CN113057815A - Horizontal four-limb rehabilitation physiotherapy method and device - Google Patents
Horizontal four-limb rehabilitation physiotherapy method and device Download PDFInfo
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- CN113057815A CN113057815A CN202011027467.7A CN202011027467A CN113057815A CN 113057815 A CN113057815 A CN 113057815A CN 202011027467 A CN202011027467 A CN 202011027467A CN 113057815 A CN113057815 A CN 113057815A
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- 238000000554 physical therapy Methods 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 26
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 246
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 226
- 210000003414 extremity Anatomy 0.000 claims abstract description 49
- 210000000689 upper leg Anatomy 0.000 claims abstract description 46
- 230000007246 mechanism Effects 0.000 claims abstract description 43
- 238000005452 bending Methods 0.000 claims abstract description 25
- 230000003287 optical effect Effects 0.000 claims description 59
- 210000000245 forearm Anatomy 0.000 claims description 21
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000012549 training Methods 0.000 abstract description 24
- 230000000474 nursing effect Effects 0.000 abstract description 7
- 230000009471 action Effects 0.000 abstract description 6
- 230000008569 process Effects 0.000 description 11
- 244000309466 calf Species 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 210000002414 leg Anatomy 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/015—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame divided into different adjustable sections, e.g. for Gatch position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/002—Beds specially adapted for nursing; Devices for lifting patients or disabled persons having adjustable mattress frame
- A61G7/018—Control or drive mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/065—Rests specially adapted therefor
- A61G7/075—Rests specially adapted therefor for the limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G7/00—Beds specially adapted for nursing; Devices for lifting patients or disabled persons
- A61G7/05—Parts, details or accessories of beds
- A61G7/065—Rests specially adapted therefor
- A61G7/075—Rests specially adapted therefor for the limbs
- A61G7/0755—Rests specially adapted therefor for the limbs for the legs or feet
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- 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
- A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
-
- 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
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0142—Beds
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nursing (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a horizontal limb rehabilitation physiotherapy method and a horizontal limb rehabilitation physiotherapy device. The method comprises the following steps: the user lies down, inputs the rehabilitation instruction of the upper limb and/or the lower limb, performs the flexion and extension action of the upper limb and/or the lower limb, and stops inputting the rehabilitation instruction of the upper limb and/or the lower limb. The device comprises a bed plate, a bed frame, an upper limb crank connecting rod slider mechanism and a lower limb crank connecting rod slider mechanism, wherein the bed plate comprises a main bed plate, a large arm bed plate, a small arm bed plate, a thigh bed plate and a shank bed plate; the shank bed plate is hinged with a lower limb bending and stretching slide block of the lower limb crank connecting rod slide block mechanism. The invention is integrated with the nursing bed, does not occupy the space above the bed plate, and has independent upper limb flexion and extension training and lower limb flexion and extension training, and can flex and extend simultaneously or independently.
Description
Technical Field
The invention relates to a rehabilitation nursing apparatus, in particular to a horizontal four-limb rehabilitation physiotherapy method and a horizontal four-limb rehabilitation physiotherapy device.
Background
For patients with limbs needing rehabilitation training, the external limb training devices are mostly used, and the external limb training devices need to be additionally arranged on a nursing bed when the external limb training devices are used, so that the external limb training devices waste time and labor and occupy a large space. Therefore, the device with the four-limb training function, which is perfectly integrated with the nursing bed and small in space occupancy rate is very important for the rehabilitation training of the old.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a horizontal limb rehabilitation physical therapy method and a horizontal limb rehabilitation physical therapy device which are integrated with a nursing bed, do not occupy the space above a bed board, are more convenient and simpler, are independent from each other in upper limb flexion and extension training and lower limb flexion and extension training, and can simultaneously flex and extend upper limbs and lower limbs and also can flex and extend the upper limbs and the lower limbs independently.
