CN110179631A - A kind of hip joint training institution of two-freedom - Google Patents
A kind of hip joint training institution of two-freedom Download PDFInfo
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- CN110179631A CN110179631A CN201910555065.5A CN201910555065A CN110179631A CN 110179631 A CN110179631 A CN 110179631A CN 201910555065 A CN201910555065 A CN 201910555065A CN 110179631 A CN110179631 A CN 110179631A
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- motor
- joint
- outreach
- hip joint
- support plate
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 87
- 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 claims abstract description 22
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000005611 electricity Effects 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000001788 irregular Effects 0.000 claims description 3
- 210000000689 upper leg Anatomy 0.000 claims description 3
- 230000035876 healing Effects 0.000 abstract 1
- 210000001364 upper extremity Anatomy 0.000 description 7
- 230000006835 compression Effects 0.000 description 6
- 238000007906 compression Methods 0.000 description 6
- 238000011084 recovery Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000001624 hip Anatomy 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 3
- 229910052802 copper Inorganic materials 0.000 description 3
- 239000010949 copper Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 150000001875 compounds Chemical class 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000006735 deficit Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 235000013399 edible fruits Nutrition 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000005728 strengthening Methods 0.000 description 1
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
- A61H1/0218—Drawing-out devices
-
- 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
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of hip joint training institutions of two-freedom, are related to rehabilitation equipment technical field, solve the technical problem that common hip joint training institution figure is big, mobility is poor, can only carry out simple joint training.The hip joint training institution of the two-freedom includes left training unit and right training unit arranged side by side, left training unit and right training unit include that outreach component and hip joint buckling extension assembly are received in hip joint, it is the first freedom degree component that outreach component is received in hip joint, hip joint buckling extension assembly is second freedom degree component, it includes pedestal, interior receipts outreach motor and interior receipts outreach joint that outreach component is received in hip joint, and hip joint buckling extension assembly includes buckling stretching, extension motor, V belt translation component, motor supporting base and bends and stretches pass.The present invention has small in size, light-weight, the good feature of mobility for hip joint healing training, can also be practical with other training equipment with the use of realization multi-joint training.
Description
Technical field
The present invention relates to rehabilitation equipment technical fields, more particularly, to a kind of hip joint training institution of two-freedom.
Background technique
At present for neurologic impairment bring dyskinesia and motional injury, carrying out rehabilitation training is most to have
The method of rehabilitation of effect.Rehabilitation training is broadly divided into passive exercise, active training and impedance three kinds of modes of training.Current existing hip
There are two types of joint training institution is general: one is recovery training appliance for recovery, and there are also one is the recovery exercising robots of exoskeleton-type.
Applicants have discovered that at least there is following technical problem in the prior art:
Only one training freedom degree of existing recovery training appliance for recovery, can only pass through replacement training group component and adjustment equipment appearance
State carries out the training in other joints, and training freedom degree is low, and it is very inconvenient to replace training assembly；The rehabilitation training of exoskeleton-type
Robot generally divides upper limb or lower limb, and training freedom degree and movement are fixed, are generally all used alone, upper limb and under
Limb can not be used cooperatively；In addition these two types of training institutions in the prior art can all allow drive motor shaft and joint rotational axis weight
It closes, motor is installed in the outside of hip joint, since hip joint strength is bigger, so the size of general motor is also bigger.
Existing hip joint training aids are largely installed in bed or on ground, and since figure is big, heavy, it has not been convenient to and it is mobile, and
Due to hip joint, training institution is wider, can only be used alone, and can not be used cooperatively with other training institutions.
The present invention devises a kind of hip joint training institution of two-freedom, can be carried out and receives Outward Bound in hip joint and bend
Qu Shenzhan training by reasonable topology layout, improves the kind of drive, improvement driving structure, compression running part structure size
Etc. modes so that entire hip joint training institution has the characteristics that small in size, light-weight, mobility is good, and due to hip pass
Section structure is narrow, can use simultaneously with other training equipment cooperations.
