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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- adduction
- extension
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- 210000004394 hip joint Anatomy 0.000 title claims abstract description 83
- 230000007246 mechanism Effects 0.000 claims description 43
- 230000005540 biological transmission Effects 0.000 claims description 32
- 230000009471 action Effects 0.000 claims description 10
- 210000001624 hip Anatomy 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 210000002414 leg Anatomy 0.000 claims description 4
- 210000000689 upper leg Anatomy 0.000 claims description 3
- 230000035876 healing Effects 0.000 abstract 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 abstract 1
- 230000006872 improvement Effects 0.000 description 10
- 210000001503 joint Anatomy 0.000 description 7
- 210000001364 upper extremity Anatomy 0.000 description 7
- 238000005452 bending Methods 0.000 description 4
- 239000003638 chemical reducing agent Substances 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
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 125000006850 spacer group Chemical group 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010061296 Motor dysfunction Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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- 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
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
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 invention relates to the technical field of rehabilitation equipment, in particular to a two-degree-of-freedom hip joint training mechanism.
Background
At present, rehabilitation training is the most effective rehabilitation method for motor dysfunction and motor injury caused by nervous injury. The rehabilitation training is mainly divided into three modes of passive training, active training and impedance training. Currently, there are two general types of hip joint training mechanisms: one is a rehabilitation training device, and the other is an exoskeleton type rehabilitation training robot.
The applicant has found that the prior art has at least the following technical problems:
the existing rehabilitation training device only has one training freedom degree, and can only carry out training on other joints by replacing the training set component and adjusting the posture of equipment, the training freedom degree is low, and the training component is inconvenient to replace; the exoskeleton type rehabilitation training robot is generally divided into an upper limb or a lower limb, the training freedom degree and the action are fixed and are generally used independently, and the upper limb and the lower limb cannot be matched for use; in addition, the two training mechanisms in the prior art can cause the shaft of the driving motor to coincide with the rotating shaft of the joint, the motors are arranged on the outer sides of the hip joints, and the size of the general motor is larger due to the fact that the strength of the hip joints is larger. Most of the existing hip joint training devices are installed on a bed or the ground, and are inconvenient to move due to large and heavy sizes, and the existing hip joint training devices can only be used alone and cannot be matched with other training mechanisms for use due to wide hip joint training mechanisms.
The invention designs a two-freedom hip joint training mechanism which can perform hip joint adduction-abduction training and flexion-extension training, and the whole hip joint training mechanism has the characteristics of small volume, light weight and good mobility by reasonable structural layout, improved transmission mode, improved driving structure, structure size compression of a transmission part and the like.
Disclosure of Invention
The invention aims to provide a two-degree-of-freedom hip joint training mechanism to solve the technical problems that the hip joint training mechanism in the prior art is large in size, poor in mobility and only capable of conducting single joint training.
In order to achieve the purpose, the invention provides the following technical scheme:
the invention provides a two-degree-of-freedom hip joint training mechanism which comprises a left training unit and a right training unit, wherein the left training unit and the right training unit are arranged side by side and used for fixing a left leg of a patient, the left training unit and the right training unit are of mirror symmetry structures, the left training unit and the right training unit respectively comprise a hip joint adduction and abduction component and a hip joint flexion and extension component, and the hip joint adduction and abduction component is a first-degree-of-freedom component and used for realizing the hip joint adduction and abduction action of the patient; the hip joint flexion and extension component is a second degree of freedom component and is used for realizing the hip joint flexion and extension action of a patient; wherein,
the hip joint adduction and abduction assembly comprises a base, an adduction motor and an adduction joint, the adduction motor and the adduction joint are respectively arranged on two sides of the base, and the adduction motor and the adduction joint are in transmission connection with the adduction joint and the abduction joint and are used for driving the adduction joint and the abduction joint to swing in the horizontal direction; the extension direction of the adduction-abduction joint is parallel to the direction of an output shaft of the adduction-abduction motor;
the hip joint flexion and extension assembly comprises a flexion and extension motor, a belt transmission assembly, a motor supporting seat and a flexion and extension joint, and the motor supporting seat is fixedly installed on one side of the adduction and abduction joint close to the adduction and abduction motor; the flexion and extension motor is fixedly installed on one side, away from the adduction and abduction joint, of the motor supporting seat, the flexion and extension joint is movably arranged on one side, away from the adduction and abduction motor, of the adduction and abduction joint, and the flexion and extension motor is in transmission connection with the flexion and extension joint through the belt transmission assembly to drive the flexion and extension joint to swing in the vertical direction; the flexion and extension motor and the adduction and abduction motor are arranged at 90 degrees.
