to adjust shank fixing component and foot
A kind of specific structure of corner dimension between part are as follows: the first power unit is decelerating motor, which passes through speed reducer
Bracket 402 is fixed on bottom plate, and contractibility is brake cable 414, and Damper Braces part is gas-pressure mandril 408, specifically, the first power list
The optional motor of member, the rotation of motor drive the capstan winch 403 for being rotatably installed on bottom plate to rotate after the deceleration of retarder, stop
The cable of fare is wound on capstan winch, and bottom plate is fixed on by spool bracket 404 in the middle part of brake cable, and the end of brake cable passes through line
Pipe clamp 410 is fixed on foot's fixing component, and foot's fixing component is fixedly arranged above pedal connector 411, pedal connector with
Articulated shaft is hinged, and the first end of the spool of brake cable is fixed on foot's fixing component, the spool of brake cable by L-type support 415
The other end shank fixing component is fixed on by another L-type support, by pull brake cable the cable of brake cable is existed
Sliding in spool, so that the brake cable distance between spool both ends reduces, so that foot's fixing component and shank are solid
The angle determined between component reduces.Pneumatic bracket 406, correspondingly, shank are respectively fixed at left and right sides of foot's fixing component
The left and right sides of fixing component is also fixed with starting bracket, and two one the first from left right sides of gas-pressure mandril are symmetrically installed, that is, is mounted on left side
The lower end of gas-pressure mandril the pneumatic bracket in the left side for being installed on protecting plate bracket is articulated with by gas bar axis 407, be mounted on left side
The upper end of gas-pressure mandril the pneumatic bracket in the left side for being installed on protecting plate bracket, the air pressure top on right side are articulated with by another pin shaft
Bar is installed using same way, is not repeated to illustrate.
As described above, gathering/the open angle and speed between foot's fixing component and shank fixing component can be by pre-
The procedure auto-control being stored in controller can also detect the automatic control system to form closed-loop control by sensor.
When being controlled by sensor, the drop foot correction component further includes angle control unit and incremental encoder 401
(being also absolute value encoder), the angle control unit are installed on the shank fixing component or foot's fixing component,
For detecting the angle between the shank fixing component and foot's fixing component, the signal of the angle control unit is defeated
Outlet and the controller communicate to connect；The incremental encoder is arranged in around first power unit, to detect
The movement travel of contractibility is stated, the signal output end of the incremental encoder is connected with the controller in a signal way..
The angle between shank fixing component and foot's fixing component is detected by angle controller, and by the angle signal
It is transferred to controller, controller (can flexibly be set through the angle and pre-stored angle threshold in the controller according to conditions of patients
Set, such as 60 ° -120 °) it is compared, when being lower than angle threshold (such as 60 °), controller sends work to the first power unit
Signal, the work of the first power unit, driving capstan winch rotation release brake cable, under the action of the restoring force of gas-pressure mandril, the angle
Degree increases, until being located at the angle threshold；When being higher than angle threshold (such as 120 °), controller is sent to the second power unit
Working signal, the work of the first power unit, driving capstan winch opposite direction rotation tense brake cable, compress Pneumatic top bar, which subtracts
It is small, until being located in the angle threshold.
The movement travel of contractibility is detected by incremental encoder, and the movement travel data are transferred to control
Device is integrated with timer in controller, is shunk by the differential to the time in movement travel and the movement travel with calculating
The movement velocity of part, then in conjunction with contractibility at a distance from the intersection point to articulated shaft of foot fixing component, contractibility and shank
The intersection point of fixing component can calculate the angle of rotation of foot's fixing component relative to shank fixing component to the distance of articulated shaft
Speed, the angular speed are the angular speed of ankle rotation, angle speed of the controller by the angular velocity data and storage in the controller
Degree threshold value be compared, when the angular speed exceed angular speed threshold value, controller to the first power unit send working signal, first
The working condition of power unit is changed (such as velocity of rotation), to change the movement velocity of contractibility, finally makes ankle
Rotational angular velocity be located in the angular speed threshold value.
It should be noted that the working condition of the first power unit needs while meeting foot's fixing component to fix with shank
Gathering/open angle and angular speed between component are all satisfied certain condition (such as above-mentioned angle threshold and angular speed threshold value).
