CN110236889B - Portable knee joint rehabilitation training auxiliary device - Google Patents
Portable knee joint rehabilitation training auxiliary device Download PDFInfo
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- CN110236889B CN110236889B CN201910654035.XA CN201910654035A CN110236889B CN 110236889 B CN110236889 B CN 110236889B CN 201910654035 A CN201910654035 A CN 201910654035A CN 110236889 B CN110236889 B CN 110236889B
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- rod
- screw pair
- slideway
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 61
- 210000002414 leg Anatomy 0.000 claims abstract description 7
- 230000003287 optical effect Effects 0.000 claims description 17
- 210000003127 knee Anatomy 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 abstract description 13
- 230000008859 change Effects 0.000 abstract description 7
- 201000010099 disease Diseases 0.000 abstract description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract description 2
- 210000003414 extremity Anatomy 0.000 abstract 1
- 238000002560 therapeutic procedure Methods 0.000 abstract 1
- 206010060820 Joint injury Diseases 0.000 description 3
- 208000016593 Knee injury Diseases 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000000149 penetrating effect 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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
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 invention relates to a portable knee joint rehabilitation training auxiliary device which comprises a box body, a transmission device, a slide way device and a controller, wherein the transmission device and the slide way device are arranged in the box body, a pedal is embedded on the slide way device, the pedal is connected with the transmission device, and the controller is connected with the transmission device through a control circuit. The portable folding portable medical device is small in size, foldable and easy to carry, can be applied to various medical environments, and can be used at any time; simple structure, convenient operation, low failure rate and adaptability to patients with various statures and different disease degrees. The rehabilitation training device helps the patient to finish the rehabilitation training of the knee joint and limb movements, achieves the aims of assisting disabled walking and rehabilitation therapy, can change the movement speed of the pedals and the distance between the two pedals through the controller according to the needs of the patient, enables the two legs of the patient to be in the most comfortable position when the patient performs rehabilitation exercise, and effectively controls the rehabilitation training intensity of the knee joint patient.
Description
Technical Field
The invention relates to a rehabilitation training auxiliary device, in particular to a portable knee joint rehabilitation training auxiliary device.
Background
With the development of society, intelligent robots gradually extend into people's lives. However, in medicine, the patient with severe knee injury still lacks the assistance of an intelligent device in rehabilitation, and all orthopaedics parts of hospitals do not have an instrument for recovering the severe knee injury. Under the condition that a person severely hurts the knee joint, the person basically cannot do excessive motion, at present, the recovery process of the patient is basically carried out by manual assistance, however, the manual assistance has a plurality of problems, the manual assistance is time-consuming and labor-consuming, and a plurality of uncontrollable factors exist in the recovery exercise, such as: under the condition of heavy weight of a patient, nursing staff cannot independently complete the work, and the assistance of the staff cannot grasp certain conditioning force, so that secondary injury is easily caused, and even doctor-patient relationship is stimulated.
Therefore, in order to solve the problems that the traditional patient with severe knee joint injury lacks an intelligent auxiliary device or has poor portability or poor coordination or poor angle adaptability and the like on rehabilitation exercise, the invention needs to provide an intelligent knee joint rehabilitation device which is convenient to carry and use, can perform mechanical exercise and is adjustable, so as to achieve the effect of helping the patient to break away from the illness early due to illness and achieve rehabilitation.
Disclosure of Invention
The invention aims to solve the technical problems, and provides a portable knee joint rehabilitation training auxiliary device which comprises a box body, a transmission device, a slide way device and a controller, wherein the transmission device and the slide way device are arranged in the box body, a pedal is embedded on the slide way device, the pedal is connected with the transmission device, and the controller is connected with the transmission device through a control circuit.
The box body comprises a first box body and a second box body, the first box body is hinged with the second box body through a hinge, a first transmission device and a first slide way device are arranged in the first box body, a second transmission device and a second slide way device are arranged in the second box body, foot pedals are respectively arranged on the first slide way device and the second slide way device, and a telescopic rod at the lower end of the foot pedal on the first slide way device is embedded in the first slide way device and is connected with the first transmission device through a transmission optical axis; the telescopic rod at the lower end of the pedal on the second slide way device is embedded in the second slide way device and is connected with the second transmission device through the transmission optical axis.