As a further improvement of the present invention, the adduction-abduction joint includes a motor support plate, a left support plate, a right support plate, an upper cover plate and a lower cover plate, the motor support plate is arranged in parallel with the base, the adduction-abduction motor is horizontally arranged and an output shaft thereof passes through the base and then is fixedly connected with the motor support plate, the motor support seat is vertically installed at one side of the motor support plate far away from the base, the left support plate is attached to the motor support seat, the right support plate and the left support plate are arranged in parallel at an interval, an accommodating cavity is formed inside the right support plate and the left support plate, the upper cover plate and the lower cover plate are respectively covered on the top and the bottom of the accommodating cavity, and the belt transmission assembly is arranged in the accommodating.
As a further improvement of the invention, the tail end of the accommodating cavity is of an open structure, an opening for the flexion-extension joint to extend into is formed in the bottom of the tail end of the accommodating cavity, and the opening and the open structure are communicated to form a space for the flexion-extension joint to swing left and right.
As a further improvement of the present invention, the left support plate and the right support plate have the same structure and size, and the ends thereof are both semi-circular structures, the lengths of the upper cover plate and the lower cover plate are both smaller than the length of the left support plate or the right support plate, the length of the lower cover plate is smaller than the length of the upper cover plate, and a space for the flexion-extension joint to swing is provided between the end of the lower cover plate and the end of the upper cover plate.
As a further improvement of the present invention, the belt transmission assembly includes a belt, a driving pulley, a driven pulley, a pinch roller and a rotating shaft, the driving pulley is disposed in the accommodating cavity facing the position of the flexion and extension motor, the flexion and extension motor is horizontally disposed, an output shaft of the flexion and extension motor penetrates through the motor support seat and the left support plate and is in transmission connection with the driving pulley, the driven pulley is disposed at the other end of the accommodating cavity far away from the driving pulley through the rotating shaft, the pinch roller is disposed between the driving pulley and the driven pulley and is close to the driven pulley, the belt is sequentially sleeved on the driving pulley, the pinch roller and the driven pulley, and the flexion and extension joint is disposed on the driven pulley. The pressing wheel is located outside the swing range of the flexion-extension joint so as to ensure that the belt cannot be interfered during the swing of the flexion-extension joint.
As a further improvement of the present invention, the adduction-abduction joint further includes three support columns and two collision avoidance columns, the three support columns are uniformly or irregularly arranged between the left support plate and the right support plate, two ends of each support column are respectively and fixedly connected with the left support plate and the right support plate, the compression wheel is rotatably arranged on one of the support columns, the two collision avoidance columns are respectively arranged in the accommodating cavity and located at positions outside the tail end of the lower cover plate and outside the tail end of the upper cover plate, and the two collision avoidance columns are used for limiting two limit positions of the swing of the flexion-extension joint.
As a further improvement of the invention, the flexion-extension joint comprises a left connecting plate, a right connecting plate and a fixed plate, annular sleeving parts are respectively arranged at the tops of the left connecting plate and the right connecting plate, the two sleeving parts are respectively sleeved from the two ends of the rotating shaft and then fixedly connected with the driven belt wheel, the top of the fixed plate is of an arc groove structure matched with the arc of the driven belt wheel, and when the flexion-extension joint rotates to be close to the tail end of the lower cover plate and is in fit connection with the anti-collision column, a gap is formed between the top of the right end of the fixed plate and the belt positioned on the left side of the compression wheel.
As a further improvement of the invention, the left connecting plate is provided with a bandage and a clamp for fixing the thigh of the patient.
As a further improvement of the present invention, the limit angle of rotation of the flexion-extension joint from the vertical state to the side close to the adduction-abduction motor is 15 degrees, and the limit angle of rotation of the flexion-extension joint from the vertical state to the side far from the adduction-abduction motor is 125 degrees.
As a further improvement of the invention, both the adduction-abduction motor and the flexion-extension motor are forward-reverse rotation adjustable-speed torque motors, that is, both the adduction-abduction motor and the flexion-extension motor are motors, speed reducers, encoders and drivers which are integrated into an integral structure.