In order to solve the technical problems, the invention adopts the following technical scheme:
a horizontal limb rehabilitation physiotherapy method comprises the following steps:
s1, the user lies down;
s2, when the upper limbs need rehabilitation physiotherapy, inputting upper limb rehabilitation instructions, driving the small arms to turn upwards and the large arms to turn downwards through the rehabilitation physiotherapy device, so that the small arms drive the large arms to do flexion and extension movement;
when lower limbs need rehabilitation physiotherapy, inputting a lower limb rehabilitation instruction, driving the lower limbs to turn upwards through a rehabilitation physiotherapy device, and driving the thighs to turn upwards so as to drive the lower limbs to do flexion and extension movement;
when the upper limb and the lower limb need rehabilitation physiotherapy at the same time, inputting rehabilitation instructions of the upper limb and the lower limb, driving the small arm to turn upwards and the large arm to turn downwards through the rehabilitation physiotherapy device so that the small arm drives the large arm to do flexion and extension movement, driving the shank to turn upwards and the thigh to turn upwards through the rehabilitation physiotherapy device so that the shank drives the thigh to do flexion and extension movement;
and S3, stopping inputting the rehabilitation command of the upper limb and/or the lower limb.
A horizontal four-limb rehabilitation physiotherapy device comprises a bed plate, a bed frame, an upper limb crank-link slider mechanism and a lower limb crank-link slider mechanism, wherein the bed plate is arranged on the bed frame and comprises a main bed plate, a big arm bed plate, a small arm bed plate, a thigh bed plate and a shank bed plate, the big arm bed plate is hinged on the main bed plate, the small arm bed plate is hinged with the big arm bed plate, the thigh bed plate is hinged on the main bed plate, the shank bed plate is hinged with the thigh bed plate, the upper limb crank-link slider mechanism is arranged below the bed plate, the small arm bed plate is hinged with an upper limb bending-extending slider of the upper limb crank-link slider mechanism, and a hinge point between the small arm bed plate and the big arm bed plate is lower than a hinge point between; the lower limb crank connecting rod sliding block mechanism is arranged below the bed plate, the shank bed plate is hinged with a lower limb bending and stretching sliding block of the lower limb crank connecting rod sliding block mechanism, and the hinge point between the shank bed plate and the thigh bed plate is higher than the hinge point between the thigh bed plate and the main bed plate.
As a further improvement of the above technical solution:
the upper limb crank connecting rod sliding block mechanism comprises an upper limb disc crank, an upper limb crank bracket, an upper limb crank connecting rod, an upper limb first guide rail, an upper limb connecting rod, an upper limb second guide rail and an upper limb crank drive, the upper limb crank bracket is installed on the main bed plate, the upper limb disc crank is arranged on the upper limb crank bracket, the upper limb crank drive is used for driving the upper limb disc crank to rotate, an upper limb sine sliding block is fixedly arranged on the upper limb disc crank, the upper limb first guide rail is fixed on the upper limb crank bracket, an upper limb strip-shaped groove is arranged on the upper limb crank connecting rod, the upper limb sine sliding block is positioned in the upper limb strip-shaped groove, the upper limb crank connecting rod is movably arranged on the upper limb first guide rail, the upper limb second guide rail is arranged on one side of the forearm bed plate, one end of the upper limb connecting rod is, the forearm bed plate is hinged with the upper limb bending and stretching slide block.
The lower limb crank connecting rod sliding block mechanism comprises a lower limb disc crank, a lower limb crank bracket, a lower limb crank connecting rod, a lower limb first guide rail, a lower limb connecting rod, a lower limb second guide rail and a lower limb crank drive, the lower limb crank bracket is installed on the main bed plate, the lower limb disc crank is arranged on the lower limb crank bracket, the lower limb crank drive is used for driving the lower limb disc crank to rotate, a lower limb sine sliding block is fixedly arranged on the lower limb disc crank, the lower limb first guide rail is fixed on the lower limb crank bracket, a lower limb strip-shaped groove is formed in the lower limb crank connecting rod, the lower limb sine sliding block is positioned in the lower limb strip-shaped groove, the lower limb crank connecting rod is movably arranged on the lower limb first guide rail, the lower limb second guide rail is arranged on one side of the lower limb bed plate, one end of the lower limb connecting, the shank bed plate is hinged with the lower limb flexion and extension slide block.