Supporting feet are arranged on two sides of the lower part of the foot pedal, and the lower ends of the supporting feet are pivoted with idler wheels or bearings; pedal connecting rods are pivoted between the supporting feet at two sides and are hinged with the lower telescopic rod through ball heads.
The first transmission device comprises a first stepping motor, a first ball screw pair screw, a first ball screw pair nut and a first smooth rod, wherein the first ball screw pair screw is parallel to the first slideway device, one end of the first ball screw pair screw is pivoted on the first box body through a bearing seat, and the other end of the first ball screw pair screw is connected with an output shaft of the first stepping motor through a coupler; the first smooth rod is arranged in parallel with the first ball screw pair screw rod, and the two ends of the first smooth rod are fixed on the first box body; the threaded hole of the first ball screw pair nut is sleeved on the first ball screw pair screw, and the smooth hole is sleeved on the first smooth rod; the first stepping motor is connected with the controller through a control circuit.
The second transmission device comprises a second stepping motor, a second ball screw pair screw rod, a second ball screw pair nut, a second smooth rod, a third ball screw pair screw rod, a third ball screw pair nut and a third smooth rod, wherein the second ball screw pair screw rod is perpendicular to the second slideway device, one end of the second ball screw pair screw rod is pivoted on the second box body through a bearing seat, the other end of the second ball screw pair screw rod is connected with an output shaft of the second stepping motor through a coupler, the second smooth rod is parallel to the second ball screw pair screw rod, and the two ends of the second smooth rod are fixed on the second box body; the threaded hole of the second ball screw pair nut is sleeved on the second ball screw pair screw, and the smooth hole is sleeved on the second smooth rod; the second sliding bearing seat is connected with the sliding groove on the second box body in a sliding way; the third smooth rod is arranged in parallel with the third ball screw pair screw rod, and two ends of the third smooth rod are fixed on the two sliding bearing seats; the threaded hole of the third ball screw pair nut is sleeved on the third ball screw pair screw, and the smooth hole is sleeved on the third smooth rod; the second stepping motor is connected with the controller through a control circuit.
The first ball screw pair screw is provided with a driving gear, and the third ball screw pair screw is correspondingly provided with a driven gear.
The first slideway device and the second slideway device comprise an arc slideway, a rectangular chute and a rectangular guide rail, the rectangular chute is arranged in the middle of the arc slideway, the rectangular guide rail is arranged on the side surface of the arc slideway, the rectangular guide rail of the first slideway device is arranged on one side close to the transmission device, and the rectangular guide rail of the second slideway device is a through type; the telescopic rod at the lower end of the pedal is arranged in the rectangular chute, and the pedal is supported on the upper surface of the arc-shaped slideway through a supporting leg roller or a bearing; the first ball screw pair nut passes through a rectangular guide rail of the first slideway device through a transmission optical axis and is connected with a telescopic rod at the lower end of a pedal of the first slideway device; the pulley is arranged at the lower part of the second slideway device, the sliding rail is arranged at the lower part of the second box body, and the pulley at the lower part of the second slideway device is clamped in the sliding rail; the telescopic rod at the lower end of the pedal of the second slideway device is provided with a through hole, and the third ball screw pair nut passes through the rectangular guide rail of the second slideway device through the transmission optical axis to be in clearance fit with the through hole on the telescopic rod.
The second box is provided with a clamping knob and a clamping screw, the lower end of the clamping knob is provided with an eccentric groove, the clamping screw is horizontally arranged, one end of the clamping screw penetrates through a screw through hole in the second box to be abutted against the second slideway device, the other end of the clamping screw is abutted against the eccentric groove in the lower end of the clamping knob, a reset spring is sleeved on the clamping screw, and the other end of the reset spring is abutted against the inner edge of the screw through hole.
The controller is arranged on the first box body, a power supply is arranged on the box body, and the power supply is connected with the controller and the transmission device.
A handle is arranged on the first box body, and a lock catch is arranged between the first box body and the second box body.