Summary of the invention
The purpose of the present invention is to provide a kind of hip joint training institutions of two-freedom, to solve to exist in the prior art
Hip joint training institution figure it is big, mobility is poor, can only carry out simple joint training technical problem.
To achieve the above object, the present invention provides following technical schemes:
The hip joint training institution of a kind of two-freedom provided by the invention, including being arranged side by side to an immobilized patients left side
The left training unit of leg and right training unit to the right leg of immobilized patients, the left training unit and the right training unit are
Mirror image, the left training unit and the right training unit include that the interior receipts outreach component of hip joint and hip joint are bent
Bent extension assembly, the interior outreach component of receiving of the hip joint is the first freedom degree component, is received in the hip joint to realize patient outer
Exhibition movement；The hip joint buckling extension assembly is second freedom degree component, to realize that the hip joint buckling of patient stretches
Movement；Wherein,
It includes pedestal, interior receipts outreach motor and interior receipts outreach joint that outreach component is received in the hip joint, outside the interior receipts
Exhibition motor and the interior two sides received outreach joint and be separately positioned on the pedestal, and the interior receipts outreach motor and the interior receipts
Outreach joint transmission connection, to drive the interior receipts outreach joint to carry out horizontal direction swing；Prolong in the interior receipts outreach joint
It is parallel with the interior receipts output axis direction of outreach motor to stretch direction；
The hip joint buckling extension assembly includes buckling stretching, extension motor, V belt translation component, motor supporting base and bends and stretches pass
Section, the motor supporting base are fixedly mounted on the interior receipts outreach joint close to the interior receipts outreach motor side；The buckling
Stretching, extension motor is fixedly mounted on the motor supporting base far from the interior side for receiving outreach joint, and the bend and stretch joint activity is set
It sets in the interior outreach joint of receiving far from the interior side for receiving outreach motor, the buckling stretching, extension motor passes through the V belt translation
Component and the bend and stretch joint are sequentially connected to drive the bend and stretch joint to carry out vertical direction swing；The buckling stretching, extension electricity
Machine and the interior receipts outreach motor are in 90 degree of settings.
As a further improvement of the present invention, the interior receipts outreach joint includes motor support plate, left support plate, right support
Plate, upper cover plate and lower cover plate, the motor support plate are arranged in parallel with the pedestal, the interior receipts outreach motor it is horizontally disposed and
Its output shaft is fixedly connected after passing through the pedestal with the motor support plate, and the motor supporting base is vertically mounted on the electricity
Side of the machine support plate far from the pedestal, the left support plate are fitted and connected with the motor supporting base, the right support plate
It is arranged with the left support plate parallel interval, forms accommodating chamber inside the two, the upper cover plate and the lower cover plate cover respectively
It closes in the top and bottom of the accommodating chamber, the V belt translation component is arranged in the accommodating chamber.
As a further improvement of the present invention, the accommodating chamber end is uncovered structure, accommodating chamber end bottom tool
There is the opening protruded into for the bend and stretch joint, the opening is connected to be formed for described bend and stretch joint or so pendulum with the uncovered structure
Dynamic space.
As a further improvement of the present invention, the left support plate is identical with the right support plate structure snd size, and end
End is semicircular arc structure, and the upper cover plate and the lower cover plate length are respectively less than the left support plate or the right support plate
Length, and the lower cover plate length is less than the upper cover plate length, the lower cover plate end is between the upper cover plate end
The space swung for the bend and stretch joint.
As a further improvement of the present invention, the V belt translation component includes belt, driving pulley, passive belt wheel, compression
Wheel and shaft, the driving pulley are arranged in the accommodating chamber of the stretching, extension motor position of buckling described in face, and the buckling is stretched
Exhibition motor is horizontally disposed and its output shaft is driven after the motor supporting base and the left support plate with the driving pulley
Connection, the other end in the accommodating chamber far from the driving pulley is arranged in by the shaft in the passive belt wheel, described
Contact roller is arranged between the driving pulley and the passive belt wheel and close to the passive belt wheel setting, and the belt is successively
It is set on the driving pulley, the contact roller and the passive belt wheel, the bend and stretch joint is arranged in the passive belt wheel
On.The contact roller is located at other than the bend and stretch joint hunting range, to guarantee that the bend and stretch joint will not be to described in swinging
Belt causes to interfere.
