CN111419642A

CN111419642A - Equipment for lower limb rehabilitation training

Info

Publication number: CN111419642A
Application number: CN202010356894.3A
Authority: CN
Inventors: 邢金秋; 都吉良; 黄日新; 许广艳; 程熙冉; 吴立庭
Original assignee: Guangzhou Yikang Medical Equipment Industrial Co ltd
Current assignee: Guangzhou Yikang Medical Equipment Industrial Co ltd
Priority date: 2020-04-29
Filing date: 2020-04-29
Publication date: 2020-07-17
Anticipated expiration: 2040-04-29
Also published as: CN111419642B

Abstract

The invention discloses equipment for lower limb rehabilitation training, which comprises a doorframe-type bracket, a suspension device arranged on a bracket beam, a left side leg orthosis and a right side leg orthosis, wherein the left side leg orthosis and the right side leg orthosis are worn by a user, a movable base is arranged at the bottom of the bracket, the suspension device comprises a traction rope, a fixed frame, a servo motor, a winch, a fixed pulley block and a first rotating shaft, the traction rope is connected with a harness worn by the user at the bottom end, the servo motor, the winch, the fixed pulley block and the, the device comprises a swing rod, a swing pulley, a cam, a second rotating shaft, an upper connecting rod, a lower connecting rod and a buffer spring, wherein the swing pulley, the cam and the second rotating shaft are arranged at the free end of the swing rod, the upper connecting rod is arranged above a fixing frame, one end of the upper connecting rod is sleeved on the second rotating shaft, the lower connecting rod and the buffer spring are arranged below the fixing frame, one end of the lower connecting rod is sleeved on the second rotating shaft, the buffer spring is arranged between the free end of the upper connecting rod and the fixing frame. The invention has simple structure and convenient operation, and can provide effective rehabilitation training for users with completely weak lower limbs.

Description

Equipment for lower limb rehabilitation training

Technical Field

The invention relates to a rehabilitation training device, in particular to a device for lower limb rehabilitation training.

Background

A common lower limb rehabilitation training device is a device for assisting a person with lower limb walking disorder in walking training, and helps patients with, for example, stroke-induced mobility disorder, spinal cord injury, traumatic brain trauma, multiple sclerosis and parkinson to perform walking training using their motor nerve function.

The general lower limb rehabilitation training equipment is only used for simply supporting a patient, passively training legs, lacking in a peripheral frame and not losing weight of the patient, so that the patient has a safety risk of falling down when in use, and the use and popularization of the lower limb rehabilitation training equipment are limited. In order to ensure that the gravity of a user is reduced and the posture of the user is regulated, lower limb rehabilitation training equipment using a door-shaped frame structure is provided, a suspension structure is arranged on a cross beam of the frame structure, a pull rope for the user to wear a harness is arranged at the bottom end of the suspension structure, the height of the harness from the ground is changed by adjusting the length of the pull rope, a plurality of motion detectors are arranged to detect the motion of the user, and therefore the frame structure and the pull rope move along with the motion of the user through a control unit or manual operation. Such lower limb rehabilitation training equipment has a complex structure, many electronic devices, high manufacturing cost and complex operation, can realize automatic operation to a certain extent, is limited by different conditions of users, needs manual intervention of the length of a traction rope or the running of equipment before rehabilitation training, and needs manual intervention to adjust the traction rope along with the posture change of the user in the use process, thereby causing inconvenience in use and limiting popularization.

Disclosure of Invention

The invention aims to provide equipment for lower limb rehabilitation training, which can effectively reduce the gravity of a user, has a simple structure, is convenient to operate and has a better rehabilitation training effect.

