CN111700778A - Wearable lower limb rehabilitation training system - Google Patents
Wearable lower limb rehabilitation training system Download PDFInfo
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- CN111700778A CN111700778A CN202010601330.1A CN202010601330A CN111700778A CN 111700778 A CN111700778 A CN 111700778A CN 202010601330 A CN202010601330 A CN 202010601330A CN 111700778 A CN111700778 A CN 111700778A
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- hip joint
- fixedly connected
- knee joint
- shaft
- joint
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 49
- 210000004394 hip joint Anatomy 0.000 claims abstract description 113
- 210000000629 knee joint Anatomy 0.000 claims abstract description 99
- 210000001699 lower leg Anatomy 0.000 claims abstract description 67
- 210000000689 upper leg Anatomy 0.000 claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 21
- 230000000694 effects Effects 0.000 claims description 14
- 239000011148 porous material Substances 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 5
- 238000010030 laminating Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000004064 dysfunction Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 15
- 210000001624 hip Anatomy 0.000 description 8
- 230000008569 process Effects 0.000 description 6
- 244000309466 calf Species 0.000 description 4
- 210000001503 joint Anatomy 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000012659 Joint disease Diseases 0.000 description 1
- 206010033892 Paraplegia Diseases 0.000 description 1
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000004712 air sac Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000017531 blood circulation Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000009528 severe injury Effects 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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 in a plane substantially parallel to the body-symmetrical-plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
-
- 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
- A61H2201/1418—Cam
-
- 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
- A61H2201/1436—Special crank assembly
-
- 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
- A61H2201/165—Wearable interfaces
-
- 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
- A61H2201/1657—Movement of interface, i.e. force application means
- A61H2201/1659—Free spatial automatic movement of interface within a working area, e.g. Robot
Abstract
The wearable lower limb rehabilitation training system comprises a cross beam, a waistline fixedly connected to the cross beam, a battery box assembly, a controller, a left lower limb system and a right lower limb system, wherein the left lower limb system comprises a thigh frame, the thigh frame comprises a thigh mounting plate, a hip joint lead screw is connected to the thigh mounting plate, a hip joint sliding block is fixedly connected to a nut of the lead screw, one end of a hip joint connecting rod is hinged to the hip joint sliding block, the other end of the hip joint connecting rod is hinged to a hip joint crank, the left lower limb system further comprises a knee joint assembly located below the thigh frame, the lower end of the knee joint assembly is fixedly connected with a shank mechanism with adjustable length, the lower part of the shank mechanism with adjustable length is rotatably connected; the thigh frame and the lower leg frame are fixedly connected with a bound air bag sleeve. The rehabilitation training system can be used for assisting the walking of patients with different types of lower limb dysfunction.
Description
Technical Field
The invention relates to rehabilitation training equipment, in particular to wearable lower limb rehabilitation training equipment, and belongs to the technical field of rehabilitation training instruments.
Background
At present, patients with hemiplegia, paraplegia or severe damage to joints of lower limbs caused by various reasons such as stroke, high incidence of joint diseases, traffic accidents and the like are more and more, the patients tend to be younger, and the patients can cause unrecoverable damage to various functions of the bodies for a long time due to incapability of autonomous walking movement. The training is carried out through a current wearable lower limb rehabilitation training system (also called a lower limb exoskeleton robot), the system is provided with joint structures simulating the movement of hip joints, knee joints and ankle joints, the joint structures are provided with a driving device, the driving device is driven by a controller, the whole system is provided with a battery, then under the control of an algorithm set in the controller or partially under the feedback of sensor signals, the controller controls the joints to move in a matched manner, the walking of a patient is driven, the patient is assisted to recover, and the following requirements are met for the rehabilitation