The working principle of the invention is as follows:
firstly, the first box body and the second box body are unfolded and placed at proper positions;
if one knee of the patient needs to be recovered, the patient sits on the seat, the foot to be recovered is stepped on the pedal of the first slideway device, the controller is used for controlling the first stepping motor to output the required rotating speed, the first stepping motor drives the first ball screw pair screw rod to rotate through the coupler, the rotating motion is converted into the linear motion of the first ball screw pair nut, the rectangular guide rail penetrating through the first slideway device through the transmission optical axis drives the telescopic rod of the pedal to move in the rectangular chute, the pedal slides in the arc slideway through the roller or the bearing at the lower end of the supporting foot, and the pedal is adapted to the height change of the arc slideway through the telescopic rod because the surface of the arc slideway is arc with high middle and low ends; the top of the telescopic rod is hinged with the pedal connecting rod through a ball head, both ends of the pedal connecting rod are also hinged with the supporting legs, and the double-hinge mechanism ensures the flexibility and fluency of angle change when the pedal runs; when the pedal plate runs to the end part of the arc-shaped slideway, the controller controls the first stepping motor to rotate reversely to drive the pedal plate to move reversely, so that the pedal plate reciprocates.
If the two knees of the patient need to be recovered, the patient sits on the seat, steps on the two pedals respectively, adjusts the extension condition of the two pedals by pulling the second slideway device, adjusts the distance between the two pedals to a proper width, and then screws the clamping knob to enable the clamping screw to prop against the second slideway device for fixing; the controller is used for controlling the second stepping motor to start, the second stepping motor drives the second ball screw pair screw rod to rotate through the coupler, the rotary motion is converted into linear motion of the second ball screw pair nut, the second ball screw pair nut moves towards the first box body, the third ball screw pair screw rod and the third smooth rod are driven to move towards the first box body through the sliding bearing seat, and the operation is stopped after the driven gear on the third ball screw pair screw rod is completely meshed with the driving gear on the first ball screw pair screw rod; the controller controls the first stepping motor to output the required rotating speed, the first stepping motor drives the first ball screw pair screw rod to rotate through the coupler, the driving gear and the driven gear drive the third ball screw pair screw rod to rotate simultaneously, the transmission optical axes of the first ball screw pair nut and the third ball screw pair nut drive the two pedals to slide in respective arc-shaped slide ways respectively, and when the pedals run to the end parts of the arc-shaped slide ways, the controller controls the first stepping motor to rotate reversely to drive the two pedals to move reversely, and the pedals reciprocate.
The invention has the beneficial effects that:
the portable folding portable medical device is small in size, foldable and easy to carry, can be applied to various medical environments, and can be used at any time; simple structure, convenient operation, low failure rate and adaptability to patients with various statures and different disease degrees. The device helps the patient to finish the rehabilitation training of the knee joint limb movements, achieves the aims of assisting disabled walking and rehabilitation treatment, can change the movement speed of the pedals and the distance between the two pedals through the controller according to the needs of the patient, ensures that the two legs of the patient can be positioned at the most comfortable position when the patient performs rehabilitation exercise, and effectively controls the rehabilitation training intensity of the knee joint patient; the two foot pedals have better cooperativity and smoother running, the foot pedals can change various angles, so that the rehabilitation training is more comfortable, the pain of a knee joint patient is reduced, the rehabilitation period is shortened, the labor intensity of nursing staff is reduced, and a new thought and direction are provided for the exploration and development of the field of medical rehabilitation apparatuses.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic top view of a second slide apparatus according to the present invention in an unstretched state;
FIG. 3 is a schematic top view of the second slide apparatus of the present invention in an extended configuration;
FIG. 4 is a schematic cross-sectional view of the present invention;
FIG. 5 is a schematic view of a longitudinal cross-sectional structure of a second slide apparatus according to the present invention;
FIG. 6 is a schematic view of the clamping knob and clamping screw of the present invention;
FIG. 7 is a schematic view of a foot pedal structure according to the present invention;
FIG. 8 is a schematic cross-sectional view of a telescopic rod of a second slide apparatus foot pedal of the present invention;
FIG. 9 is a schematic top view of the present invention in a locked state;
FIG. 10 is a schematic diagram showing the front view of the fastening state of the present invention;
FIG. 11 is a schematic side view of the present invention in a locked state;