As a further improvement of the present invention, the interior receipts outreach joint further includes setting in the left support plate and described
Three support columns and two bumping posts between right support plate, three support columns are uniformly or irregular setting is in the active
Between belt wheel and the passive belt wheel, the support column both ends are fixed with the left support plate and the right support plate respectively to be connected
It connects, the contact roller is rotatably arranged on one of them described support column, and two bumping posts are separately positioned on the receiving
Intracavitary to be located at the lower cover plate end outside and upper cover plate end outer fix, two bumping posts are used to bend to described
Stretch the restriction of two extreme positions of joint swing.
As a further improvement of the present invention, bend and stretch joint includes left connection board, right connection board and fixed plate, the left company
It is respectively arranged with annular sleeved part at the top of fishplate bar and the right connection board, two sleeved parts are respectively from the both ends of the shaft set
It is fixedly connected with the passive belt wheel after entering, is arc groove compatible with the passive belt wheel arc at the top of the fixed plate
Structure, when the bend and stretch joint is rotated to close to the lower cover plate end and is fitted and connected with the bumping post, the fixation
There is between the belt on the left of the contact roller interval at the top of plate right end.
As a further improvement of the present invention, the bandage and folder for immobilized patients thigh are provided in the left connection board
Tool.
As a further improvement of the present invention, the bend and stretch joint is from vertical state to close to the interior receipts outreach motor one
The extreme angles of side rotation are 15 degree, and the bend and stretch joint is from vertical state to far from the interior receipts outreach motor side rotation
Extreme angles are 125 degree.
As a further improvement of the present invention, the interior receipts outreach motor and buckling stretching, extension motor are that positive and negative rotation can
Adjust the speed torque motor, i.e., in receive outreach motor and buckling stretching, extension motor is that motor, retarder, encoder, driver are integrated into
Integral structure.
As a further improvement of the present invention, the motor supporting base is L-shaped structure, short side and the motor support plate
It is fixedly connected, and the motor supporting base is in the height direction with the link position of the motor support plate lower than outside the interior receipts
Open up the link position of motor and the motor support plate；The left support plate is fitted and connected the long side in the motor supporting base
On, the right support plate is L-shaped structure, and short side is fitted and connected in the motor support plate, long side and the left support
Accommodating chamber is formed between the setting of plate parallel interval；
Compared with prior art, the present invention has the following advantages:
1, the present invention devises a kind of hip joint training institution of two-freedom, can complete to receive outreach and hip in hip joint
The main passive exercise of joint buckling stretching can provide the rehabilitation movement for meeting human motion rule, movement can be made to imitate
Fruit is more preferable, restores rapider；
2, the present invention passes through reasonable topology layout, the improvement kind of drive, improvement driving structure, compression running part structure
The modes such as size, simplify structure, and reserved space is set since hip joint structure is narrow convenient for hip joint training institution and other training
It is standby to cooperate while using, it is practical；
3, the present invention will receive outreach motor and be placed on after buckling stretching, extension motor in hip joint, save for hip joint training empty
Between；By V belt translation, the bend and stretch joint by buckling stretching, extension motor is driven and as executing agency is separated, the post-buckling stretching, extension of separation
Motor avoids interfering when cooperation rehabilitation training of upper limbs far from hip joint；Pass through bending V belt translation component and executing agency
It stretches that joint is compound to be installed together, keeps this part-structure thinner, interfere when can be to avoid cooperation rehabilitation training of upper limbs；
4, it is torque motor, motor, retarder, encoder, drive that outreach motor and buckling stretching, extension motor are received in the present invention
Dynamic device becomes one, and space is greatly saved；
5, the present invention has the characteristics that structure is simple, easy to use, light-weight, mobility is good.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is the hip joint training structure past schematic perspective view viewed from one side of two-freedom of the present invention；
Fig. 2 is that the hip joint training structure of two-freedom of the present invention looks over the solid after removing right support plate from the other side
Structural schematic diagram；
Fig. 3 is the configuration schematic diagram that the hip joint training structure of two-freedom of the present invention is looked over from the other side；
Fig. 4 is the schematic diagram that the present invention carries out hip joint buckling stretching；
Fig. 5 is that the present invention carries out the schematic diagram that arms sideward lift is received in hip joint.