The upper limb first guide rail is an upper limb optical axis, two ends of the upper limb optical axis are arranged on the upper limb crank bracket, one end of the upper limb crank connecting rod is provided with an upper limb connecting sleeve, and the upper limb connecting sleeve is movably sleeved on the upper limb optical axis; the first guide rail of low limbs is low limbs optical axis, install on low limbs crank bracket at the both ends of low limbs optical axis, low limbs crank connecting rod one end is equipped with the low limbs adapter sleeve, the mobilizable cover of low limbs adapter sleeve is located on the low limbs optical axis.
The upper limb optical axis is provided with an optical axis sliding block, the optical axis sliding block comprises a sliding block base and two lifting lugs, the two lifting lugs penetrate through the upper limb optical axis, the upper limb connecting sleeve is arranged between the two lifting lugs, the sliding block base is provided with a first U-shaped groove, and one end of an upper limb connecting rod is hinged in the first U-shaped groove through a pin shaft; the lower limb optical axis is provided with an optical axis slider, the optical axis slider comprises a slider base and two lifting lugs, the two lifting lugs are arranged on the lower limb optical axis in a penetrating mode, the lower limb connecting sleeve is arranged between the two lifting lugs, the slider base is provided with a first U-shaped groove, and one end of a lower limb connecting rod is hinged to the first U-shaped groove through a pin shaft.
The upper limb bending and stretching sliding block is provided with a sliding connecting seat, the sliding connecting seat is provided with a second U-shaped groove, and the other end of the upper limb connecting rod is hinged in the second U-shaped groove through a pin shaft; the lower limb bending and stretching sliding block is provided with a sliding connection seat, the sliding connection seat is provided with a second U-shaped groove, and the other end of the lower limb connecting rod is hinged in the second U-shaped groove through a pin shaft.
The upper limb crank bracket comprises a tray and a bracket fixedly connected with the tray, the bracket is provided with two ear plates, and two ends of the upper limb optical axis penetrate through the ear plates; the lower limb crank bracket comprises a tray and a tray fixed connection bracket, the bracket is provided with two ear plates, and two ends of the lower limb optical axis are penetrated on the ear plates.
An avoidance guide groove is formed in a bracket of the upper limb crank bracket, and the upper limb crank connecting rod penetrates through the avoidance guide groove to be connected with an upper limb optical axis; the bracket of the lower limb crank bracket is provided with an avoiding guide groove, and the lower limb crank connecting rod penetrates through the avoiding guide groove to be connected with a lower limb optical axis.
The large arm bed board and the small arm bed board are embedded on the main bed board and are level with the main bed board; the thigh bed plate and the shank bed plate are embedded in the main bed plate, and are level with each other; and the upper limb crank drive and the lower limb crank drive are servo motors.
Compared with the prior art, the invention has the advantages that:
(1) according to the horizontal four-limb rehabilitation physiotherapy method, the rehabilitation person or the old can perform flexion and extension movement of the upper limbs and the lower limbs when lying, so that the rehabilitation person or the old can perform rehabilitation training on the lower arms, the upper arms, the lower legs and the thighs.
(2) According to the horizontal four-limb rehabilitation physiotherapy device, the design of the four-limb rehabilitation training mechanism is integrated with the nursing bed, the space above the bed plate is not occupied, the operation is more convenient and simpler, the upper limb flexion and extension training and the lower limb flexion and extension training are mutually independent, and the upper limb and the lower limb can be flexed and extended simultaneously or independently. The crank connecting rod sliding block mechanism is adopted, so that the operation is stable and reliable.
(3) The sinusoidal motion mechanism formed by connecting the disc-shaped crank, the sinusoidal slide block and the crank is adopted to realize sinusoidal motion in the bending and stretching processes of the upper limbs and the lower limbs, so that the sinusoidal motion is buffered in the motion process, the impact on the upper limbs and the lower limbs is reduced, and better use experience is provided for users. The crank drive is preferably a servo motor, and can be changed with different motion frequencies by controlling the motor, so as to achieve the intensity most suitable for the motion of a user. The small arm bed board, the big arm bed board and the driving mechanisms of the small arm bed board and the big arm bed board are connected with the bed board into a whole, and no external device is needed, so that the bed board is more convenient and simpler.