As a further improvement of the invention, the motor supporting seat is of an L-shaped structure, the short edge of the motor supporting seat is fixedly connected with the motor supporting plate, and the connecting position of the motor supporting seat and the motor supporting plate in the height direction is lower than the connecting position of the adduction-abduction motor and the motor supporting plate; the left supporting plate is attached to the long side of the motor supporting seat, the right supporting plate is of an L-shaped structure, the short side of the right supporting plate is attached to the motor supporting plate, and an accommodating cavity is formed between the long side of the right supporting plate and the left supporting plate in parallel at intervals;
compared with the prior art, the invention has the following beneficial effects:
1. the invention designs a two-degree-of-freedom hip joint training mechanism which can complete active and passive training of hip joint adduction and abduction and hip joint flexion and extension actions, can provide rehabilitation actions according with the motion rule of a human body, can ensure better motion effect and quicker recovery;
2. the hip joint training device has the advantages that the structure is simplified and the space is reserved by reasonable structural layout, improved transmission mode, improved driving structure, compressed transmission part structural size and other modes, and the hip joint training device is convenient to be matched with other training equipment for use due to the narrow hip joint structure, so that the practicability is high;
3. according to the invention, the hip joint adduction-abduction motor is placed behind the flexion-extension motor, so that the space is saved for hip joint training; the flexion-extension motor used for driving the flexion-extension motor and the flexion-extension joint used as the actuating mechanism are separated through belt transmission, and after separation, the flexion-extension motor is far away from the hip joint, so that interference generated when the flexion-extension motor is matched with upper limb rehabilitation training is avoided; the bending and stretching joints of the belt transmission assembly and the executing mechanism are combined together, so that the structure of the bending and stretching joints is thinner, and interference in upper limb rehabilitation training can be avoided;
4. the inward-contraction outward-extension motor and the flexion-extension motor are torque motors, and the motors, the speed reducer, the encoder and the driver are integrated into a whole, so that the space is greatly saved;
5. the invention has the characteristics of simple structure, convenient use, light weight and good mobility.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic perspective view of a two-degree-of-freedom hip exercise mechanism of the present invention, viewed from one side;
FIG. 2 is a perspective view of the two-degree-of-freedom hip exercise mechanism shown with the right support plate removed from the other side;
FIG. 3 is a schematic illustration of the two degree of freedom hip exercise mechanism of the present invention in an exploded configuration from the other side;
FIG. 4 is a schematic illustration of the present invention performing a hip flexion-extension motion;
FIG. 5 is a schematic view of the present invention performing a hip adduction-abduction motion.
In figure 1, the hip adduction and abduction assembly; 11. a base; 12. an adduction and abduction motor; 13. adduction and abduction joints; 131. a motor support plate; 132. a left support plate; 133. a right support plate; 134. an upper cover plate; 135. a lower cover plate; 136. an accommodating chamber; 137. a support pillar; 138. an impact post; 2. a hip flexion extension assembly; 21. a flexion-extension motor; 22. a belt drive assembly; 221. a belt; 222. a driving pulley; 223. a passive pulley; 224. a pinch roller; 225. a rotating shaft; 23. a motor supporting seat; 24. flexion and extension joints; 241. a left connecting plate; 242. a right connecting plate; 243. a fixing plate; 244. a sleeve-setting part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
As shown in fig. 1, the present invention provides a two-degree-of-freedom hip joint training mechanism, which comprises a left training unit for fixing a left leg of a patient and a right training unit for fixing a right leg of the patient, which are arranged side by side, wherein the left training unit and the right training unit are mirror symmetry structures, the left training unit and the right training unit both comprise a hip joint adduction and abduction component 1 and a hip joint flexion and extension component 2, the hip joint adduction and abduction component 1 is a first-degree-of-freedom component for realizing the hip joint adduction and abduction of the patient; the hip joint flexion and extension component 2 is a second degree of freedom component and is used for realizing the hip joint flexion and extension action of the patient; wherein,
as shown in fig. 1 and 2, the hip joint adduction-abduction assembly 1 includes a base 11, an adduction-abduction motor 12 and an adduction-abduction joint 13, wherein the adduction-abduction motor 12 and the adduction-abduction joint 13 are respectively arranged at two sides of the base 11, and the adduction-abduction motor 12 is in transmission connection with the adduction-abduction joint 13 for driving the adduction-abduction joint 13 to swing in the horizontal direction, so as to realize the adduction-abduction of the hip joint of the patient; the extension direction of the adduction-abduction joint 13 is parallel to the output shaft direction of the adduction-abduction motor 12;