The technical solution of the invention is as follows: an apparatus for lower limb rehabilitation training comprises a doorframe-type support and a suspension device arranged on a cross beam of the support, wherein the suspension device is provided with a traction rope the bottom end of which is connected with a harness worn by a user, a left leg orthosis and a right leg orthosis are respectively worn by legs of the user on vertical beams on two sides of the support, the bottom of each vertical beam is respectively provided with a movable base, the suspension device comprises a fixed frame, a servo motor driving mechanism arranged on the fixed frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffering connecting rod group and a buffering spring, wherein the servo motor driving mechanism comprises a servo motor connected on a speed reducer, the winch is connected on the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixed frame, a swinging rod with one end fixed on the first rotating shaft and a swinging pulley arranged on the free, the cam sets up in the mount below and with the coaxial follow-up of first pivot, and buffering connecting rod group is including setting up the second pivot on the mount perpendicularly, setting up in mount top and a pot head establish at the epaxial upper connecting rod of second pivot, set up in mount below and a pot head establish at the epaxial lower connecting rod of second pivot, and the free end and the cam edge contact of lower connecting rod, buffer spring set up between upper connecting rod free end and mount, the other end of haulage rope is convoluteed on the capstan winch after walking around swing pulley and fixed pulley group in order.

The door frame type bracket can be conveniently provided with a suspension device, so that a user can be conveniently suspended to reduce weight; the left leg orthosis and the right leg orthosis arranged on the vertical beams on the two sides of the support can provide extra external force support for legs of a user, an active training mode can be provided, the effect of rehabilitation training is improved, and rehabilitation training can be provided for patients without walking ability of lower limbs better. The support realizes the displacement through the portable base portion of bottom itself to for the user walks and provide extra helping hand, increase the variety and the validity of training mode. The other end of the hauling rope is wound on the winch, the length of the hauling rope can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor, and the feedback is more timely. Under the action of the pulling force of the buffer spring, the upper connecting rod can rotate towards one direction by taking the second rotating shaft as the shaft, the lower connecting rod is driven to rotate towards the same direction by taking the second rotating shaft as the shaft, so that the edge of the lower connecting rod is attached to the outer edge of the cam, the whole device is in a balanced state, when the traction rope on one side of the harness is pulled downwards or loosened upwards, under the action of the pulling force and the elastic force of the buffer spring, the swinging pulley can swing along with the traction rope, the first rotating shaft is driven to rotate, the cam below the fixing frame can also be driven to rotate, the edge of the cam can push the lower connecting rod to rotate, the upper connecting rod is driven to move, the length change of the traction rope can be consumed by the rotation of the swinging pulley at the moment, the winch does not need to be started, the operation of the servo motor is.

And a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever. The outer edge of the cam can be sufficiently contacted by the lower catch lever in order to transmit torque efficiently.

The fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley. The change of the traction force is detected through the torque sensor, so that data output is used for controlling the servo motor, the programmed operation is favorably realized, and a hardware basis is provided for accurate control.

A direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley. The direction-changing fixed pulley can change the motion direction of the traction rope so as to adjust the cutting-in direction of the traction rope and the force-measuring movable pulley and further control the force-measuring accuracy.

And an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor. The angle sensor can measure the cam rotation angle data, so that the output is used for controlling the servo motor, the programmable operation is facilitated, and a hardware basis is provided for accurate control.

The fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley. The direction of the traction rope wound on the winch can be adjusted through the positions of the first fixed pulley and the second fixed pulley, the accuracy of the stress direction is ensured, and the interference is reduced.

Each movable base part comprises a base plate connected with the vertical beam, driven wheels arranged at the front end and the rear end of the bottom of the base plate, a driving unit arranged below the base plate and a driving wheel. The base plate can increase the area of contact of portable basal portion and ground, improves the stability and the security of hanging in midair, and the setting of following the driving wheel can make the base plate atress even, improves the smoothness of removal.

The vertical beams are respectively provided with a reinforcing seat, and the left leg orthopedic device and the right leg orthopedic device are respectively connected to the reinforcing seats through connecting frames. The supporting strength for the legs of the user is improved, and the use safety is further ensured.