Drawings
Fig. 1 is a schematic flow chart of a horizontal limb rehabilitation physiotherapy method according to embodiment 1 of the invention.
Fig. 2 is a schematic structural view of the horizontal limb rehabilitation physiotherapy device according to embodiment 2 of the invention.
Fig. 3 is a schematic structural view of a bed plate and a bed frame of the horizontal four-limb rehabilitation physiotherapy device according to embodiment 2 of the present invention.
Fig. 4 is a schematic structural diagram of an upper limb crank connecting rod slider in one view in embodiment 2 of the invention.
Figure 5 is a structural schematic diagram of an upper limb crank connecting rod slider in another view angle in embodiment 2 of the invention.
Fig. 6 is a schematic structural view of the upper limb optical axis and the upper limb link in embodiment 2 of the present invention.
Fig. 7 is a schematic structural view of the optical axis slider in embodiment 2 of the present invention.
Fig. 8 is a schematic position diagram of the second guide rail, the second slide block, and the forearm bedplate in embodiment 2 of the present invention.
Fig. 9 is a schematic structural view of an upper limb crank connecting rod in embodiment 2 of the invention.
Figure 10 is a schematic structural view of an upper limb crank bracket in embodiment 2 of the invention.
Fig. 11 is a schematic view of a connection structure of an upper limb crank bracket and a main bed plate in embodiment 2 of the invention.
Fig. 12 is a schematic structural view of a slider connection seat in embodiment 2 of the present invention.
Fig. 13 is a state diagram illustrating the bending and extending process of the upper arm plate and the lower arm plate in embodiment 2 of the present invention.
Fig. 14 is a schematic structural view of a lower limb crank link mechanism in embodiment 2 of the invention.
Fig. 15 is a schematic position diagram of the lower limb second guide rail and the lower limb flexion-extension slide block in embodiment 2 of the invention.
Fig. 16 is a schematic view of a connection structure of a lower limb crank bracket and a main bed plate in embodiment 2 of the present invention.
Fig. 17 is a schematic view of the state of the flexion and extension process of the thigh bed board and the calf bed board in embodiment 2 of the invention.
The reference numerals in the figures denote:
1. a bed board; 11. a main bed board; 12. a big arm bed board; 13. a forearm bed plate; 14. a thigh bed plate; 15. a shank bed plate; 2. a bed frame; 3. an upper limb crank connecting rod sliding block mechanism; 31. an upper limb disc crank; 311. an upper limb sine slider; 32. an upper limb crank bracket; 33. an upper limb crank connecting rod; 331. an upper limb strip-shaped groove; 332. an upper limb connecting sleeve; 34. an upper limb connecting rod; 35. a second upper limb guide rail; 351. an upper limb flexion and extension slide block; 36. the upper limb optic axis; 4. a lower limb crank connecting rod sliding block mechanism; 41. a lower limb disc crank; 411. a lower limb sine slider; 42. a lower limb crank bracket; 43. a lower limb crank connecting rod; 431. a lower limb strip groove; 432. a lower limb connecting sleeve; 44. a lower limb connecting rod; 45. a lower limb second guide rail; 451. a lower limb flexion and extension sliding block; 46. a lower limb optic axis; 501. a first U-shaped slot; 51. an optical axis slider; 511. a slider base; 512. lifting lugs; 61. a tray; 62. a bracket; 621. an ear plate; 622. avoiding a guide groove; 72. a sliding connection seat; 721. a second U-shaped slot; 8. a servo motor.
Detailed Description
The invention is described in further detail below with reference to the figures and specific examples of the specification.