training equipment: firstly, the safety and stability are the most basic and important requirements for the equipment, and the balance ability and the movement regulation ability of a user are generally poor; secondly, the device can be suitable for different patients to wear, and the requirements of various patients with different types can be met under the condition that the device can be produced in a standardized manner due to the fact that the heights, the weights, the sexes and the proportions of all parts of the body of the patients have larger differences and the production, manufacturing and use costs customized for each patient are too high; thirdly, the cruising ability of the equipment is that the equipment not only needs to drive the equipment per se but also needs to drive the legs of the human body to move in the working process, so that certain power is needed, the equipment is heavy if the capacity of the configured battery is too large, the equipment is connected to the body of a patient through a waistline, the pressure on the back of the patient is too high due to the heavy equipment, and the battery generates heat to bring a lot of discomfort to the patient in the using process; fourthly, the patient feels fidgetiness and the rehabilitation training effect is influenced if some parts or components bring bad feelings due to psychological problems caused by diseases of the patient. Chinese patent No. 2018108898016 discloses a rehabilitation type lower extremity exoskeleton, which is called to realize the function of helping a patient walk, but it has many problems, and basically cannot satisfy any of the above requirements, one is the hip joint structure problem, the hip joint mechanism is an important mechanism in the device to drive the thigh to move, the thigh weight is heavy, the driving itself needs a large power, the ball screw is used to drive the connecting rod to drive the hip joint in the patent, and there are the following problems: firstly, the driving motor 'head down' of ball screw arranges, ball screw is located the waist position of hip joint top, but the distance between waist and the hip joint is very short, arm of force is very short when adopting link mechanism drive hip joint like this, this needs the great motor of lead screw configuration power, and this kind of mode drive hip joint belongs to "lever" formula drive, because the weight of shank is great, below the whole shank all is resistance arm, think that the power of the motor that needs can be very big, and its driving force arm shortens gradually in hip joint rotation in-process, the drive power of needs still can the grow, adopt the great motor of power to produce a series of problems, for example: a: the power and the weight of the motor increase the power consumption of the equipment, and the continuous operation time of the equipment is shortened under the condition of certain battery capacity; b: the whole weight of the equipment is increased, and the installation position of the motor is higher, so that the whole gravity center of the equipment is high and unstable; c, the motor generates heat seriously during the operation, so that the patient can feel uncomfortable at the waist obviously; the ball screw is directly connected with the motor or connected with the motor through the speed reducer, the screw is directly connected with the motor or connected with the speed reducer, the driving device and the screw as well as the screw and the connecting rod are all in hard connection, the requirement on precision in the process of mounting and manufacturing the equipment is high, if the error is slightly large or some parts are loosened in use, the phenomenon of blocking can occur, and the equipment manufactured by the hard connection driving has the defects of very hard joints, large vibration, poor adaptability to human joints and poor comfort. Thirdly, the hip joint structure of the patent is provided with an outward swinging and inward contracting swinging block which is not rigidly bound in use, and the position can follow up in use because the patient generally has poor self-control capability, which can cause the patient to walk unstably in the training process, and the gait can not be completed according to the design of a therapist; fourthly, the device adopts the bandage to fix the thigh and the shank, which causes the leg of the patient to be tightened too tightly and has extremely poor comfort; fifthly, the device can not be effectively adjusted to adapt to patients with large differences in height, weight, sex and proportion of parts of the body, so that the device has the problems that the possibility of practical use is greatly reduced, and the basic requirements of the wearable lower limb training system cannot be met.
Disclosure of Invention
The invention aims to overcome the problems in the prior wearable lower limb training system and provides a wearable lower limb rehabilitation training system.