The reinforced seat is provided with vertical sliding grooves respectively, adjustable sliding blocks are arranged in the sliding grooves, and the connecting frame is connected to the adjustable sliding blocks. Through the slip of adjustable sliding block, realize the adjustment of link height, the demand of the different user rehabilitation training of better adaptation improves the comfort level of correcting the training.

The left leg orthosis and the right leg orthosis respectively comprise a hip joint module, a hip joint leg stretching mechanism, a knee joint module and a knee joint leg stretching mechanism, wherein one end of the hip joint leg stretching mechanism is connected with the hip key module, the other end of the hip joint leg stretching mechanism is connected with the knee joint module, one end of the knee joint leg stretching mechanism is connected with the knee joint module, an upper bandage for binding the thigh of a user is arranged on the hip joint leg stretching mechanism, and a lower bandage for binding the calf of the user is arranged on the knee joint leg stretching mechanism. The follow-up performance of the regulation and control of the human leg joint is realized through the hip joint module, the knee joint module and the two telescopic mechanisms, the comfort feeling is improved, and the injury to the legs of a user in the rehabilitation training process is reduced.

The hip joint leg stretching mechanism is provided with an upper sliding seat, the upper binding band is connected to the upper sliding seat, the knee joint leg stretching mechanism is provided with a lower sliding seat, and the lower binding band is connected to the lower sliding seat. The upper and lower straps can realize the position adjustment through the displacement of the sliding seat, and can reduce the oppression on the legs in the movement, thereby further improving the comfort level.

The invention has the advantages that: simple structure, convenient operation uses safe and reliable, can provide effectual rehabilitation training for the user that the low limbs are totally powerless, can realize the size of traction force on the automatic adjustment haulage rope to a certain extent, and the follow-up is high, and convenient further transformation realizes automated control.

Drawings

FIG. 1 is a schematic diagram of a usage state of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an embodiment of the present invention;

FIG. 3 is a schematic structural view of a doorframe-type bracket according to an embodiment of the present invention;

FIG. 4 is a schematic structural view of a suspension system in an embodiment of the present invention;

FIG. 5 is a perspective schematic view of a suspension system in an embodiment of the present invention;

FIG. 6 is a schematic diagram of a left leg orthosis and a right leg orthosis according to an embodiment of the invention;

1. a support, 2, a cross beam, 3, a vertical beam, 4, a traction rope, 5, a harness, 6, a left leg orthosis, 7, a right leg orthosis, 8, a movable base, 9, a fixed frame, 10, a servo motor, 11, a speed reducer, 12, a winch, 13, a first fixed pulley, 14, a second fixed pulley, 15, a swinging pulley, 16, a swinging rod, 17, a first rotating shaft, 18, a cam, 19, a second rotating shaft, 20, an upper connecting rod, 21, a lower connecting rod, 22, a buffer spring, 23, a moment sensor, 24, a force measuring movable pulley, 25, a direction changing fixed pulley, 26, an angle sensor, 27, a lower baffle, 28, a through hole, 29, a base plate, 30, a driven wheel, 31, a driving unit, 32, a driving wheel, 33, a reinforcing seat, 34, a sliding chute, 35, an adjustable sliding block, 36, a hip joint module, 37, a hip joint leg expansion mechanism, 38, a knee joint module, 39. knee joint leg telescopic machanism 40, upper bandage, 41, lower bandage, 42, upper sliding seat, 43, lower sliding seat, 44, user, 45, link.