as shown in fig. 2 and 3, the hip joint flexion and extension assembly 2 includes a flexion and extension motor 21, a belt transmission assembly 22, a motor support 23 and a flexion and extension joint 24, wherein the motor support 23 is fixedly installed at one side of the adduction and abduction joint 13 close to the adduction and abduction motor 12; the flexion and extension motor 21 is fixedly installed on one side of the motor support base 23, which is far away from the adduction and abduction joint 13, the flexion and extension joint 24 is movably arranged on one side of the adduction and abduction joint 13, which is far away from the adduction and abduction motor 12, and the flexion and extension motor 21 is in transmission connection with the flexion and extension joint 24 through the belt transmission assembly 22 to drive the flexion and extension joint 24 to swing in the vertical direction; the flexion-extension motor 21 and the adduction-abduction motor 12 are arranged at 90 degrees. Specifically, when the hip joint training mechanism is used, the adduction abduction motor 12 is positioned at the rear side of the training mechanism, the two flexion and extension motors 21 in the left training unit and the right training unit are oppositely arranged, and both the two flexion and extension motors are positioned at the rear side of the hip joint of a patient; the space is saved for the flexion and extension mechanism by moving the inward-contraction and outward-extension driving motor backwards; the flexion and extension driving mode is improved to a belt transmission mode, so that the driving motor is separated from the training executing mechanism, the motor moves backwards, and the space is saved outside the hip joint; the structure size of the transmission part is reduced by simplifying the structure; through improving drive structure, integrate motor, reduction gear, encoder, driver together, save space. The hip joint training mechanism and other training equipment can be conveniently matched for use at the same time.
The adduction-abduction joint 13 comprises a motor support plate 131, a left support plate 132, a right support plate 133, an upper cover plate 134 and a lower cover plate 135, the motor support plate 131 is arranged in parallel with the base 11, the top of the base 11 is an arc-shaped part, the top of the motor support plate 131 is also provided with the arc-shaped part, the length of the motor support plate 131 is greater than that of the base 11, and the top of the base 11 and the top of the motor support plate 131 are basically aligned; adduction abduction motor 12 level is arranged and its output shaft passes behind the base 11 with motor support plate 131 fixed connection, adduction abduction motor 12 can drive motor support plate 131 to follow when moving and rotates together, motor support seat 23 is installed perpendicularly in the one side that base 11 was kept away from to motor support plate 131, left support plate 132 is connected with the laminating of motor support seat 23, right branch fagging 133 sets up with the parallel interval of left support plate 132, hold chamber 136 in the two inside formation, upper cover plate 134 and lower cover plate 135 lid respectively close the top and the bottom that hold chamber 136, belt drive assembly 22 sets up in holding chamber 136.
The motor supporting plate is a support of the whole structure, and the whole mechanism can be arranged on a rack or other mechanisms through the motor supporting plate; an inward-closing outward-extending motor is installed on the motor supporting plate, and the output end of the inward-closing outward-extending motor is connected with the base; the motor supporting seat is arranged on the base and used for fixing the buckling and stretching motor; the left support plate is installed on the motor support plate through a screw, the driving belt wheel is installed at the tail end of an output shaft of the flexion-extension motor, the right support plate is installed on the base through a screw, a rotating shaft is installed between the two support plates, the driven belt wheel is installed on the rotating shaft, a copper sleeve is installed between the rotating shaft and the belt wheel, the copper sleeve and the belt wheel are in tight fit, the copper sleeve and the rotating shaft rotate mutually, and a spacer sleeve is arranged on the side surface of the shaft sleeve and used for axially fixing the; a left connecting plate and a right connecting plate are arranged on the outer side of the driven belt wheel and rotate along with the driven belt wheel; the flexion-extension joint is also arranged between the left connecting plate and the right connecting plate, and the flexion-extension joint can be downwards connected with other mechanisms continuously;
the end of the accommodating cavity 136 is an open structure, the bottom of the end of the accommodating cavity 136 is provided with an opening for the flexion-extension joint 24 to extend into, and the opening and the open structure are communicated to form a space for the flexion-extension joint 24 to swing left and right.