In order to realize the purpose of the invention, the following technical scheme is adopted: the wearable lower limb rehabilitation training system comprises a cross beam, a waistline fixedly connected to the cross beam, a battery box assembly, a controller, a left lower limb system and a right lower limb system, wherein the left lower limb system comprises a thigh frame, the thigh frame comprises a thigh mounting plate, the lower end of a hip joint lead screw is rotatably connected to the thigh mounting plate, the hip joint lead screw is connected with a driving device, a hip joint sliding block is fixedly connected to a nut of the hip joint lead screw, the hip joint sliding block is arranged on a hip joint guide rail in the vertical direction in a matching mode, the hip joint guide rail is fixedly arranged, one end of a hip joint connecting rod is hinged to the hip joint sliding block, the other end of the hip joint connecting rod is hinged to a hip joint crank, the hip joint crank is rotatably connected to a hip joint pin shaft, the hip joint pin shaft is fixedly arranged, and;
the left lower limb system also comprises a knee joint assembly positioned below the thigh frame, the knee joint assembly comprises a knee joint mounting plate, the upper end of a knee joint screw rod is rotatably connected onto the knee joint mounting plate, the knee joint screw rod is connected with a driving device, a knee joint sliding block is fixedly connected onto a nut of the knee joint screw rod, the knee joint sliding block is arranged on a knee joint guide rail in the vertical direction in a matching way, the knee joint guide rail is fixedly arranged, one end of a knee joint connecting rod is hinged with the knee joint sliding block, and the other end of the knee joint connecting;
knee joint crank's lower extreme fixedly connected with adjustable length's shank mechanism, adjustable length's shank mechanism including fixed shank board and activity shank board, fixed shank board be the U type, the U-shaped bottom surface is the flank of tooth, the activity shank board is inserted and is established in the U type groove of fixed shank board, the face that the activity shank board and the flank of tooth laminating also is the profile of tooth face, locks through cam locking mechanism between activity shank board and the fixed shank board, cam locking mechanism include the locking shaft, the one end of locking shaft is connected with spacing piece, the other end is connected with handle cam mechanism, handle cam mechanism include the camshaft, camshaft and locking shaft quadrature, the camshaft is connected with the locking shaft through one of following two kinds of modes: the first mode is that the cam shaft is fixedly connected with the locking shaft, and the handle cam is rotationally connected to the cam shaft; the second mode is that the cam shaft is rotationally connected with the locking shaft, and the handle cam is fixedly connected with the cam shaft; the other side of the movable shank plate, which is opposite to the tooth-shaped surface, is provided with a T-shaped groove, a T-shaped sliding block is arranged in the T-shaped groove in a sliding manner, the movable shank plate is provided with a long seam in the vertical direction, the fixed shank plate is provided with a shaft hole, a locking shaft penetrates through the shaft hole and the inner end of the long seam to be axially limited or fixedly connected to the T-shaped sliding block, the outer end of the locking shaft is positioned outside the fixed shank plate, and a handle mechanism is arranged at the outer end of the locking;
the lower part of the shank mechanism with the adjustable length is rotatably connected with an ankle joint, and a shoe support is connected below the ankle joint;
a thigh binding air bag sleeve is fixedly connected on the thigh frame; a crus restraint air bag sleeve is fixedly connected to the crus frame;
the right lower limb system and the left lower limb system are bilaterally symmetrical.
Further, the method comprises the following steps of; the driving devices of the hip joint lead screw and the knee joint lead screw are both motors, the driving motor head of the hip joint lead screw is downwards fixedly installed on the thigh installation plate, the output shaft of the driving motor of the hip joint lead screw is fixedly connected with a small synchronizing wheel A, the lower end of the hip joint lead screw is fixedly connected with a large synchronizing wheel A, and the small synchronizing wheel A and the large synchronizing wheel A are driven by a synchronizing belt A; the driving motor head of the knee joint lead screw is fixedly mounted on the knee joint mounting plate downwards, a small synchronizing wheel B is fixedly connected to an output shaft of the driving motor of the knee joint lead screw, a large synchronizing wheel B is fixedly connected to the lower end of the knee joint lead screw, and the small synchronizing wheel B and the large synchronizing wheel B are driven through a synchronizing belt B.
Further, the method comprises the following steps of; the hip joint crank is characterized in that an L-shaped piece is sleeved on the cross beam, a plurality of positioning holes are formed in two edges of the L-shaped piece, a fixing hole is formed in the cross beam, the cross beam and the transverse edge of the L-shaped piece are locked through a cam locking mechanism, a locking shaft locked through the cam locking mechanism is located in one positioning hole of the fixing hole and the transverse edge, a connecting sleeve is fixedly connected to the end portion of the hip joint crank which is not hinged to the connecting rod, a connecting hole is formed in the connecting sleeve, the other edge of the L-shaped piece is arranged in the connecting sleeve in a penetrating mode, the connecting sleeve and the L-shaped piece are locked through the cam locking mechanism, and the locking shaft locked through the cam locking mechanism is.
Further, the method comprises the following steps of; the thigh frame both sides fixedly connected with pore plate that corresponds each other, it has the mutual regulation hole that corresponds of a plurality of horizontal directions all to distribute from top to bottom on two pore plates, have on the knee joint assembly with can with two regulation blank two mounting holes that correspond simultaneously on the pore plate, adopt cam locking mechanism to lock after two mounting holes on the knee joint assembly correspond with two of them regulation hole.