1. first box 2, second box 3, first slideway device 4 and second slideway device
5. Foot rest 6, supporting foot 7, roller 8, pedal connecting rod 9 and ball head hinge
10. Telescopic rod 11, first stepping motor 12 and first ball screw pair screw rod
13. First ball screw pair nut 14, first smooth rod 15, shaft coupling 16 and controller
17. A second stepping motor 18, a second ball screw pair screw 19, and a second ball screw pair nut
20. Second smooth rod 21, third ball screw pair screw 22, third ball screw pair nut
23. Third smooth rod 24, sliding bearing seat 25, driving gear 26 and driven gear
27. Arc slide 28, rectangular slide 29, rectangular guide rail 30, transmission optical axis 31, pulley
32. Slide rail 33, clamping knob 34, clamping screw 35, eccentric groove 36, and power supply
37. Handle 38, chute.
Detailed Description
Please refer to fig. 1-11:
the invention provides a portable knee joint rehabilitation training auxiliary device which comprises a box body, a transmission device, a slide way device and a controller 16, wherein the transmission device and the slide way device are arranged in the box body, a pedal 5 is embedded on the slide way device, the pedal 5 is connected with the transmission device, and the controller 16 is connected with the transmission device through a control circuit.
The box body comprises a first box body 1 and a second box body 2, the first box body 1 is hinged with the second box body 2 through a hinge, a first transmission device, a first slide way device 3 and a controller 16 are arranged in the first box body 1, a second transmission device and a second slide way device 4 are arranged in the second box body 2, foot pedals 5 are respectively embedded in the first slide way device 3 and the second slide way device 4, and the foot pedals 5 on the first slide way device 3 are connected with the first transmission device; the pedal 5 on the second slideway device 4 is connected with a second transmission device.
The two sides of the lower part of the foot pedal 5 are provided with supporting feet 6, and the lower ends of the supporting feet 6 are pivoted with idler wheels 7; pedal connecting rods 8 are pivoted between the supporting feet 6 at two sides, and the pedal connecting rods 8 are in threaded connection with lower telescopic rods 10 through ball joints 9.
The first transmission device comprises a first stepping motor 11, a first ball screw pair screw rod 12, a first ball screw pair nut 13 and a first smooth rod 14, wherein the first ball screw pair screw rod 12 is parallel to the first slideway device 3, one end of the first ball screw pair screw rod is pivoted on the first box body 1 through a bearing seat, and the other end of the first ball screw pair screw rod is connected with an output shaft of the first stepping motor 11 through a coupler 15; the first smooth rod 14 is arranged in parallel with the first ball screw pair screw 12, and the two ends of the first smooth rod are fixed on the first box body 1; the threaded hole of the first ball screw pair nut 13 is sleeved on the first ball screw pair screw 12, and the smooth hole is sleeved on the first smooth rod 14; the first stepper motor 11 is connected to a controller 16 via control lines.
The second transmission device comprises a second stepping motor 17, a second ball screw pair screw rod 18, a second ball screw pair nut 19, a second smooth rod 20, a third ball screw pair screw rod 21, a third ball screw pair nut 22 and a third smooth rod 23, wherein the second ball screw pair screw rod 18 is vertical to the second slideway device 4, one end of the second ball screw pair screw rod 18 is pivoted on the second box body 2 through a bearing seat, the other end of the second ball screw pair screw rod is connected with an output shaft of the second stepping motor 17 through a coupler 15, the second smooth rod 20 is arranged in parallel with the second ball screw pair screw rod 18, and two ends of the second ball screw pair screw rod are fixed on the second box body 2; the threaded hole of the second ball screw pair nut 19 is sleeved on the second ball screw pair screw 18, and the smooth hole is sleeved on the second smooth rod 20; the third ball screw pair screw rod 21 is parallel to the second slideway device 4, one end of the third ball screw pair screw rod passes through the sliding bearing seat 24 and is pivoted on the second ball screw pair nut 19, the other end of the third ball screw pair screw rod is pivoted on the sliding bearing seat 24 on the other side, and the two sliding bearing seats 24 are respectively connected with a sliding chute 38 arranged on the second box body 2 in a sliding way; the third light slide bar 23 is arranged in parallel with the third ball screw pair screw rod 21, two ends of the third light slide bar 23 are fixed on two sliding bearing seats 24, and the second ball screw pair nut 19 can drive the third ball screw pair screw rod 21 and the third light slide bar 23 to reciprocate along the second ball screw pair screw rod 18; the threaded hole of the third ball screw pair nut 22 is sleeved on the third ball screw pair screw 21, and the smooth hole is sleeved on the third smooth rod 23; the second stepper motor 17 is connected to the controller 16 via a control line.