Outreach component is received in figure in 1, hip joint；11, pedestal；12, interior receipts outreach motor；13, interior receipts outreach joint；131,
Motor support plate；132, left support plate；133, right support plate；134, upper cover plate；135, lower cover plate；136, accommodating chamber；137, it props up
Dagger；138, bumping post；2, hip joint buckling extension assembly；21, buckling stretches motor；22, V belt translation component；221, belt；
222, driving pulley；223, passive belt wheel；224, contact roller；225, shaft；23, motor supporting base；24, bend and stretch joint；241,
Left connection board；242, right connection board；243, fixed plate；244, sleeved part.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
As shown in Figure 1, the present invention provides a kind of hip joint training institution of two-freedom, including be arranged side by side to
The left training unit of the left leg of immobilized patients and right training unit to the right leg of immobilized patients, left training unit and right training unit
For mirror image, left training unit and right training unit include that the interior receipts outreach component 1 of hip joint and hip joint buckling are stretched
Component 2 is opened up, it is the first freedom degree component that outreach component 1 is received in hip joint, receives arms sideward lift in the hip joint to realize patient；
Hip joint buckling extension assembly 2 is second freedom degree component, to realize the hip joint buckling stretching of patient；Wherein,
As depicted in figs. 1 and 2, it includes pedestal 11, interior receipts outreach motor 12 and interior receipts outreach that outreach component 1 is received in hip joint
Joint 13, it is interior to receive outreach motor 12 and the interior two sides received outreach joint 13 and be separately positioned on pedestal 11, and interior receipts outreach motor 12
It is sequentially connected with interior receipts outreach joint 13, to drive interior receipts outreach joint 13 to carry out horizontal direction swing, to realize patient
Hip joint in receive outreach movement；Interior 13 extending direction of outreach joint of receiving is put down with the interior output axis direction for receiving outreach motor 12
Row；
As shown in Figures 2 and 3, hip joint buckling extension assembly 2 includes buckling stretching, extension motor 21, V belt translation component 22, electricity
Machine support base 23 and bend and stretch joint 24, motor supporting base 23 is fixedly mounted receives outreach joint 13 close to interior receipts outreach motor 12 inside
Side；Buckling stretching, extension motor 21 is fixedly mounted on motor supporting base 23 far from the interior side for receiving outreach joint 13, bend and stretch joint 24
Interior receipts outreach joint 13 is movably arranged on far from the interior side for receiving outreach motor 12, buckling stretches motor 21 and passes through V belt translation component
22 are sequentially connected with bend and stretch joint 24 to drive bend and stretch joint 24 to carry out vertical direction swing；Buckling stretches motor 21 and interior receipts
Outreach motor 12 is in 90 degree of settings.Specifically, after hip joint training institution is in use, interior receipts outreach motor 12 is located at training institution
Side, two bucklings stretching, extension motor 21 in left training unit and right training unit are oppositely arranged, and the two is respectively positioned on patient's hip joint
Rear side；By moving back interior receipts outreach driving motor, space is saved for buckling extension means；By the way that buckling is stretched driving method
It is improved to V belt translation mode, separates driving motor with training executing agency, motor moves back, and is to save space on the outside of hip joint；
By simplifying structure, running part structure size is compressed；By improving driving structure, by motor, retarder, encoder, driving
Device integrates, and saves space.Convenient for hip joint training institution and other training equipment cooperations while using.