Example 1
As shown in fig. 1, the horizontal limb rehabilitation physiotherapy method of the embodiment includes the following steps:
s1, the user lies down;
s2, when the upper limbs need rehabilitation physiotherapy, inputting upper limb rehabilitation instructions, driving the small arms to turn upwards and the large arms to turn downwards through the rehabilitation physiotherapy device, so that the small arms drive the large arms to do flexion and extension movement;
when lower limbs need rehabilitation physiotherapy, inputting a lower limb rehabilitation instruction, driving the lower limbs to turn upwards through a rehabilitation physiotherapy device, and driving the thighs to turn upwards so as to drive the lower limbs to do flexion and extension movement;
when the upper limb and the lower limb need rehabilitation physiotherapy at the same time, inputting rehabilitation instructions of the upper limb and the lower limb, driving the small arm to turn upwards and the large arm to turn downwards through the rehabilitation physiotherapy device so that the small arm drives the large arm to do flexion and extension movement, driving the shank to turn upwards and the thigh to turn upwards through the rehabilitation physiotherapy device so that the shank drives the thigh to do flexion and extension movement;
and S3, stopping inputting the rehabilitation command of the upper limb and/or the lower limb.
By the method, the user (a rehabilitee or an old person) can perform flexion and extension movement of the upper limbs and the lower limbs when lying down, so that the rehabilitee or the old person can perform rehabilitation training on the lower arms, the upper arms, the lower legs and the thighs. The method is specifically realized by the horizontal limb rehabilitation physiotherapy device in the embodiment 2.
Example 2
As shown in fig. 2 to 17, the horizontal four-limb rehabilitation physiotherapy device of the present embodiment includes a bed plate 1, a bed frame 2, an upper limb crank link slider mechanism 3, and a lower limb crank link slider mechanism 4, the bed plate 1 is disposed on the bed frame 2, the bed plate 1 includes a main bed plate 11, a big arm bed plate 12, a small arm bed plate 13, a thigh bed plate 14, and a shank bed plate 15, the big arm bed plate 12 is hinged on the main bed plate 11, the small arm bed plate 13 is hinged on the big arm bed plate 12, the thigh bed plate 14 is hinged on the main bed plate 11, the shank bed plate 15 is hinged on the thigh bed plate 14, the upper limb crank link slider mechanism 3 is mounted below the bed plate 1, the small arm bed plate 13 is hinged with an upper limb flexion-extension slider 351 of the upper limb crank link slider mechanism 3, and a hinge point between the small arm bed plate 13 and the; the lower limb crank connecting rod sliding block mechanism 4 is arranged below the bed plate 1, the shank bed plate 15 is hinged with a lower limb bending and stretching sliding block 451 of the lower limb crank connecting rod sliding block mechanism 4, and the hinge point between the shank bed plate 15 and the thigh bed plate 14 is higher than the hinge point between the thigh bed plate 14 and the main bed plate 11.
The upper limb crank connecting rod sliding block mechanism 3 or the lower limb crank connecting rod sliding block mechanism 4 is a driving structure in a form that a crank drives a connecting rod and a sliding block to move on a guide rail. The forearm bed plate 13 and the upper arm bed plate 12 are in a suspended state and are supported in a manner that the forearm bed plate 13 is hinged to the upper limb flexion and extension slider 351 of the upper limb crank link slider mechanism 3, when the upper limb flexion and extension slider 351 slides, the forearm bed plate 13 is hinged to the upper arm bed plate 12, and the upper limb flexion and extension slider 351 is hinged to the forearm bed plate 13, so that the upper limb flexion and extension slider 351 pushes the forearm bed plate 13 to turn upwards, the upper arm bed plate 12 turns downwards, and the forearm bed plate 13 and the upper arm bed plate 12 form concave flexion and extension, thereby realizing flexion and extension actions of the forearm and the upper arm, as shown in fig. 13. Similarly, the calf bed plate 15 and the thigh bed plate 14 are in a suspended state, when the lower limb bending and stretching slider 451 of the lower limb crank link slider mechanism 4 slides, the lower limb bending and stretching slider 451 pushes the calf bed plate 15 to turn upwards and drive the thigh bed plate 14 to turn upwards, and the calf bed plate 15 and the thigh bed plate 14 form a convex bending and stretching action, so as to realize the bending and stretching action of the calf and the thigh, as shown in fig. 17.