The left support plate 132 and the right support plate 133 have the same structure and size, and the ends are both semi-circular structures, the length of the upper cover plate 134 and the length of the lower cover plate 135 are both smaller than the length of the left support plate 132 or the right support plate 133, the length of the lower cover plate 135 is smaller than the length of the upper cover plate 134, and a space for the flexion-extension joint 24 to swing is formed between the end of the lower cover plate 135 and the end of the upper cover plate 134. The upper cover plate and the lower cover plate are also arranged between the left support plate and the right support plate through screws, and the cover plates are designed to have three functions, namely, the rigidity of the structure is further enhanced; secondly, the internal structure of the supporting plate can be covered, so that the whole body is more concise and beautiful; thirdly, foreign matters or dust can be prevented from falling into the transmission structure, and the safety of operators and trainers can be protected while equipment is protected;
the belt transmission assembly 22 comprises a belt 221, a driving pulley 222, a driven pulley 223, a pinch roller 224 and a rotating shaft 225, wherein the driving pulley 222 is arranged in the accommodating cavity 136 facing the position of the flexion and extension motor 21, the flexion and extension motor 21 is horizontally arranged, an output shaft of the flexion and extension motor passes through the motor support seat 23 and the left support plate 132 and then is in transmission connection with the driving pulley 222, the driven pulley 223 is arranged at the other end, far away from the driving pulley 222, in the accommodating cavity 136 through the rotating shaft 225, the pinch roller 224 is arranged between the driving pulley 222 and the driven pulley 223 and is close to the driven pulley 223, the belt 221 is sequentially sleeved on the driving pulley 222, the pinch roller 224 and the driven pulley 223, and the flexion and extension joint 24 is arranged. The pinch roller 224 is located outside the swing range of the flexion-extension joint 24 to ensure that the belt 221 is not interfered during the swing of the flexion-extension joint 24.
The adduction-abduction joint 13 further comprises three support columns 137 and two collision avoidance columns 138 which are arranged between the left support plate 132 and the right support plate 133, the support columns and the collision avoidance columns can play a supporting role, meanwhile, the rigidity of the whole equipment can be improved, in addition, the collision avoidance columns also limit the limit rotation angle of the flexion-extension joint, accidents during training are avoided, and the safety of the equipment is improved;
it should be noted that, in the present invention, three support columns 137 are uniformly or irregularly arranged between the driving pulley 222 and the driven pulley 223, two ends of each support column 137 are respectively and fixedly connected with the left support plate 132 and the right support plate 133, the pressing wheel 224 is rotatably arranged on one support column 137, two crash posts 138 are respectively arranged in the accommodating cavity 136 and located at positions outside the end of the lower cover plate 135 and the end of the upper cover plate 134, and the two crash posts 138 are used for limiting two limit positions of the swing of the flexion-extension joint 24. The pinch roller is installed on one of them support column to carry out axial fixity through two spacer sleeves, the pinch roller setting is in passive band pulley one side, except having the effect that compresses tightly the belt, can also avoid crooking and stretching joint and belt emergence interference.
The flexion-extension joint 24 comprises a left connecting plate 241, a right connecting plate 242 and a fixing plate 243, the tops of the left connecting plate 241 and the right connecting plate 242 are respectively provided with an annular sleeving part 244, the two sleeving parts 244 are respectively sleeved with a driven belt wheel 223 after being sleeved from the two ends of the rotating shaft 225, the top of the fixing plate 243 is an arc groove structure matched with the arc of the driven belt wheel 223, and when the flexion-extension joint 24 rotates to be close to the tail end of the lower cover plate 135 and is attached and connected with the anti-collision column 138, a space is formed between the top of the right end of the fixing plate 243 and the belt 221 positioned on.
The left connecting plate 241 is provided with a strap and a clamp for fixing the thigh of the patient. The straps and clamps are implemented using products of the prior art and are commercially available from the outside.
The limit angle of rotation of the flexion-extension joint 24 from the vertical position to the side close to the adduction-abduction motor 12 is 15 degrees, and the limit angle of rotation of the flexion-extension joint 24 from the vertical position to the side far from the adduction-abduction motor 12 is 125 degrees.
The adduction abduction motor 12 and the flexion extension motor 21 are both forward and reverse rotation adjustable-speed torque motors, namely, the adduction abduction motor 12 and the flexion extension motor 21 are all motors, speed reducers, encoders and drivers which are integrated into a whole.