Detailed Description

Examples

Referring to fig. 1-6: the equipment for lower limb rehabilitation training comprises a doorframe-type support 1 and a suspension device arranged on a support cross beam 2, wherein the suspension device is provided with a traction rope 4 the bottom end of which is connected with a harness 5 worn by a user 44, a left leg orthosis 6 and a right leg orthosis 7 which are respectively worn by the legs of the user are arranged on vertical beams 3 at two sides of the support 1, the bottom of each vertical beam 3 is respectively provided with a movable base, the suspension device comprises a fixed frame 9, a servo motor driving mechanism arranged on the fixed frame, a winch 12, a fixed pulley block, a swinging pulley block, a cam 18, a buffering connecting rod group and a buffering spring 22, wherein the servo motor driving mechanism comprises a servo motor 10 connected on a speed reducer 11, the winch 12 is connected on the speed reducer 11, the swinging pulley block comprises a first rotating shaft 17 vertically arranged on the fixed frame 9, a swinging rod 16 with one end fixed on the, The buffer linkage comprises a second rotating shaft 19 vertically arranged on the fixed frame 9, an upper connecting rod 20 arranged above the fixed frame 9 and provided with a pot on the second rotating shaft 19, a lower connecting rod 21 arranged below the fixed frame 9 and provided with a pot on the second rotating shaft 19, a lower stop lever 27 arranged on the free end of the lower connecting rod 21, the outer edge of the cam 18 is in contact with the lower stop lever 27, a buffer spring 22 is arranged between the free end of the upper connecting rod 20 and the fixed frame 9, a force measuring movable pulley 24 with a moment sensor 23 is arranged on the fixed frame 9, and the output of the moment sensor 23 is used for being connected with the servo motor 10. A direction-changing fixed pulley 25 is arranged between the force-measuring movable pulley 24 and the swinging pulley 15. The fixed pulley group comprises a first fixed pulley 13 and a second fixed pulley 14 which are oppositely arranged, one end of the traction rope 3 is downwards connected with the harness 5 through a through hole 28 on the fixed frame 9, and the other end of the traction rope is wound on the winch 12 after sequentially passing around the force measuring movable pulley 24, the direction changing fixed pulley 25, the swinging pulley 15, the first fixed pulley 13 and the second fixed pulley 14. An angle sensor 26 which is coaxially arranged with the cam 18 and follows is arranged on the first rotating shaft 17, and the output of the angle sensor 26 is used for connecting the servo motor 10.

The doorframe-type bracket 1 can be conveniently provided with a suspension device, so that the user 44 can be conveniently suspended to reduce weight; the left leg orthosis 6 and the right leg orthosis 7 arranged on the vertical beams 3 at the two sides of the support 1 can provide extra external force support for the legs of a user, can also provide an active training mode, increase the effect of rehabilitation training, and can also better provide rehabilitation training for patients without walking ability of lower limbs. The support 1 is displaced by the movable base of the bottom, so that additional assistance is provided for the user to walk, and the diversity and effectiveness of the training mode are improved. The other end of the hauling cable 4 is wound on the winch 12, the length of the hauling cable 4 can be accurately adjusted by controlling the rotation direction and the rotation time of the servo motor 10, and the feedback is more timely. Under the action of the pulling force of the buffer spring 22, the upper link 20 will rotate in one direction around the second rotating shaft 19, and drive the lower link 21 to rotate in the same direction around the second rotating shaft 19, so that the edge of the lower link 21 will cling to the outer edge of the cam 18, the whole device is in a balanced state, when the traction rope 4 on one side of the harness 5 is pulled downwards or loosened upwards, if the pulling force on the traction rope 4 increases, the swinging pulley 15 will swing along with the traction rope 4, so as to drive the first rotating shaft 17 to rotate, the cam 18 under the fixed frame 9 will also be driven to rotate, and its edge will push the lower stop lever 27 on the lower link 21 to rotate the lower link 21 around the second rotating shaft 19, so as to drive the upper link 20 to move, so as to elongate the buffer spring 22, or under the action of the elastic force of the buffer spring 22, at this time, the upper link 20 will rotate around the second rotating shaft 19, the lower connecting rod 21 is driven to rotate, the cam 18 is driven to rotate through the lower stop lever 27, and the swinging pulley 15 is driven to swing in the opposite direction, so that the length change of the traction rope can be partially consumed by the rotation of the swinging pulley, a winch does not need to be started, the operation of the servo motor 10 is reduced, automatic adjustment is realized within a certain range, and the operation is convenient.