The first ball screw pair screw 12 is provided with a driving gear 25, and the third ball screw pair screw 21 is correspondingly provided with a driven gear 26; the third ball screw assembly screw 21 may be positioned closer to the first ball screw assembly screw 12 to engage the driven gear 26 with the driving gear 25, or may be positioned farther from the first ball screw assembly screw 12 to disengage the driven gear 26 from the driving gear 25.
The first slideway device 3 and the second slideway device 4 respectively comprise an arc slideway 27, a rectangular chute 28 and a rectangular guide rail 29, wherein the rectangular chute 28 is arranged in the middle of the arc slideway 27, the rectangular guide rail 29 is arranged on the side surface of the arc slideway 27, the rectangular guide rail 29 of the first slideway device 3 is arranged on one side close to the transmission device, the rectangular guide rail 29 of the second slideway device 4 is through type, and the rectangular guide rail 29 plays a role in guiding; the telescopic rod 10 at the lower end of the pedal 5 is arranged in the rectangular chute 28, and the pedal 5 is supported on the upper surface of the arc-shaped slideway 27 through the supporting leg 6 and the roller 7; the first ball screw pair nut 13 passes through a rectangular guide rail 29 of the first slideway device 3 through a transmission optical axis 30 and is connected with a telescopic rod 10 at the lower end of the pedal 5 of the first slideway device 3; the lower part of the second slideway device 4 is provided with a pulley 31, the lower part of the second box body 2 is provided with a slide rail 32, and the pulley 31 at the lower part of the second slideway device 4 is clamped in the slide rail 32; the telescopic rod 10 at the lower end of the pedal 5 of the second slideway device 4 is provided with a through hole, the third ball screw pair nut 22 passes through the rectangular guide rail 29 of the second slideway device 4 through the transmission optical axis 30 to be in clearance fit with the through hole on the telescopic rod 10, and when the second slideway device 4 slides along the sliding rail 32, the telescopic rod 10 on the second slideway device can slide along the transmission optical axis 30.
The second box body 2 is provided with a clamping knob 33 and a clamping screw 34, the lower end of the clamping knob 33 is provided with an eccentric groove 35, the clamping screw 34 is horizontally arranged, one end of the clamping screw penetrates through a screw through hole in the second box body 2 to be abutted against the second slideway device 4, the other end of the clamping screw is abutted against the eccentric groove 35 at the lower end of the clamping knob 33, a reset spring is sleeved on the clamping screw 34, and the other end of the reset spring is abutted against the inner edge of the screw through hole. When the clamping screw is not tightly propped, one end of the clamping screw is positioned in the eccentric groove 35 of the clamping knob 33, the other end of the clamping screw has no friction with the second slideway device 4, and the second slideway device 4 can move freely; the clamping knob 33 is rotated to push the clamping screw 34 to move towards the second slideway device 4, and the second slideway device 4 is propped against the clamping screw so that the clamping screw cannot freely move, and the clamping screw is in a propped state. When the clamp knob 33 is rotated reversely, the clamp screw 34 moves away from the second slide device 4 under the action of the return spring, the urging force disappears, and the second slide device 4 can slide freely.
The first casing 1 is provided with a power supply 36, and the power supply 36 is connected with the controller 16, the stepping motors of the first transmission device and the second transmission device to supply electric energy.
The first box 1 is provided with a handle 37, a lock catch is arranged between the first box 1 and the second box 2, and the first box 1 and the second box 2 are locked through the lock catch after being buckled.
The controller 16 is an existing device, and includes a control board, a processor, a motor driver, etc., where an adjusting knob or a touch pad is disposed on the control board for controlling the output rate of the stepper motor, the processor is a single-chip microcomputer, and the control board and the motor driver are connected to the processor respectively, and the specific structure is not described here.