Interior receipts outreach joint 13 include motor support plate 131, left support plate 132, right support plate 133, upper cover plate 134 and under
Cover board 135, motor support plate 131 are arranged in parallel with pedestal 11, are curved portion, 131 top of motor support plate at the top of pedestal 11
It is provided with curved portion, 131 length of motor support plate is greater than 11 length of pedestal, 11 top of pedestal and 131 top base of motor support plate
This alignment setting；Interior receipts outreach motor 12 is horizontally disposed and its output shaft is fixed with motor support plate 131 after pedestal 11 and connected
It connects, interior receipts outreach motor 12 will drive motor support plate 131 and follow and rotates together when operating, and motor supporting base 23 is vertically mounted on
Side of the motor support plate 131 far from pedestal 11, left support plate 132 are fitted and connected with motor supporting base 23, right support plate 133 with
The setting of 132 parallel interval of left support plate, forms accommodating chamber 136, upper cover plate 134 and lower cover plate 135 cover conjunction respectively inside the two
In the top and bottom of accommodating chamber 136, V belt translation component 22 is arranged in accommodating chamber 136.
Motor support plate is the support of total, by motor support plate sleeve mechanism can be mounted on rack or its
In his mechanism；Interior receipts outreach motor is installed, interior receipts outreach motor output end connects pedestal in motor support plate；Motor supporting base
It is mounted on the base, for fixing buckling stretching, extension motor；Left support plate is mounted in motor support plate by screw, driving pulley
It is mounted on buckling stretching, extension motor output shaft end, right support plate is mounted on the base by screw, is equipped between two support plates
Shaft, passive belt wheel are mounted in shaft, and copper sheathing is equipped between shaft and belt wheel, are tight fit, copper between copper sheathing and belt wheel
Mutually rotation occurs between set and shaft, there are one spacer sleeves to be used to the passive belt wheel of axial restraint for axle sleeve side；Passive belt wheel
Outside is equipped with left and right connecting plates, and left and right connecting plates follow passive belt wheel to rotate together；Bend and stretch joint is similarly installed at left and right and connects
Among fishplate bar, bend and stretch joint can continue to connect other mechanisms downwards；
136 end of accommodating chamber is uncovered structure, and 136 end bottom of accommodating chamber has the opening protruded into for bend and stretch joint 24,
Opening is connected to the space to be formed and be swung for bend and stretch joint 24 with uncovered structure.
Left support plate 132 is identical with 133 structure snd size of right support plate, and end is semicircular arc structure, upper cover plate
134 and 135 length of lower cover plate be respectively less than 133 length of left support plate 132 or right support plate, and 135 length of lower cover plate is less than upper cover
134 length of plate, 135 end of lower cover plate to the space between 134 end of upper cover plate to be swung for bend and stretch joint 24.Upper and lower cover plates is same
Sample is mounted between left-and-right supporting plate by screw, and there are three effects for the design of cover board, first is that further strengthening the rigidity of structure；
Second is that support plate internal structure can be covered, make whole more concise and beautiful；Third is that transmission can be fallen into avoid foreign matter or dust
Inside configuration also protects the safety of operator and trainer while protecting equipment；
V belt translation component 22 includes belt 221, driving pulley 222, passive belt wheel 223, contact roller 224 and shaft 225, master
Movable belt pulley 222 is arranged in the accommodating chamber 136 of face buckling stretching, extension 21 position of motor, and buckling stretching, extension motor 21 is horizontally disposed with and it
Output shaft is sequentially connected after passing through motor supporting base 23 and left support plate 132 with driving pulley 222, and passive belt wheel 223 is by turning
Axis 225 be arranged in accommodating chamber 136 far from driving pulley 222 the other end, contact roller 224 setting driving pulley 222 and by
Between movable belt pulley 223 and close to passive belt wheel 223 be arranged, belt 221 be sequentially sleeved at driving pulley 222, contact roller 224 and by
On movable belt pulley 223, bend and stretch joint 24 is arranged on passive belt wheel 223.Contact roller 224 be located at 24 hunting range of bend and stretch joint with
Outside, to guarantee that bend and stretch joint 24 will not cause to interfere in swinging to belt 221.