In addition, drop foot rehabilitation training equipment further includes pedal assembly 3, referring to Fig. 6, pedal assembly includes the second power list
Member and two cranks 316 for being rotatably installed on chassis assembly in perpendicular under the driving of the second power unit, two
A crank is arranged at 180 °；
The distal end of two cranks is separately installed with foot's fixing component, so that the patient of the equal drop foot of Liang Ge foot makes
With alternatively, the distal end of a crank is equipped with foot's fixing component, the distal end of another crank is equipped with a pedal
405, so that the patient of foot's drop foot uses.Patient's waist or less can be also tempered while knee joint bending rehabilitation training
Other positions such as thigh, knee joint.So that the patient of the equal drop foot of Liang Ge foot or only one foot's drop foot
Patient can be used.Meanwhile first power unit and the second power unit be two different power units, that is, first is dynamic
Power unit drives the rotation of ankle, and the rotation of the second power unit driving crank is to drive the reciprocal of foot, shank and thigh
It steps, two power units individually can control or jointly control, it is possible to provide a variety of main passive exercise moulds such as power-assisted/resistance
Formula, the also normal foot dorsiflexion of analog, so that patient's gait be made to be similar to normal human's gait.
It should be noted that pedal is rotatably installed on crank by pedal shaft 409.In addition, in order to mitigate pedal with
Friction between crank can install bearing between pedal shaft and pedal.
Pedal assembly further include:
Driving pulley 301, the driving pulley are rotatably installed on the chassis assembly, the driving pulley with it is described
The transmission connection of second power unit；
Driven pulley 303, the driven pulley are rotatably installed on the chassis assembly, the phase of the distal end of the crank
Opposite ends is fixed on the rotation axis of the driven pulley；And
Driving belt 302, the driving belt is on the driving pulley and the driven pulley.Transmission efficiency is high
And it is steady, have the function of bumper and absorbing shock.
Pedal assembly further include:
Torque sensor, the torque sensor is mounted on the power output shaft of second power unit, to detect
The torque of the second power unit output is stated, the signal output end of the torque sensor is connected with the controller in a signal way.；And
Absolute value encoder, the absolute value encoder are installed on the chassis assembly, to detect the distal end of the crank
The length in turned path.
It should be noted that the second power unit selects servo motor, servo motor 314 connect with speed reducer 313, passes through
Screw is fixed in speed reducer mounting seat 312.Speed reducer 313 is screwed with speed reducer connector 311, and speed reducer connects
311 other end of fitting is equipped with torque sensor 310, and the size of driving torque is recorded by torque sensor 310.Torque sensor
Torque sensor connector 309 (such as bolt) is housed between 310 and transmission shaft 306.Drive pulley is housed on transmission shaft 306
303, power is transmitted on driven pulley 301 by belt 302.Bearing block is equipped in 303 two sides of drive pulley to prop up
It supports transmission shaft 306 to rotate, encoder mounting seat 304 is installed on bearing block 317, be used for fixed absolute value encoder 307.
Conducting slip ring 308 is housed in 306 tail portion of transmission shaft, and is fixed with slip ring spider 305.Follower belt is housed on output shaft 317
Wheel 301 and transfer motion power, output shaft 317 are mounted on bearing block 318 and axially rotate.317 both ends of output shaft and crank 316 use spiral shell
Nail is hinged fixed, pedal 315 is housed in 316 other end of crank, pedal 315 and drop foot correction component 4 are replaceable.In driven skin
Bearing block connecting plate 319 is housed between two bearing blocks 318 at belt wheel 301, is opened with fixed block 321 by adjusting screw rod 320
Tight belt 302, fixed block 321 are fixed on bottom plate 103.
In addition, since the distance between two feet in left and right are limited, set I-shaped for bottom plate, intermediate narrow, both ends
Width, and corner of the bottom plate between middle part and both ends is attached by profile corner fittings 106 (such as aluminum profile corner fittings), to keep away
The stress for exempting from corner is concentrated, and the intensity of corner is improved, and two feet are convenient to be trampled across in the middle part of bottom plate in fixed structure
Part and pedal are easy to use.Meanwhile the relatively narrow middle part can provide upper and lower space for patient, or be the upper of assistance patient
Under medical staff, family members etc. accommodation space is provided, be easy to use.