The working principle of the invention is as follows:
firstly, the first box body 1 and the second box body 2 are unfolded and put at a proper position;
if one knee of the patient needs to be recovered, the patient sits on the seat, the foot to be recovered is stepped on the pedal 5 of the first slideway device 3, the controller 16 controls the first stepping motor 11 to output the required rotating speed, the first stepping motor 11 drives the first ball screw pair screw rod 12 to rotate through the coupler 15, the rotating motion is converted into the linear motion of the first ball screw pair nut 13, the transmission optical axis 30 passes through the rectangular guide rail 29 of the first slideway device 3 to drive the telescopic rod 10 of the pedal 5 to move in the rectangular sliding groove 28, the pedal 5 slides in the arc-shaped slideway 27 through the roller 7 at the lower end of the supporting leg 6, and the pedal 5 is adapted to the height change of the arc-shaped slideway 27 through the telescopic rod 10 because the surface of the arc-shaped slideway 27 is arc-shaped with middle low two ends high; the top of the telescopic rod 10 is connected with the pedal connecting rod 8 through a ball head hinge 9, two ends of the pedal connecting rod 8 are also hinged with the supporting feet 6, and the double hinge mechanism ensures the flexibility and fluency of angle change when the pedal 5 runs; when the pedal 5 moves to the end of the arc-shaped slide way 27, the controller 16 controls the first stepping motor 11 to rotate reversely, so that the pedal 5 is driven to move reversely and reciprocate.
If the two knees of the patient need to be recovered, the patient sits on the seat, steps on the two pedals 5 respectively, adjusts the extension condition of the two pedals 5 by pulling the second slideway device 4, adjusts the distance between the two pedals 5 to a proper width, and then screws the clamping knob 33 to enable the clamping screw 34 to prop against the second slideway device 4 for fixing; the controller 16 controls the second stepping motor 17 to start, the second stepping motor 17 drives the second ball screw pair screw rod 18 to rotate through the coupler 15, the rotary motion is converted into linear motion of the second ball screw pair nut 19, the second ball screw pair nut 19 moves towards the first box body 1, the third ball screw pair screw rod 21 and the third light slide bar 23 are driven to move towards the first box body 1 through the sliding bearing seat 24, and the operation is stopped after the driven gear 26 on the third ball screw pair screw rod 21 is completely meshed with the driving gear 25 on the first ball screw pair screw rod 12; the controller 16 controls the first stepping motor 11 to output the required rotating speed, the first stepping motor 11 drives the first ball screw pair screw rod 12 to rotate through the coupler 15, the driving gear 25 and the driven gear 26 drive the third ball screw pair screw rod 21 to simultaneously rotate, the transmission optical axes 30 of the first ball screw pair nut 13 and the third ball screw pair nut 22 drive the two pedals 5 to slide in the respective arc-shaped slide ways 27, and when the pedals 5 run to the end parts of the arc-shaped slide ways 27, the controller 16 controls the first stepping motor 11 to reversely rotate to drive the two pedals 5 to reversely move, so that the pedals reciprocate.
After the use is finished, the controller 16 controls the second stepping motor 17 to start reversing, the second ball screw assembly screw 18 and the second ball screw assembly nut 19 sequentially drive the third ball screw assembly screw 21 and the third light slide bar 23 to move away from the first box body 1 through the sliding bearing seat 24 until the driven gear 26 on the third ball screw assembly screw 21 is separated from the driving gear 25 on the first ball screw assembly screw 12 and then stops running, and the first box body 1 and the second box body 2 are buckled. When the second transmission device 4 is retracted to the initial position, in order to ensure that the third ball screw pair nut 22 and the third smooth rod 23 have enough space for retraction, a groove is formed on one side of the second transmission device 4 close to the third smooth rod 23, and the third ball screw pair nut 22 and the third smooth rod 23 can be retracted into the groove.