The torque sensor 23 detects the change of the pulling force applied to the pulling rope 4, and the data output can be used for controlling the servo motor 10, thereby being beneficial to realizing programmed operation and providing a hardware basis for precise control. The angle sensor 26 can measure the rotation angle data of the cam 18, so that the output is used for controlling the servo motor 10, the programmable operation is facilitated, and a hardware basis is provided for accurate control.

The direction-changing fixed pulley 25 can change the moving direction of the traction rope 4 so as to adjust the cutting-in direction of the traction rope 4 and the force-measuring movable pulley 24 and further control the force-measuring accuracy.

Each movable base includes therein a base plate 29 connected to the vertical beam 3, driven wheels 30 provided at front and rear ends of the bottom of the base plate 29, a driving unit 31 and a driving wheel 32 provided below the base plate 29, respectively. The base plate 29 can increase the contact area of the movable base part and the ground, the suspension stability and safety are improved, the driven wheel 30 is arranged, the stress of the base plate 29 can be uniform, and the moving smoothness is improved.

Reinforcing seats 33 are respectively provided on the vertical beams 3, and the left leg orthosis 6 and the right leg orthosis 7 are respectively connected to the reinforcing seats 33 through connecting frames 45. Strengthen being equipped with on the seat 33 and being equipped with vertical spout 34 respectively, be equipped with adjustable sliding block 35 in the spout 34, link 45 connects on adjustable sliding block 35. The reinforcing seat 33 can enhance the supporting strength for the leg of the user, and further ensure the safety of use. Through the slip of adjustable sliding block 35, realize the adjustment of link 45 height, the demand of the different user rehabilitation training of better adaptation improves the comfort level of correcting the training.

The left leg orthosis 6 and the right leg orthosis 7 respectively comprise a hip joint module 36, a hip joint leg stretching mechanism 37, a knee joint module 38 and a knee joint leg stretching mechanism 39, wherein one end of the hip joint leg stretching mechanism 37 is connected with the hip key module 36, the other end is connected with the knee joint module 38, one end of the knee joint leg stretching mechanism 39 is connected with the knee joint module 38, an upper bandage 40 for binding the thigh of a user 44 is arranged on the hip joint leg stretching mechanism 37, and a lower bandage 41 for binding the calf of the user 33 is arranged on the knee joint leg stretching mechanism 39. The hip joint leg stretching mechanism 37 is provided with an upper slide seat 42, the upper band 40 is connected to the upper slide seat 42, the knee joint leg stretching mechanism 39 is provided with a lower slide seat 43, and the lower band 41 is connected to the lower slide seat 43.

The follow-up performance of the regulation and control of the human leg joint is realized through the hip joint module, the knee joint module and the two telescopic mechanisms, the comfort feeling is improved, and the injury to the legs of a user in the rehabilitation training process is reduced. The upper and lower straps can realize the position adjustment through the displacement of the sliding seat, and can reduce the oppression on the legs in the movement, thereby further improving the comfort level.

The above detailed description is specific to one possible embodiment of the present invention, and the embodiment is not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides an equipment is used in lower limbs rehabilitation training, includes door frame type support and the linkage of setting on the support crossbeam, is equipped with the haulage rope of the harness that the bottom was connected and is supplied the user to dress on the linkage, its characterized in that: the left leg orthosis and the right leg orthosis are respectively worn by legs of a user on vertical beams on two sides of the support, a movable base is arranged at the bottom of each vertical beam, the suspension device comprises a fixing frame, a servo motor driving mechanism arranged on the fixing frame, a winch, a fixed pulley block, a swinging pulley block, a cam, a buffering connecting rod group and a buffering spring, wherein the servo motor driving mechanism comprises a servo motor connected to a speed reducer, the winch is connected to the speed reducer, the swinging pulley block comprises a first rotating shaft vertically arranged on the fixing frame, a swinging rod with one end fixed on the first rotating shaft and a swinging pulley arranged on the free end of the swinging rod, the cam is arranged below the fixing frame and coaxially follows the first rotating shaft, the buffering connecting rod group comprises a second rotating shaft vertically arranged on the fixing frame, an upper connecting rod arranged above the fixing frame and one end sleeved on the second rotating shaft, the lower connecting rod is arranged below the fixing frame, one end of the lower connecting rod is sleeved on the second rotating shaft, the free end of the lower connecting rod is in edge contact with the cam, the buffer spring is arranged between the free end of the upper connecting rod and the fixing frame, and the other end of the traction rope sequentially bypasses the swinging pulley and the fixed pulley group and then is wound on the winch.