Further, the method comprises the following steps of; the adjustable-length lower end of the shank mechanism is a U-shaped opening, ankle joint shaft holes are formed in two sides of the U-shaped opening, an ankle joint shaft penetrates through the ankle joint shaft holes, the side edge of the shoe support is rotatably connected into the U-shaped opening through the ankle joint shaft, and a buffer spring is respectively arranged between the front portion and the rear portion of the upper portion of the side edge of the shoe support and the bottom of the U-shaped opening in a propping mode.
Further, the method comprises the following steps of; the hip joint sliding block is provided with a hip joint driving sleeve with a middle hole, the hip joint driving sleeve is movably sleeved outside the hip joint screw rod, and the hip joint connecting rod is hinged to the upper part of the hip joint driving sleeve.
Further, the method comprises the following steps of; the thigh frame is fixedly connected with a thigh shell, the hip joint guide rail is fixedly connected on the inner wall of the thigh shell, and two ends of the hip joint pin shaft are fixedly connected on the thigh shell.
Further, the method comprises the following steps of; the beam sleeve is a square tube, and the L-shaped piece is inserted into the square tube.
Further, the method comprises the following steps of; the two ends of the beam close to the two ends are respectively and fixedly connected with a handrail.
The invention has the positive and beneficial technical effects that: the left and right positions of the left lower limb system and the right lower limb system of the rehabilitation training system are adjustable, the position of a hip joint is adjustable, the position of a knee joint is adjustable (equivalent to the length of a thigh is adjustable), and the length of a shank is adjustable, so that the rehabilitation training system can meet the training requirements of various patients with different heights, fat and thin bodies and body proportions; the training system is completely rigidly bound after being worn, so that the training system is safe and stable in the using process of a patient; in the system, the hip joint screw rod replaces the function of thigh support, so that the traditional thigh support is omitted, and the whole weight of the equipment is reduced; compared with lever type driving, the hip joint driving in the system has the advantages that the resistance arm is very short, the required driving force is smaller, and the driving force arm can also be enlarged in the driving process, so that the required power of a hip joint driving motor can be greatly reduced, and a series of problems of large weight, serious heating, instability caused by high gravity center, low cruising ability of the system and the like caused by high power of the hip joint motor are solved; the constraint of thigh and shank has the gasbag cover in this system, can avoid tightening very tightly patient's shank, increases the comfort, improves blood circulation, adopts hold-in range drive lead screw, and the drive is softer, vibrates for a short time, can not block diely. Moreover, the rehabilitation training system is relatively simple in structure and low in cost, and can reduce the use cost of patients. The rehabilitation training system can be used for assisting the walking of patients with different types of lower limb dysfunction.
Drawings
Fig. 1 is an overall schematic view of the present invention.
Fig. 2 is a schematic view of a lower leg of a seat with the outer shell removed.
FIG. 3 is a schematic view of the thigh region and interior of the knee joint assembly.
Figure 4 is a schematic view of a hip joint drive.
FIG. 5 is an exploded view of the knee joint assembly.
Figure 6 is one of the schematic views of the adjustable length calf mechanism.
Figure 7 is a second schematic view of the adjustable length calf mechanism.
Fig. 8 is a schematic view of an L-shaped member.
Figure 9 is a schematic view of an ankle joint area.
Fig. 10 is a schematic view of a cam lock mechanism.
Detailed Description
In order to more fully explain the implementation of the present invention, examples of the implementation of the present invention are provided. These examples are merely illustrative of the present invention and do not limit the scope of the present invention.