Claims (3)
1. A portable knee joint rehabilitation training auxiliary device which is characterized in that: the device comprises a box body, a transmission device, a slide way device and a controller, wherein the transmission device and the slide way device are arranged in the box body, a pedal is arranged on the slide way device, the lower end of the pedal is pivoted with a telescopic rod, the telescopic rod is embedded in the slide way device, the telescopic rod is connected with the transmission device through a transmission optical axis, and the controller is connected with the transmission device through a control circuit;
the box body comprises a first box body and a second box body, the first box body is hinged with the second box body through a hinge, a first transmission device and a first slide way device are arranged in the first box body, a second transmission device and a second slide way device are arranged in the second box body, foot pedals are respectively arranged on the first slide way device and the second slide way device, and a telescopic rod at the lower end of the foot pedal on the first slide way device is embedded in the first slide way device and is connected with the first transmission device through a transmission optical axis; the telescopic rod at the lower end of the pedal on the second slideway device is embedded in the second slideway device and is connected with the second transmission device through a transmission optical axis;
supporting feet are arranged on two sides of the lower part of the foot pedal, and the lower ends of the supporting feet are pivoted with idler wheels or bearings; pedal connecting rods are pivoted between the supporting feet at two sides and are hinged with the lower telescopic rod through ball heads;
the first transmission device comprises a first stepping motor, a first ball screw pair screw, a first ball screw pair nut and a first smooth rod, wherein the first ball screw pair screw is parallel to the first slideway device, one end of the first ball screw pair screw is pivoted on the first box body through a bearing seat, and the other end of the first ball screw pair screw is connected with an output shaft of the first stepping motor through a coupler; the first smooth rod is arranged in parallel with the first ball screw pair screw rod, and the two ends of the first smooth rod are fixed on the first box body; the threaded hole of the first ball screw pair nut is sleeved on the first ball screw pair screw, and the smooth hole is sleeved on the first smooth rod; the first stepping motor is connected with the controller through a control circuit;
the second transmission device comprises a second stepping motor, a second ball screw pair screw rod, a second ball screw pair nut, a second smooth rod, a third ball screw pair screw rod, a third ball screw pair nut and a third smooth rod, wherein the second ball screw pair screw rod is perpendicular to the second slideway device, one end of the second ball screw pair screw rod is pivoted on the second box body through a bearing seat, the other end of the second ball screw pair screw rod is connected with an output shaft of the second stepping motor through a coupler, the second smooth rod is parallel to the second ball screw pair screw rod, and the two ends of the second smooth rod are fixed on the second box body; the threaded hole of the second ball screw pair nut is sleeved on the second ball screw pair screw, and the smooth hole is sleeved on the second smooth rod; the second sliding bearing seat is connected with the sliding groove on the second box body in a sliding way; the third smooth rod is arranged in parallel with the third ball screw pair screw rod, and two ends of the third smooth rod are fixed on the two sliding bearing seats; the threaded hole of the third ball screw pair nut is sleeved on the third ball screw pair screw, and the smooth hole is sleeved on the third smooth rod; the second stepping motor is connected with the controller through a control circuit;
a driving gear is arranged on the first ball screw pair screw rod, and a driven gear is correspondingly arranged on the third ball screw pair connecting rod;
the first slideway device and the second slideway device comprise an arc slideway, a rectangular chute and a rectangular guide rail, the rectangular chute is arranged in the middle of the arc slideway, and the rectangular guide rail is arranged on the side surface of the arc slideway; the telescopic rod at the lower end of the pedal is arranged in the rectangular chute, and the pedal is supported on the upper surface of the arc-shaped slideway through a supporting leg roller or a bearing; the first ball screw pair nut of the first transmission device passes through the rectangular guide rail of the first slideway device through the transmission optical axis and is connected with the telescopic rod at the lower end of the pedal of the first slideway device; the pulley is arranged at the lower part of the second slideway device, the sliding rail is arranged at the lower part of the second box body, and the pulley at the lower part of the second slideway device is clamped in the sliding rail; the telescopic rod at the lower end of the pedal of the second slideway device is provided with a through hole, and the third ball screw pair nut of the second transmission device passes through the rectangular guide rail of the second slideway device through the transmission optical axis to be in clearance fit with the through hole on the telescopic rod;
the second box is provided with a clamping knob and a clamping screw, the lower end of the clamping knob is provided with an eccentric groove, the clamping screw is horizontally arranged, one end of the clamping screw penetrates through a screw through hole in the second box to be abutted against the second slideway device, the other end of the clamping screw is abutted against the eccentric groove in the lower end of the clamping knob, a reset spring is sleeved on the clamping screw, and the other end of the reset spring is abutted against the inner edge of the screw through hole.
2. The portable knee rehabilitation training aid according to claim 1, wherein: the controller is arranged on the first box body, and a power supply is further arranged on the first box body and connected with the controller and the transmission device.
3. The portable knee rehabilitation training aid according to claim 1, wherein: a handle is arranged on the first box body, and a lock catch is arranged between the first box body and the second box body.
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| CN201910654035.XA CN110236889B (en) | 2019-07-19 | 2019-07-19 | Portable knee joint rehabilitation training auxiliary device |
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| CN201910654035.XA CN110236889B (en) | 2019-07-19 | 2019-07-19 | Portable knee joint rehabilitation training auxiliary device |
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| CN110236889B true CN110236889B (en) | 2024-01-12 |
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