Interior receipts outreach joint 13 further includes three support columns 137 being arranged between left support plate 132 and right support plate 133
With two bumping posts 138, support column and bumping post can play a supporting role, while the rigidity of whole equipment can be improved, and remove
Except this, bumping post also limits the extreme rotational angle of bend and stretch joint, avoids that accident occurs when training, improves and set
Standby safety；
It should be noted that in the present invention, three support columns 137 are uniformly or irregular setting is in 222 He of driving pulley
Between passive belt wheel 223,137 both ends of support column are fixedly connected with left support plate 132 and right support plate 133 respectively, contact roller 224
It is rotatably arranged on one of support column 137, two bumping posts 138, which are separately positioned in accommodating chamber 136, is located at lower cover plate 135
Two limit positions for being used to swing bend and stretch joint 24 with 134 end outer fix of upper cover plate, two bumping posts 138 on the outside of end
The restriction set.Contact roller is installed therein on a support column, and carries out axial restraint, contact roller setting by two spacer sleeves
In passive belt wheel side, in addition to having the function of compressing belt, moreover it is possible to bend and stretch joint and belt be avoided to interfere.
Bend and stretch joint 24 includes left connection board 241, right connection board 242 and fixed plate 243, left connection board 241 and right connection
Annular sleeved part 244 is respectively arranged at the top of plate 242, two sleeved parts 244 are inserted in rear and passive belt from 225 both ends of shaft respectively
Wheel 223 is fixedly connected, and is curved groove structure compatible with passive 223 arc of belt wheel at the top of fixed plate 243, is worked as bend and stretch joint
24 rotate to close to 135 end of lower cover plate and when being fitted and connected with bumping post 138, compress at the top of 243 right end of fixed plate with being located at
There is interval between the belt 221 in 224 left side of wheel.
The bandage and fixture for immobilized patients thigh are provided in left connection board 241.Bandage and fixture use existing skill
Product in art is realized, is bought through exterior market.
Bend and stretch joint 24 is 15 degree from vertical state to the extreme angles rotated close to interior receipts 12 side of outreach motor, is bent and stretched
Joint 24 is 125 degree from vertical state to the extreme angles far from the rotation of interior receipts 12 side of outreach motor.
Interior receipts outreach motor 12 and buckling stretching, extension motor 21 are positive and negative rotation adjustable speed torque motor, i.e., interior to receive outreach motor
12 and buckling stretching, extension motor 21 be that motor, retarder, encoder, driver become one structure.
Motor supporting base 23 is L-shaped structure, and short side is fixedly connected with motor support plate 131, and motor supporting base 23 exists
With the link position of motor support plate 131 lower than the interior connection position for receiving outreach motor 12 and motor support plate 131 in short transverse
It sets；Left support plate 132 is fitted and connected in the long side of motor supporting base 23, and right support plate 133 is L-shaped structure, short side fitting
It is connected in motor support plate 131, forms accommodating chamber 136 between long side and the setting of 132 parallel interval of left support plate；
The present invention devises a kind of hip joint training institution of two-freedom, can complete to receive outreach in hip joint and hip closes
The main passive exercise for saving buckling stretching can provide the rehabilitation movement for meeting human motion rule, can make movement effects
More preferably, restore rapider；By reasonable topology layout, improve the kind of drive, improvement driving structure, compression running part structure
The modes such as size, simplify structure, and reserved space convenient for hip joint training institution and other training equipment cooperations while using；It will
Outreach motor is received in hip joint to be placed on after buckling stretching, extension motor, saves space for hip joint training；By V belt translation, will drive
Dynamic buckling stretching, extension motor and the bend and stretch joint as executing agency separate, and the post-buckling stretching, extension motor of separation is kept away far from hip joint
Exempt to interfere when cooperating rehabilitation training of upper limbs；By being mounted on one for the bend and stretch joint of V belt translation component and executing agency is compound
It rises, keeps this part-structure thinner, can be interfered when rehabilitation training of upper limbs to avoid cooperating；Interior receipts outreach motor and buckling stretching, extension
Motor is torque motor, and motor, retarder, encoder, driver become one, and space is greatly saved；The present invention mentions
The hip joint training institution of the two-freedom of confession has the characteristics that structure is simple, easy to use, light-weight.