When drop foot rehabilitation training equipment works, controller (merge into a single whole machine if controller is integrated at display screen)
Control program is issued to treadmill driver, control instruction is converted to by treadmill driver and is sent to the second power unit, second is dynamic
Power unit executes control instruction to drive treadmill to rotate.Incremental encoder (i.e. relative value encoder) is the second power unit
The station-keeping data feedback of motor 314 is to treadmill driver, and torque sensor 310 acquires the torque of treadmill in real time, through data
Capture card is sent to controller, and host computer issues power-assisted/resistance exercise according to training mode and patient motion demand and instructs.Absolutely
The location information being worth during the record treadmill movement of encoder 307, real-time transmission to controller is (when controller and display screen are integrated
It is as all-in-one machine together).Controller issues control program to drop foot driver, is converted to control by drop foot driver
Instruction is sent to the first power unit 401, and the first power unit executes control instruction to drive capstan winch 403 to rotate.Relative value
The station-keeping data of first power unit 401 is fed back to drop foot driver by encoder, angle control unit (including limit
Switch 418 and inductive switching piece 419, limit switch 418 and inductive switching piece 419 are mounted on protecting plate bracket 413, and switch
Sensing chip 419 is arranged towards articulated shaft 412, to detect the rotational angle of articulated shaft 412) limit signal is transferred to drop foot drive
Dynamic device executes limit control by drop foot driver, so that patients feet moves in reasonable angular range, keeps away referring to Fig. 7
Exempt to cause secondary damage to patient.It can be seen from the above, the pedal 315 can be switched fast with the drop foot correction component,
Realize the conversion between drop foot rehabilitation training and rehabilitation treadmill training function.That is, the treadmill driver and drop foot driver
Setting so that the control of control and the ankle rotational motion of treadmill movement can reduce two respectively by two driver controls
Control signal, the action component of place's movement need to be transferred to the longer situation of harness caused by the same controller, reduce
Failure occurs.
It should be noted that in the description of the present invention, term " center ", "upper", "lower", "left", "right", "vertical",
The term of the instruction direction such as "horizontal", "inner", "outside" or positional relationship is to be based on attached direction shown in FIG. 1 or positional relationship, this
It is intended merely to facilitate description, rather than indication or suggestion described device or element must have a particular orientation, with specific
Orientation construction and operation, therefore be not considered as limiting the invention.In addition, term " first ", " second ", " third " are only used
In description purpose, it is not understood to indicate or imply relative importance.
In addition it is also necessary to explanation, in the description of the present invention unless specifically defined or limited otherwise, term " peace
Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, be also possible to be electrically connected；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.To those skilled in the art, it can understand that above-mentioned term exists as the case may be
Concrete meaning in the present invention.
Term " includes " or any other like term are intended to cover non-exclusive inclusion, so that including a system
Process, article or the equipment/device of column element not only include those elements, but also other are wanted including what is be not explicitly listed
Element either further includes these processes, article or the intrinsic element of equipment/device.
So far, it has been combined preferred embodiment shown in the drawings and describes technical solution of the present invention, still, this field
Technical staff is it is easily understood that protection scope of the present invention is expressly not limited to these specific embodiments.Without departing from this
Under the premise of the principle of invention, those skilled in the art can make equivalent change or replacement to the relevant technologies feature, these
Technical solution after change or replacement will fall within the scope of protection of the present invention.
Claims (10)
1. a kind of drop foot rehabilitation training equipment characterized by comprising
Chassis assembly；
Controller；And
Drop foot correction component, the drop foot correction component are installed on the chassis assembly, the drop foot correction component packet
Shank fixing component, foot's fixing component and ankle-joint rotating drive mechanism are included, the shank fixing component is used for immobilized patients
Shank, foot's fixing component is used to support foot, the shank under the driving of the ankle-joint rotating drive mechanism
Fixing component is rotatably mounted relative to foot's fixing component around rotation axis corresponding with ankle, the ankle-joint rotation
The control terminal of driving mechanism is connected with the controller in a signal way..
2. drop foot rehabilitation training equipment according to claim 1, which is characterized in that the chassis assembly includes:
Bottom plate, the shank fixing component and foot's fixing component are mounted on the bottom plate；And
Idler wheel, the idler wheel be it is multiple, be rotatably installed on the bottom of the bottom plate.
3. drop foot rehabilitation training equipment according to claim 2, which is characterized in that
The chassis assembly further includes front stop lever, and the front stop lever is installed on the rear end of the bottom plate, and the front stop lever is horizontal
To setting, the edge of the bottom plate is extended to the left and right respectively to stop the foreleg of seat to move forward in the both ends of the front stop lever；Or
Person
The accessory part further includes seat, and the seat is fixed on the bottom plate, also, the seat is located at the bottom plate
Rear end.
