Disclosure of Invention
Aiming at the defects in the technology, the invention provides a knee joint traction rehabilitation robot.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a knee traction rehabilitation robot comprising: a binding unit fixed to a waist and abdomen portion and a thigh portion of a patient; a traction unit fixed to a lower leg portion of a patient; the traction driver can enable the binding unit and the traction unit to generate relative motion and provide power for assisting the knee joint to perform rehabilitation training;
wherein, traction unit includes right shank traction portion and left shank traction portion, and right shank traction portion and left shank traction portion all pin joint are on the constraint unit.
Preferably, the binding unit comprises a waist and abdomen binding part, a right thigh binding part and a left thigh binding part;
wherein, a right crotch support and a left crotch support are formed on the waist-abdomen binding part; the right thigh binding part is pivoted on the right crotch bracket; the left thigh binding part is pivoted on the left crotch bracket; the waist and abdomen binding part is provided with a posture regulator for regulating the positions of the right thigh binding part and the left thigh binding part.
Preferably, the number of the traction drivers is two, and the traction drivers are first drivers arranged between the right thigh binding part and the right shank traction part; and a second actuator disposed between the left thigh restraint portion and the left calf traction portion.
Preferably, the traction drive comprises a drive carriage; the driving motor is fixed on the driving frame; and a speed reduction part which is arranged on the driving frame and is connected with an output shaft of the driving motor.
Preferably, the speed reducing portion includes a first gear fixed to an output shaft end of the driving motor; the second gear is meshed with the first gear; the third gear and the second gear are fixed on the same rotating shaft; and a fourth gear in meshing engagement with the third gear.
Preferably, the attitude adjuster has the same structural features as the traction drive; the number of the posture regulators is two, and the posture regulators are first regulators arranged between the right crotch support and the right thigh binding part; and a second adjuster disposed between the left crotch support and the left thigh link.
Preferably, a waist and abdomen binding component is arranged on the waist and abdomen binding part and comprises a first belt, a second belt and a connecting belt;
wherein, the connecting belt is connected between the first belt and the second belt to form a space for restraining the waist and abdomen of the patient.
Preferably, a thigh binding assembly is fixed on each of the right thigh binding part and the left thigh binding part, and comprises a first arc plate fixed on the inner side of the right thigh binding part or the left thigh binding part; the second arc plate is hinged to the first arc plate through a rotating rod; and the connecting piece is arranged between the first arc plate and the second arc plate and used for fixing the relative positions of the first arc plate and the second arc plate.
Preferably, the right lower leg traction part and the left lower leg traction part are of symmetrical structures and both comprise lower leg sleeves; and a lower leg fastening assembly disposed inside the lower leg cuff for fastening a lower leg of the patient.
Preferably, the lower leg fastening assembly comprises a pressure plate; and a screw rotatably connected to the pressure plate;
wherein, the shank leg sleeve is provided with a threaded hole which can be matched with the screw rod for screw connection.
Compared with the prior art, the invention has the beneficial effects that: the knee joint traction rehabilitation robot provided by the invention can be stably worn on the waist and abdomen part and the lower limb part of a patient; the two posture regulators can adjust the positions of the right thigh binding part and the left thigh binding part relative to the waist and abdomen binding part according to the required training posture of the patient; the two traction drivers can be controlled to be linked with the crus of the patient to perform the rehabilitation training of the knee joint; effectively solves the problem of discomfort caused by active exertion training of the patient. The application has the advantages of simple structure, stable operation, good auxiliary effect and higher practical value.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1 to 8, the present invention provides a knee joint traction rehabilitation robot, including:
a binding unit fixed to a waist and abdomen portion and a thigh portion of a patient;
a traction unit fixed to a lower leg portion of a patient; and
the traction driver can enable the constraint unit and the traction unit to generate relative motion and provide power for assisting the knee joint to perform rehabilitation training;
wherein, the traction unit comprises a right lower leg traction part 11 and a left lower leg traction part 12, and the right lower leg traction part 11 and the left lower leg traction part 12 are both pivoted on the binding unit.
In one embodiment of the present invention, the binding unit includes a waist and abdomen binding portion 3, a right thigh binding portion 41, and a left thigh binding portion 42;
wherein, the right thigh binding part 41 and the left thigh binding part 42 are pivoted on the waist and abdomen binding part 3; the waist and abdomen binding portion 3 is provided with a posture adjuster for adjusting the positions of the right thigh binding portion 41 and the left thigh binding portion 42.
As an embodiment of the present invention, a right crotch bar 31 and a left crotch bar 32 are formed on the waist-abdomen binding portion 3;
the right thigh engaging part 41 is pivotally connected to the right crotch bar 31 via a third shaft 73;
the left thigh restraint 42 is pivotally connected to the left crotch brace 32 by a fourth axis 74.
As an embodiment of the present invention, a method for manufacturing a semiconductor device,
the right lower leg traction part 11 is pivoted to the right thigh restraint part 41 through a first shaft 71;
the left lower leg pulling portion 12 is pivotally connected to the left thigh restraint portion 42 via a second shaft 72.