The invention is explained in further detail in connection with the accompanying drawings, in which: 1: a cross beam; 2: waist circumference; 3: a battery case assembly; 4: a handrail; 5: an L-shaped piece; 6: connecting a sleeve; 7: a thigh shell; 8: knee joint assembly shell 9: fixing the lower leg plate; 10 long holes; 11: a movable lower leg plate; 12: a toothed surface; 13: a U-shaped opening; 14: a shoe support; 15: an ankle joint axis; 16: a thigh-bound air bag cover; 17: the shank restrains the air sac sleeve; 18: a drive motor for the hip screw; 19: a hip joint screw; 20: a hip joint driving sleeve; 21: a hip joint linkage; 22: a hip crank; 23: a drive motor for a knee joint screw; 24: an orifice plate; 25: a cam locking mechanism; 2501: a locking shaft; 2502: a camshaft; 2503: a handle cam; 2504: a limiting sheet; 2505: a gasket; 26: a hip joint pin shaft; 27: a hip joint slider; 28: a hip joint guide rail; 29: a large synchronizing wheel A; 30: a synchronous belt A; 31: a large synchronizing wheel B; 32: a knee joint driving sleeve; 33: a knee joint guide rail; 34: a knee joint link; 35: a knee crank; 36: a nut for a hip screw; 37: a small synchronizing wheel A; 38: a thigh mounting plate; 39: a knee joint slider; 40: a knee joint screw; 41: a nut of a knee joint screw; 42: a knee joint mounting plate; 43: a small synchronizing wheel B; 44: a large synchronizing wheel B; 45: a synchronous belt B; 46: a knee joint pin shaft; 47: mounting holes; 48: a T-shaped slot; 49: a T-shaped slider; 50: a stepped hole; 51: a tooth surface; 52: a U-shaped groove; 53: positioning holes; 54: an adjustment hole; 55: long sewing; 56: a buffer spring; 57: the side of the shoe support.
As shown in the attached drawings, the wearable lower limb rehabilitation training system comprises a cross beam 1, a waistline 2 fixedly connected to the cross beam, a battery box assembly 3, a controller, a left lower limb system and a right lower limb system, wherein the right lower limb system and the left lower limb system are bilaterally symmetrical. The two ends of the beam close to the two ends are respectively and fixedly connected with a handrail 4. With the crossbeam cover be equipped with L shape spare 5, a plurality of locating holes 53 have all been seted up on two edges of L shape spare, the fixed orifices has been seted up on the crossbeam, cam locking mechanism locks between the horizontal limit of crossbeam and L shape spare, the locking shaft of cam locking mechanism locking is arranged in the wherein locating hole on fixed orifices and horizontal limit, at end fixedly connected with connecting tube 6 of hip joint crank articulated connecting rod not, the connecting hole has been seted up on the connecting tube, another limit of L shape spare is worn to establish in the connecting tube, lock through cam locking mechanism between connecting tube and the L shape spare, the locking shaft of cam locking mechanism locking is arranged in connecting hole and another one of them locating hole on the limit of L shape spare, the crossbeam cover be square pipe, the L shape spare is inserted and is established in square pipe.
The left lower limb system comprises a thigh frame, the thigh frame comprises a thigh mounting plate 38, the lower end of a hip joint screw rod 19 is rotatably connected onto the thigh mounting plate, the hip joint screw rod is connected with a driving device, the driving device of the hip joint screw rod is a motor, the head of a driving motor 18 of the hip joint screw rod is downwards fixedly mounted on the thigh mounting plate 38, a small synchronizing wheel A37 is fixedly connected onto an output shaft of the driving motor of the hip joint screw rod, a large synchronizing wheel A29 is fixedly connected to the lower end of the hip joint screw rod, and the small synchronizing wheel A and the large synchronizing wheel A are driven through a synchronizing belt A30.
The nut 36 of the hip joint screw rod is fixedly connected with a hip joint sliding block 27 which is arranged on the hip joint guide rail 28 in the vertical direction in a matching way, the hip joint guide rail 28 is fixedly arranged, one end of a hip joint connecting rod 21 is hinged with the hip joint sliding block, in the embodiment, the hip joint sliding block is provided with a hip joint driving sleeve 20 with a middle hole, the hip joint driving sleeve is movably sleeved outside the hip joint screw rod 19, and the hip joint connecting rod is hinged on the upper part of the hip joint driving sleeve. The other end of the hip joint connecting rod is hinged on a hip joint crank 22, the hip joint crank is rotationally connected on a hip joint pin shaft 26, the hip joint pin shaft is fixedly arranged, and the other end of the hip joint crank is directly or indirectly connected on the cross beam; the thigh shell 7 is fixedly connected on the thigh frame, the hip joint guide rail 28 is fixedly connected on the inner wall of the thigh shell, and two ends of the hip joint pin shaft 26 are fixedly connected on the thigh shell.