The hip joint training institution of two-freedom of the present invention mainly overcomes following difficulty in design:
1, how to solve the problems, such as that cooperation rehabilitation training of upper limbs can interfere；2, how the axial dimension of compression device；3,
How the rigidity of equipment is still ensured that after size compression；
As shown in Figure 4 and Figure 5, when rehabilitation training, interior receipts outreach motor rotation will drive pedestal mechanism rotation below,
It carries out receiving Outward Bound in hip joint；Buckling stretching, extension motor and driving pulley rotate together, and drive passive belt rotation by belt
Dynamic, passive belt wheel drives bend and stretch joint to be rotated by left and right connecting plates, carries out the buckling stretching, extension rehabilitation training of hip joint.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of hip joint training institution of two-freedom, which is characterized in that including being arranged side by side to the left leg of immobilized patients
Left training unit and right training unit to the right leg of immobilized patients, the left training unit and the right training unit are mirror
As symmetrical structure, the left training unit and the right training unit include that outreach component and hip joint buckling are received in hip joint
Extension assembly, the interior outreach component of receiving of the hip joint is the first freedom degree component, receives outreach in the hip joint to realize patient
Movement；The hip joint buckling extension assembly is second freedom degree component, to realize that it is dynamic that the hip joint buckling of patient stretches
Make；Wherein,
It includes pedestal, interior receipts outreach motor and interior receipts outreach joint, the interior receipts outreach electricity that outreach component is received in the hip joint
Machine and the interior two sides received outreach joint and be separately positioned on the pedestal, and the interior receipts outreach motor and the interior receipts outreach
Joint transmission connection, to drive the interior receipts outreach joint to carry out horizontal direction swing；The interior receipts outreach joint extension side
To parallel with the interior receipts output axis direction of outreach motor；
The hip joint buckling extension assembly includes buckling stretching, extension motor, V belt translation component, motor supporting base and bend and stretch joint, institute
It states motor supporting base and is fixedly mounted on the interior receipts outreach joint close to the interior receipts outreach motor side；The buckling stretching, extension electricity
Machine is fixedly mounted on the motor supporting base far from the interior side for receiving outreach joint, and the bend and stretch joint is movably arranged on institute
Interior receipts outreach joint is stated far from the interior side for receiving outreach motor, buckling stretching, extension motor by the V belt translation component with
The bend and stretch joint transmission connection is to drive the bend and stretch joint to carry out vertical direction swing；The buckling stretching, extension motor and institute
Interior receipts outreach motor is stated in 90 degree of settings.
2. the hip joint training institution of two-freedom according to claim 1, which is characterized in that the interior receipts outreach joint
Including motor support plate, left support plate, right support plate, upper cover plate and lower cover plate, the motor support plate is parallel with the pedestal
Setting, the interior receipts outreach motor is horizontally disposed and its output shaft is fixed with the motor support plate after the pedestal and connected
It connects, the motor supporting base is vertically mounted on side of the motor support plate far from the pedestal, the left support plate and institute
It states motor supporting base to be fitted and connected, the right support plate and the left support plate parallel interval are arranged, and are formed and are held inside the two
Receive chamber, the upper cover plate and the lower cover plate cover conjunction in the top and bottom of the accommodating chamber respectively, and the V belt translation component is set
It sets in the accommodating chamber.