As an embodiment of the invention, the number of traction drives is two, which is
A first actuator 21 provided between the right thigh restraint part 41 and the right lower leg traction part 11; and
and a second actuator 22 provided between the left thigh restraint portion 42 and the left lower leg traction portion 12.
As an embodiment of the invention, the traction drive comprises
A drive frame 90;
a driving motor 91 fixed to the driving frame 90; and
and a speed reduction part 92 provided on the driving frame 90 and connected to an output shaft of the driving motor 91.
The decelerating section 92 includes, as an embodiment of the present invention
A first gear 921 fixed to an output shaft end of the drive motor 91;
a second gear 922 meshed with the first gear 921;
a third gear 923 fixed to the same shaft as the second gear 922; and
and a fourth gear 924 meshed with the third gear 923.
As an embodiment of the present invention, the driving frame 90 is provided with a housing 900 for isolating the first gear 921 and the second gear 922.
As an embodiment of the present invention, a method for manufacturing a semiconductor device,
the radial dimension of the first gear 921, the radial dimension of the third gear 923, the radial dimension of the second gear 922, and the radial dimension of the fourth gear 924 increase in this order.
As an embodiment of the present invention, a method for manufacturing a semiconductor device,
the drive frame 90 included in the first actuator 21 is fixed to the right thigh link 41, and the fourth gear 924 included therein is fixed to the right calf traction portion 11;
the second actuator 22 includes an actuator frame 90 secured to the left thigh restraint 42 and a fourth gear 924 secured to the left calf traction 12.
As an embodiment of the present invention, the attitude adjuster has the same structural features as the traction driver; the number of the attitude regulators is two, which is
A first adjuster 23 provided between the right crotch bar 31 and the right thigh link 41; and
and a second adjuster 24 provided between the left crotch bar 32 and the left thigh link 42.
As an embodiment of the present invention, a method for manufacturing a semiconductor device,
the first adjuster 23 includes a drive bracket 90 fixed to the right crotch bracket 31, and a fourth gear 924 fixed to the right thigh link 41;
second adjuster 24 includes a drive bracket 90 secured to left crotch support 32 and a fourth gear 924 secured to left thigh link 42.
As an embodiment of the present invention, the waist and abdomen binding part 3 is provided with a waist and abdomen binding assembly 5, which includes a first belt 51, a second belt 52 and a connecting belt 53;
wherein the connecting band 53 is connected between the first and second straps 51 and 52 to form a space for restraining the waist and abdomen of the patient.
As an embodiment of the present invention, the first strap 51 and the second strap 52 are both fixed with a fastening post 54, and the connecting strap 53 is provided with at least two fastening holes 530;
the two clipping posts 54 can be correspondingly clipped in the two clipping holes 530.
As an embodiment of the present invention, the first strap 51 and the second strap 52 are flexible straps.
As an embodiment of the present invention, a thigh binding assembly 6 is fixed on each of the right thigh binding part 41 and the left thigh binding part 42, and comprises
A first arc plate 61 fixed to the inside of the right or left thigh link 41 or 42;
a second arc plate 62 hinged on the first arc plate 61 through a rotating rod 63; and
and a connecting member 64 disposed between the first arc plate 61 and the second arc plate 62 for fixing the relative positions of the first arc plate 61 and the second arc plate 62.
As an embodiment of the present invention, the first arc plate 61 and the second arc plate 62 are rigid arc plates.
In one embodiment of the present invention, the right lower leg traction part 11 and the left lower leg traction part 12 are symmetrical structures, and both of them include
A calf leg sleeve 80; and
a lower leg fastening assembly disposed inside the lower leg cuff 80 for fastening the lower leg of the patient.
As an embodiment of the invention, the lower leg fastening assembly comprises
A pressure plate 81; and
a screw 821 rotatably connected to the pressure plate 81;
wherein, the shank leg sleeve 80 is provided with a threaded hole 820 which can be matched and screwed with the screw 821.
In one embodiment of the present invention, a handle 83 is fixed to the screw 821.
In the use process of the knee joint traction rehabilitation robot, firstly, two lower legs of a patient are inserted into the right lower leg traction part 11 and the left lower leg traction part 12, and the waist and abdomen binding part 3 is stretched to the waist and abdomen position of the patient; subsequently, the connecting band 53 is fastened to allow the waist and abdomen binding unit 5 to be worn around the waist and abdomen of the patient, the two connecting members 64 are fastened to allow the first arc plate 61 and the second arc plate 62 to be fastened to the thigh, and the screw 821 is appropriately rotated to fix the lower leg of the patient in the lower leg sleeve 80.
Two posture adjusters adjust the positions of the right thigh restraint portion 41 and the left thigh restraint portion 42 with respect to the lumbar-abdominal restraint portion 3 according to the training posture (sitting posture, standing posture, etc.) required by the patient; finally, the user can control the two traction drivers to interlock the lower legs of the patient according to the training requirement to carry out the rehabilitation training of the knee joint.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.