Left side low limbs system still including being located the knee joint assembly of thigh frame below, the knee joint assembly include knee joint mounting panel 42, the rotation of knee joint lead screw 40 upper end is connected on the knee joint mounting panel, knee joint lead screw connection has drive arrangement, knee joint lead screw connection's drive arrangement is the motor, the driving motor 23 of knee joint lead screw is fixed mounting on the knee joint mounting panel down, fixedly connected with little synchronizing wheel B43 on the driving motor's of knee joint lead screw the output shaft, the big synchronizing wheel B44 of lower extreme fixedly connected with of knee joint lead screw, through the transmission of hold-in range B45 between little synchronizing wheel B and the big synchronizing wheel B.
A knee joint sliding block 39 is fixedly connected to a nut of the knee joint lead screw, the knee joint sliding block is arranged on the knee joint guide rail 33 in the up-down direction in a matching mode, the knee joint guide rail is fixedly connected in the knee joint assembly shell, one end of a knee joint connecting rod 34 is hinged to the knee joint sliding block 39, and the other end of the knee joint connecting rod 34 is hinged to a knee joint crank 35; in this embodiment, the knee joint slider on have the knee joint driving sleeve 32 of mesopore, knee joint driving sleeve movable sleeve is established outside knee joint lead screw 40, knee joint connecting rod is articulated 34 on knee joint driving sleeve upper portion, the other end of knee joint connecting rod articulates on knee joint crank 35, knee joint crank rotates to be connected on knee joint round pin axle 46, knee joint round pin axle fixed connection is on knee joint assembly shell.
The thigh frame both sides fixedly connected with pore plate 24 that mutually correspond, it has a plurality of horizontal direction mutual corresponding regulation holes 54 all to distribute from top to bottom on two pore plates, have on the knee joint assembly with can with two regulation blank two mounting holes 47 that correspond simultaneously on the pore plate, adopt cam locking mechanism 25 to lock after two mounting holes on the knee joint assembly correspond with two of them regulation holes. The installation height of the knee joint assembly can be adjusted by changing the position of the adjusting hole corresponding to the installation hole, so that the knee joint assembly is suitable for different thigh lengths of patients.
Knee joint crank's lower extreme fixedly connected with adjustable length's shank mechanism, adjustable length's shank mechanism including fixed shank board 9 and activity shank board 11, fixed shank board be the U type, the U-shaped bottom surface is flank of tooth 51, activity shank board 9 inserts and establishes in the U type groove 52 of fixed shank board, the face that activity shank board and flank of tooth laminating also is flank of tooth 12, through cam locking mechanism locking between activity shank board and the fixed shank board, cam locking mechanism include locking shaft 2501, the one end of locking shaft is connected with spacing piece 2501, the other end is connected with handle cam mechanism, handle cam mechanism include camshaft 2502, camshaft and locking shaft quadrature, the camshaft is connected with locking shaft through one of following two kinds of modes: the first mode is that the cam shaft is fixedly connected with the locking shaft, and the handle cam 2503 is rotatably connected with the cam shaft; the second mode is that the cam shaft is rotationally connected with the locking shaft, and the handle cam is fixedly connected with the cam shaft; in the embodiment, the first mode is adopted, wherein a T-shaped groove 48 is formed on the other surface of the movable shank plate opposite to the tooth-shaped surface, a T-shaped slide block 49 is slidably arranged in the T-shaped groove, a long slot 55 in the vertical direction is formed on the movable shank plate, and an axial hole is formed on the fixed shank plate, and the axial hole is a long hole 10; the locking shaft penetrates through the shaft hole and the inner end of the long slit to be axially limited or fixedly connected to the T-shaped sliding block, in the embodiment, the limiting piece is limited in the stepped hole, the outer end of the locking shaft is positioned outside the fixed lower leg plate, and the handle cam 2503 is arranged at the outer end of the locking shaft;
the lower part of the shank mechanism with adjustable length is rotatably connected with an ankle joint, and a shoe support 14 is connected below the ankle joint; the lower end of the shank mechanism with the adjustable length is a U-shaped opening 13, ankle joint shaft holes are formed in two sides of the U-shaped opening, an ankle joint shaft 15 penetrates through the ankle joint shaft holes, a side edge 57 of the shoe support is rotatably connected into the U-shaped opening through the ankle joint shaft, and a buffer spring 56 is respectively arranged between the front and the back of the upper portion of the side edge 57 of the shoe support and the bottom of the U-shaped opening.