4. drop foot rehabilitation training equipment according to claim 1, which is characterized in that it further include accessory part, it is described auxiliary
Helping component further includes handrail, and the handrail height can be adjustably mounted to the chassis assembly, and the handrail is installed on the vehicle
The front of frame component.
5. drop foot rehabilitation training equipment according to claim 4, which is characterized in that the accessory part further includes display
Screen, the display screen and the controller communicate to connect, and the display screen is installed on the chassis assembly height-adjustablely
Front, and the display location, in the top of the handrail, the direction of the display screen is adjustably arranged.
6. drop foot rehabilitation training equipment according to claim 1, which is characterized in that the ankle-joint rotating drive mechanism
Include:
First power unit and contractibility, the both ends of the contractibility are individually fixed in the shank fixing component and the foot
Fixing component, and the contractibility applies the shank fixing component and the foot under the driving of first power unit
The gathering power that portion's fixing component collapses each other, the control terminal of first power unit and the controller communicate to connect；And
Two damping ends of Damper Braces part, the Damper Braces part are connected to the shank fixing component and the foot respectively
Fixing component, the support force opened each other to provide the shank fixing component and foot's fixing component.
7. drop foot rehabilitation training equipment according to claim 6, which is characterized in that the drop foot correction component also wraps
It includes:
Angle control unit, the angle control unit are installed on the shank fixing component or foot's fixing component, use
In detecting the angle between the shank fixing component and foot's fixing component, the signal of the angle control unit is exported
End is communicated to connect with the controller；And
Incremental encoder, the incremental encoder are arranged in around first power unit, to detect the contractibility
Movement travel, the signal output end of the incremental encoder is connected with the controller in a signal way..
8. drop foot rehabilitation training equipment according to any one of claim 1 to 7, which is characterized in that the drop foot
Rehabilitation training equipment further includes pedal assembly, and the pedal assembly includes the second power unit and in second power unit
Two cranks of the chassis assembly are rotatably installed under driving in perpendicular, described two cranks are at 180 ° of cloth
It sets；
The distal end of described two cranks is separately installed with foot's fixing component, alternatively, the distal end of a crank
One foot's fixing component is installed, the distal end of another crank is equipped with a pedal, and the pedal can be with
The drop foot correction component is switched fast, and realizes the conversion between drop foot rehabilitation training and rehabilitation treadmill training function.
9. drop foot rehabilitation training equipment according to claim 8, which is characterized in that the pedal assembly further include:
Driving pulley, the driving pulley are rotatably installed on the chassis assembly, and the driving pulley is dynamic with described second
The transmission connection of power unit；
Driven pulley, the driven pulley are rotatably installed on the chassis assembly, and the opposite end of the distal end of the crank is solid
Due to the rotation axis of the driven pulley；And
Driving belt, the driving belt is on the driving pulley and the driven pulley.
10. drop foot rehabilitation training equipment according to claim 9, which is characterized in that the pedal assembly further include:
Torque sensor, the torque sensor are mounted on the power output shaft of second power unit, to detect described
The torque of two power units output, the signal output end of the torque sensor are connected with the controller in a signal way.；And
Absolute value encoder, the absolute value encoder are installed on the chassis assembly, to detect the distal end rotation of the crank
The length in the path crossed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910394716.7A CN110123578A (en) | 2019-05-13 | 2019-05-13 | Drop foot rehabilitation training equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910394716.7A CN110123578A (en) | 2019-05-13 | 2019-05-13 | Drop foot rehabilitation training equipment |
Publications (1)
| Publication Number | Publication Date |
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| CN110123578A true CN110123578A (en) | 2019-08-16 |
Family
ID=67573579
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910394716.7A Pending CN110123578A (en) | 2019-05-13 | 2019-05-13 | Drop foot rehabilitation training equipment |
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| Country | Link |
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| CN (1) | CN110123578A (en) |
Cited By (2)
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| CN111297534A (en) * | 2020-03-20 | 2020-06-19 | 中科院合肥技术创新工程院 | Gait correction training device |
| CN113456425A (en) * | 2021-07-09 | 2021-10-01 | 青岛大学附属医院 | Auxiliary movement device for old people |
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Application publication date: 20190816 |