The motor supporting seat 23 is an L-shaped structure, the short edge of the motor supporting seat is fixedly connected with the motor supporting plate 131, and the connecting position of the motor supporting seat 23 and the motor supporting plate 131 in the height direction is lower than the connecting position of the adduction-abduction motor 12 and the motor supporting plate 131; the left support plate 132 is attached to the long side of the motor support seat 23, the right support plate 133 is of an L-shaped structure, the short side of the right support plate is attached to the motor support plate 131, and an accommodating cavity 136 is formed between the long side of the right support plate and the left support plate 132 in parallel at intervals;
the invention designs a two-degree-of-freedom hip joint training mechanism which can complete active and passive training of hip joint adduction and abduction and hip joint flexion and extension actions, can provide rehabilitation actions according with the motion rule of a human body, can ensure better motion effect and quicker recovery; through reasonable structural layout, improved transmission mode, improved driving structure, compressed transmission part structure size and other modes, the structure is simplified, space is reserved, and the hip joint training mechanism and other training equipment can be conveniently matched and used simultaneously; the hip joint adduction and abduction motor is placed behind the flexion and extension motor, so that the space is saved for the hip joint training; the flexion-extension motor used for driving the flexion-extension motor and the flexion-extension joint used as the actuating mechanism are separated through belt transmission, and after separation, the flexion-extension motor is far away from the hip joint, so that interference generated when the flexion-extension motor is matched with upper limb rehabilitation training is avoided; the bending and stretching joints of the belt transmission assembly and the executing mechanism are combined together, so that the structure of the bending and stretching joints is thinner, and interference in upper limb rehabilitation training can be avoided; the adduction and abduction motor and the flexion and extension motor are both torque motors, and the motor, the speed reducer, the encoder and the driver are integrated into a whole, so that the space is greatly saved; the two-degree-of-freedom hip joint training mechanism provided by the invention has the characteristics of simple structure, convenience in use and light weight.
The two-freedom hip joint training mechanism of the invention mainly overcomes the following difficulties in design:
1. how to solve the problem of interference generated by matching with upper limb rehabilitation training; 2. how to compress the axial dimension of the device; 3. how to still ensure the rigidity of the device after dimensional compression;
as shown in fig. 4 and 5, during rehabilitation training, the adduction-abduction motor rotates to drive the mechanism below the base to rotate, so as to perform hip joint adduction-abduction training; the flexion and extension motor and the driving belt wheel rotate together, the driven belt wheel is driven by the belt to rotate, the flexion and extension joint is driven by the driven belt wheel through the left connecting plate and the right connecting plate to rotate, and the flexion and extension rehabilitation training of the hip joint is carried out.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.
Claims (10)
1. A two-degree-of-freedom hip joint training mechanism is characterized by comprising a left training unit and a right training unit, wherein the left training unit and the right training unit are arranged side by side and used for fixing a left leg of a patient, the left training unit and the right training unit are of mirror symmetry structures, the left training unit and the right training unit respectively comprise a hip joint adduction and abduction component and a hip joint flexion and extension component, and the hip joint adduction and abduction component is a first-degree-of-freedom component and used for realizing the hip joint adduction and abduction action of the patient; the hip joint flexion and extension component is a second degree of freedom component and is used for realizing the hip joint flexion and extension action of a patient; wherein,
the hip joint adduction and abduction assembly comprises a base, an adduction motor and an adduction joint, the adduction motor and the adduction joint are respectively arranged on two sides of the base, and the adduction motor and the adduction joint are in transmission connection with the adduction joint and the abduction joint and are used for driving the adduction joint and the abduction joint to swing in the horizontal direction; the extension direction of the adduction-abduction joint is parallel to the direction of an output shaft of the adduction-abduction motor;
the hip joint flexion and extension assembly comprises a flexion and extension motor, a belt transmission assembly, a motor supporting seat and a flexion and extension joint, and the motor supporting seat is fixedly installed on one side of the adduction and abduction joint close to the adduction and abduction motor; the flexion and extension motor is fixedly installed on one side, away from the adduction and abduction joint, of the motor supporting seat, the flexion and extension joint is movably arranged on one side, away from the adduction and abduction motor, of the adduction and abduction joint, and the flexion and extension motor is in transmission connection with the flexion and extension joint through the belt transmission assembly to drive the flexion and extension joint to swing in the vertical direction; the flexion and extension motor and the adduction and abduction motor are arranged at 90 degrees.