A thigh binding air bag sleeve 17 is fixedly connected on the thigh frame; a calf binding air bag sleeve 17 is fixedly connected on the calf support.
Cam locking mechanism in this application all can adopt the structure shown in FIG. 9, and spacing piece locking shaft accessible threaded connection can select whether to use the gasket as required, and the shape and the size of spacing piece also can be selected according to the use occasion.
The exercise program of the training system is stored in the controller, and the controller controls the components to operate in sequence and in a set mode.
When the system is used, the waist of a patient is bound by opening the waistline, the thigh and the shank of the patient are fixed respectively by opening the thigh binding air bag sleeve and the shank binding air bag sleeve, the patient is assisted by matching with an armpit crutch or an assistant to walk, the equipment is opened, the hip joint and the knee joint driving mechanism on the left lower limb system and the right lower limb system drive the patient to move forwards according to the set action, and after the patient trains one section of adaptation, the patient can remove double crutches and can not be self-trained under the condition of being supported by a person.
After the embodiments of the present invention have been described in detail, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the spirit and scope of the invention, and it is intended that all simple modifications, equivalent changes and modifications made to the above embodiments based on the technical spirit of the present invention shall fall within the technical scope of the present invention, and the present invention shall not be limited to the embodiments illustrated in the description.
Claims (9)
1. Wearable lower limbs rehabilitation training system, including waistline, battery box subassembly, controller, left lower limbs system, the right lower limbs system of crossbeam, fixed connection on the crossbeam, its characterized in that: the left lower limb system comprises a thigh frame, the thigh frame comprises a thigh mounting plate, the lower end of a hip joint screw rod is rotatably connected to the thigh mounting plate, the hip joint screw rod is connected with a driving device, a hip joint sliding block is fixedly connected to a nut of the hip joint screw rod, the hip joint sliding block is arranged on a hip joint guide rail in the vertical direction in a matching mode, the hip joint guide rail is fixedly arranged, one end of a hip joint connecting rod is hinged to the hip joint sliding block, the other end of the hip joint connecting rod is hinged to a hip joint crank, the hip joint crank is rotatably connected to a hip joint pin shaft, the hip joint pin shaft is fixedly arranged, and the other end of the hip joint crank is directly or indirectly;
the left lower limb system also comprises a knee joint assembly positioned below the thigh frame, the knee joint assembly comprises a knee joint mounting plate, the upper end of a knee joint screw rod is rotatably connected onto the knee joint mounting plate, the knee joint screw rod is connected with a driving device, a knee joint sliding block is fixedly connected onto a nut of the knee joint screw rod, the knee joint sliding block is arranged on a knee joint guide rail in the vertical direction in a matching way, the knee joint guide rail is fixedly arranged, one end of a knee joint connecting rod is hinged with the knee joint sliding block, and the other end of the knee joint connecting;
knee joint crank's lower extreme fixedly connected with adjustable length's shank mechanism, adjustable length's shank mechanism including fixed shank board and activity shank board, fixed shank board be the U type, the U-shaped bottom surface is the flank of tooth, the activity shank board is inserted and is established in the U type groove of fixed shank board, the face that the activity shank board and the flank of tooth laminating also is the profile of tooth face, locks through cam locking mechanism between activity shank board and the fixed shank board, cam locking mechanism include the locking shaft, the one end of locking shaft is connected with spacing piece, the other end is connected with handle cam mechanism, handle cam mechanism include the camshaft, camshaft and locking shaft quadrature, the camshaft is connected with the locking shaft through one of following two kinds of modes: the first mode is that the cam shaft is fixedly connected with the locking shaft, and the handle cam is rotationally connected to the cam shaft; the second mode is that the cam shaft is rotationally connected with the locking shaft, and the handle cam is fixedly connected with the cam shaft; the other side of the movable shank plate, which is opposite to the tooth-shaped surface, is provided with a T-shaped groove, a T-shaped sliding block is arranged in the T-shaped groove in a sliding manner, the movable shank plate is provided with a long seam in the vertical direction, the fixed shank plate is provided with a shaft hole, a locking shaft penetrates through the shaft hole and the inner end of the long seam to be axially limited or fixedly connected to the T-shaped sliding block, the outer end of the locking shaft is positioned outside the fixed shank plate, and a handle cam is arranged at the outer end of the locking;
the lower part of the shank mechanism with the adjustable length is rotatably connected with an ankle joint, and a shoe support is connected below the ankle joint;
a thigh binding air bag sleeve is fixedly connected on the thigh frame; a crus restraint air bag sleeve is fixedly connected to the crus frame;
the right lower limb system and the left lower limb system are bilaterally symmetrical.