2. The apparatus for lower limb rehabilitation training according to claim 1, characterized in that: and a lower stop lever is arranged at the free end of the lower connecting rod, and the outer edge of the cam is contacted with the lower stop lever.

3. The apparatus for lower limb rehabilitation training according to claim 2, characterized in that: the fixed frame is provided with a force measuring movable pulley with a torque sensor, the output of the torque sensor is used for being connected with the servo motor, and the other end of the traction rope sequentially bypasses the force measuring movable pulley and the swinging pulley.

4. The apparatus for lower limb rehabilitation training according to claim 3, characterized in that: a direction-changing fixed pulley is arranged between the force-measuring movable pulley and the swinging pulley, and the other end of the traction rope sequentially bypasses the force-measuring movable pulley, the direction-changing fixed pulley and the swinging pulley.

5. The apparatus for lower limb rehabilitation training according to claim 4, wherein: and an angle sensor which coaxially follows the cam is arranged on the first rotating shaft, and the output of the angle sensor is used for being connected with the servo motor.

6. The apparatus for lower limb rehabilitation training according to claim 5, characterized in that: the fixed pulley block comprises a first fixed pulley and a second fixed pulley which are oppositely arranged, and the other end of the traction rope sequentially winds on the winch after passing around the first fixed pulley and the second fixed pulley.

7. The apparatus for lower limb rehabilitation training according to claim 1, 2, 3, 4, 5 or 6, wherein: each movable base part comprises a base plate connected with the vertical beam, driven wheels arranged at the front end and the rear end of the bottom of the base plate, a driving unit arranged below the base plate and a driving wheel.

8. The apparatus for lower limb rehabilitation training according to claim 1, 2, 3, 4, 5 or 6, wherein: the vertical beams are respectively provided with a reinforcing seat, and the left leg orthopedic device and the right leg orthopedic device are respectively connected to the reinforcing seats through connecting frames.

9. The apparatus for lower limb rehabilitation training according to claim 8, wherein: the reinforced seat is provided with vertical sliding grooves respectively, adjustable sliding blocks are arranged in the sliding grooves, and the connecting frame is connected to the adjustable sliding blocks.

10. The apparatus for lower limb rehabilitation training according to claim 9, characterized in that: the left leg orthosis and the right leg orthosis respectively comprise a hip joint module, a hip joint leg stretching mechanism, a knee joint module and a knee joint leg stretching mechanism, wherein one end of the hip joint leg stretching mechanism is connected with the hip key module, the other end of the hip joint leg stretching mechanism is connected with the knee joint module, one end of the knee joint leg stretching mechanism is connected with the knee joint module, an upper bandage for binding the thigh of a user is arranged on the hip joint leg stretching mechanism, and a lower bandage for binding the calf of the user is arranged on the knee joint leg stretching mechanism.

11. The apparatus for lower limb rehabilitation training according to claim 10, wherein: the hip joint leg stretching mechanism is provided with an upper sliding seat, the upper binding band is connected to the upper sliding seat, the knee joint leg stretching mechanism is provided with a lower sliding seat, and the lower binding band is connected to the lower sliding seat.