2. The two-degree-of-freedom hip joint training mechanism according to claim 1, wherein the adduction-abduction joint comprises a motor support plate, a left support plate, a right support plate, an upper cover plate and a lower cover plate, the motor support plate is arranged in parallel with the base, the adduction-abduction motor is horizontally arranged, an output shaft of the adduction-abduction motor penetrates through the base and then is fixedly connected with the motor support plate, the motor support seat is vertically installed on one side of the motor support plate away from the base, the left support plate is connected with the motor support seat in an attaching manner, the right support plate is arranged in parallel with the left support plate at intervals, a containing cavity is formed inside the motor support plate and the left support plate, the upper cover plate and the lower cover plate are respectively covered on the top and the bottom of the containing cavity, and the.
3. The two-degree-of-freedom hip joint training mechanism according to claim 2, wherein the end of the accommodating cavity is an open structure, an opening for the flexion-extension joint to extend into is formed in the bottom of the end of the accommodating cavity, and the opening and the open structure are communicated to form a space for the flexion-extension joint to swing left and right.
4. The two-degree-of-freedom hip joint training mechanism according to claim 3, wherein the left support plate and the right support plate are identical in structure and size, and both ends of the left support plate and the right support plate are semi-circular structures, the lengths of the upper cover plate and the lower cover plate are both smaller than the length of the left support plate or the right support plate, the length of the lower cover plate is smaller than the length of the upper cover plate, and a space for the flexion-extension joint to swing is formed between the tail end of the lower cover plate and the tail end of the upper cover plate.
5. The two-degree-of-freedom hip joint training mechanism according to claim 3, wherein the belt transmission assembly comprises a belt, a driving pulley, a driven pulley, a pressing wheel and a rotating shaft, the driving pulley is arranged in the accommodating cavity facing the position of the flexion and extension motor, the flexion and extension motor is horizontally arranged, an output shaft of the flexion and extension motor penetrates through the motor supporting seat and the left supporting plate and then is in transmission connection with the driving pulley, the driven pulley is arranged at the other end, far away from the driving pulley, in the accommodating cavity through the rotating shaft, the pressing wheel is arranged between the driving pulley and the driven pulley and is close to the driven pulley, the belt is sequentially sleeved on the driving pulley, the pressing wheel and the driven pulley, and the flexion and extension joint is arranged on the driven pulley.
6. The two-degree-of-freedom hip joint training mechanism according to claim 5, wherein the adduction-abduction joint further comprises three support columns and two collision avoidance columns, the three support columns are uniformly or irregularly arranged between the driving pulley and the driven pulley, two ends of each support column are fixedly connected with the left support plate and the right support plate respectively, the pressing wheel is rotatably arranged on one of the support columns, the two collision avoidance columns are arranged in the containing cavity and located at positions outside the tail end of the lower cover plate and the tail end of the upper cover plate respectively, and the two collision avoidance columns are used for limiting two limit positions of the swing of the flexion-extension joint.
7. The two-degree-of-freedom hip joint training mechanism according to claim 6, wherein the flexion-extension joint comprises a left connecting plate, a right connecting plate and a fixing plate, annular sleeving parts are respectively arranged at the tops of the left connecting plate and the right connecting plate, the two sleeving parts are respectively sleeved in the two ends of the rotating shaft and then fixedly connected with the driven belt wheel, the top of the fixing plate is of an arc groove structure matched with the arc of the driven belt wheel, and when the flexion-extension joint rotates to be close to the tail end of the lower cover plate and is connected with the anti-collision column in an attaching manner, a gap is formed between the top of the right end of the fixing plate and the belt on the left side of the compression wheel.
8. The two degree of freedom hip training mechanism according to claim 7, characterised in that straps and clamps for fixing the patient's thigh are provided on the left web.
9. The two degree-of-freedom hip joint training mechanism according to claim 6, wherein the flexion-extension joint rotates at a limit angle of 15 degrees from the vertical position to the side close to the adduction-abduction motor, and the flexion-extension joint rotates at a limit angle of 125 degrees from the vertical position to the side far from the adduction-abduction motor.
10. The two degree of freedom hip exercise mechanism according to claim 1, characterised in that the adduction abduction motor and the flexion extension motor are both positive and negative rotation adjustable speed torque motors.
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