2. The wearable lower limb rehabilitation training system of claim 1, wherein: the driving devices of the hip joint lead screw and the knee joint lead screw are both motors, the driving motor head of the hip joint lead screw is downwards fixedly installed on the thigh installation plate, the output shaft of the driving motor of the hip joint lead screw is fixedly connected with a small synchronizing wheel A, the lower end of the hip joint lead screw is fixedly connected with a large synchronizing wheel A, and the small synchronizing wheel A and the large synchronizing wheel A are driven by a synchronizing belt A; the driving motor head of the knee joint lead screw is fixedly mounted on the knee joint mounting plate downwards, a small synchronizing wheel B is fixedly connected to an output shaft of the driving motor of the knee joint lead screw, a large synchronizing wheel B is fixedly connected to the lower end of the knee joint lead screw, and the small synchronizing wheel B and the large synchronizing wheel B are driven through a synchronizing belt B.
3. The wearable lower limb rehabilitation training system of claim 1, wherein: the hip joint crank is characterized in that an L-shaped piece is sleeved on the cross beam, a plurality of positioning holes are formed in two edges of the L-shaped piece, a fixing hole is formed in the cross beam, the cross beam and the transverse edge of the L-shaped piece are locked through a cam locking mechanism, a locking shaft locked through the cam locking mechanism is located in one positioning hole of the fixing hole and the transverse edge, a connecting sleeve is fixedly connected to the end portion of the hip joint crank which is not hinged to the connecting rod, a connecting hole is formed in the connecting sleeve, the other edge of the L-shaped piece is arranged in the connecting sleeve in a penetrating mode, the connecting sleeve and the L-shaped piece are locked through the cam locking mechanism, and the locking shaft locked through the cam locking mechanism is.
4. The wearable lower limb rehabilitation training system of claim 1, wherein: the thigh frame both sides fixedly connected with pore plate that corresponds each other, it has the mutual regulation hole that corresponds of a plurality of horizontal directions all to distribute from top to bottom on two pore plates, have on the knee joint assembly with can with two regulation blank two mounting holes that correspond simultaneously on the pore plate, adopt cam locking mechanism to lock after two mounting holes on the knee joint assembly correspond with two of them regulation hole.
5. The wearable lower limb rehabilitation training system of claim 1, wherein: the adjustable-length lower end of the shank mechanism is a U-shaped opening, ankle joint shaft holes are formed in two sides of the U-shaped opening, an ankle joint shaft penetrates through the ankle joint shaft holes, the side edge of the shoe support is rotatably connected into the U-shaped opening through the ankle joint shaft, and a buffer spring is respectively arranged between the front portion and the rear portion of the upper portion of the side edge of the shoe support and the bottom of the U-shaped opening in a propping mode.
6. The wearable lower limb rehabilitation training system of claim 1, wherein: the hip joint sliding block is provided with a hip joint driving sleeve with a middle hole, the hip joint driving sleeve is movably sleeved outside the hip joint screw rod, and the hip joint connecting rod is hinged to the upper part of the hip joint driving sleeve.
7. The wearable lower limb rehabilitation training system of claim 1, wherein: the thigh frame is fixedly connected with a thigh shell, the hip joint guide rail is fixedly connected on the inner wall of the thigh shell, and two ends of the hip joint pin shaft are fixedly connected on the thigh shell.
8. The wearable lower limb rehabilitation training system of claim 1, wherein: the beam sleeve is a square tube, and the L-shaped piece is inserted into the square tube.
9. The wearable lower limb rehabilitation training system of claim 1, wherein: the two ends of the beam close to the two ends are respectively and fixedly connected with a handrail.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010601330.1A CN111700778A (en) | 2020-06-29 | 2020-06-29 | Wearable lower limb rehabilitation training system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010601330.1A CN111700778A (en) | 2020-06-29 | 2020-06-29 | Wearable lower limb rehabilitation training system |
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