3. the hip joint training institution of two-freedom according to claim 2, which is characterized in that the accommodating chamber end is
Uncovered structure, accommodating chamber end bottom have the opening protruded into for the bend and stretch joint, the opening and the open knot
Structure is connected to the space to be formed and be swung for the bend and stretch joint.
4. the hip joint training institution of two-freedom according to claim 3, which is characterized in that the left support plate and institute
It is identical to state right support plate structure snd size, and end is semicircular arc structure, the upper cover plate and the lower cover plate length are equal
Less than the left support plate or the right support plate length, and the lower cover plate length is less than the upper cover plate length, under described
Cover panel end between the upper cover plate end for for the bend and stretch joint swing space.
5. the hip joint training institution of two-freedom according to claim 3, which is characterized in that the V belt translation component packet
Belt, driving pulley, passive belt wheel, contact roller and shaft are included, driving pulley setting buckling described in face stretches motor
In the accommodating chamber of position, buckling stretching, extension motor is horizontally disposed and its output shaft passes through the motor supporting base and described
It is sequentially connected after left support plate with the driving pulley, the passive belt wheel is arranged in the accommodating chamber remote by the shaft
The other end from the driving pulley, the contact roller are arranged between the driving pulley and the passive belt wheel and close to institutes
Passive belt wheel setting is stated, the belt is sequentially sleeved on the driving pulley, the contact roller and the passive belt wheel, described
Bend and stretch joint is arranged on the passive belt wheel.
6. the hip joint training institution of two-freedom according to claim 5, which is characterized in that the interior receipts outreach joint
It further include three support columns and two bumping posts being arranged between the left support plate and the right support plate, three branch
Dagger uniformly or it is irregular be arranged between the driving pulley and the passive belt wheel, the support column both ends respectively with it is described
Left support plate is fixedly connected with the right support plate, and the contact roller is rotatably arranged on one of them described support column, and two
The bumping post, which is separately positioned in the accommodating chamber, to be located on the outside of the lower cover plate end and position on the outside of the upper cover plate end
It sets, the restriction for two extreme positions that two bumping posts are used to swing the bend and stretch joint.
7. the hip joint training institution of two-freedom according to claim 6, which is characterized in that bend and stretch joint includes left company
Fishplate bar, right connection board and fixed plate, are respectively arranged with annular sleeved part at the top of the left connection board and the right connection board, and two
The sleeved part is fixedly connected after being inserted in respectively from the both ends of the shaft with the passive belt wheel, the fixed plate top for institute
State the compatible curved groove structure of passive belt wheel arc, when the bend and stretch joint rotate to close to the lower cover plate end and with
When the bumping post is fitted and connected, have between the belt on the left of the contact roller at the top of the fixed plate right end
Interval.
8. the hip joint training institution of two-freedom according to claim 7, which is characterized in that set in the left connection board
It is equipped with the bandage and fixture for immobilized patients thigh.
9. the hip joint training institution of two-freedom according to claim 6, which is characterized in that the bend and stretch joint is from perpendicular
Straight state to close to it is described it is interior to receive the extreme angles that outreach motor side rotates be 15 degree, the bend and stretch joint from vertical state to
It is 125 degree far from the interior extreme angles for receiving the rotation of outreach motor side.
10. the hip joint training institution of two-freedom according to claim 1, which is characterized in that the interior receipts outreach electricity
Machine and buckling stretching, extension motor are positive and negative rotation adjustable speed torque motor.
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| CN201910555065.5A CN110179631B (en) | 2019-06-25 | 2019-06-25 | Two-degree-of-freedom hip joint training mechanism |
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| CN201910555065.5A CN110179631B (en) | 2019-06-25 | 2019-06-25 | Two-degree-of-freedom hip joint training mechanism |
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| CN110179631B (en) | 2021-12-10 |
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