This horizontal four limbs rehabilitation physiotherapy device, four limbs rehabilitation training mechanism's design will combine together with the nursing bed, accomplish not to occupy the space above the bed board, and is more convenient succinct, and upper limbs bend and stretch training and low limbs bend and stretch training mutually independent, and upper limbs and low limbs can be bent and stretch simultaneously, also can bend and stretch alone. The crank connecting rod sliding block mechanism is adopted, so that the operation is stable and reliable.
Wherein, the pin joint between forearm bed board 13 and the big arm bed board 12 is less than the pin joint between big arm bed board 12 and the main bed board 11, if two pin joints are on the collinear, then the upper limbs can appear and bend and stretch slider 351 translation in-process and can't promote forearm bed board 13 upset, and in the same way, the pin joint between shank bed board 15 and the thigh bed board 14 is higher than the pin joint between thigh bed board 14 and the main bed board 11, avoids the lower limbs to bend and stretch the unable shank bed board 15 upset that promotes of slider 451 translation in-process.
In this embodiment, the upper limb crank-link slider mechanism 3 comprises an upper limb disc crank 31, an upper limb crank bracket 32, an upper limb crank link 33, an upper limb first guide rail, an upper limb link 34, an upper limb second guide rail 35 and an upper limb crank drive, the upper limb crank bracket 32 is mounted on the main bed plate 11, the upper limb disc crank 31 is arranged on the upper limb crank bracket 32, the upper limb crank drive is preferably a servo motor 8, the servo motor 8 is mounted on the back of the upper limb crank bracket 32, the servo motor 8 is connected with the upper limb disc crank 31 and is used for driving the upper limb disc crank 31 to rotate, an upper limb sine slider 311 is fixedly arranged on the upper limb disc crank 31, the upper limb first guide rail is fixed on the upper limb crank bracket 32, an upper limb strip-shaped groove 331 is arranged on the upper limb crank link 33, the sine upper limb slider 311 is positioned in, the upper limb second guide rail 35 is arranged on one side of the forearm bed plate 13, one end of the upper limb connecting rod 34 is connected with the upper limb flexion and extension sliding block 351 in the upper limb second guide rail 35, the other end of the upper limb connecting rod is connected with the upper limb crank connecting rod 33, and the forearm bed plate 13 is hinged with the upper limb flexion and extension sliding block 351.
The specific execution process of the upper limb flexion-extension rehabilitation training is as follows:
since the upper limb drive is preferably the servo motor 8, the start and stop of the servo motor 8 can be operated by arranging a remote controller. When upper limbs need rehabilitation training, the upper limb servo motor 8 is started, the motor drives the upper limb disc crank 31 to rotate, the upper limb sine slider 311 on the upper limb disc crank 31 also rotates, the upper limb disc crank 31 reciprocates along the upper limb strip-shaped groove 331 in the rotating process, so that the upper limb crank connecting rod 33 is driven to move along the upper limb first guide rail, meanwhile, as the upper limb crank connecting rod 33 is connected with the upper limb connecting rod 34, the upper limb connecting rod 33 can push the upper limb connecting rod 34 to move in the moving process, the upper limb connecting rod 34 pushes (pulls) the upper limb flexion and extension slider 351 to move along the upper limb second guide rail 35, the upper limb flexion and extension slider 351 can drive the forearm bed plate 13 to move relative to the upper limb bed plate 12, as the forearm bed plate 13 is hinged relative to the upper limb bed plate 12, and the upper limb flexion and extension slider 351 is hinged to the forearm bed plate 13, so that the forearm bed plate 13 can be pushed to turn upwards by, the big arm bed plate 12 will turn downwards, and the two will form a concave bending and stretching, thereby realizing the bending and stretching action of the small arm and the big arm.
The upper limb first guide rail is an upper limb optical axis 36, two ends of the upper limb optical axis 36 are mounted on the upper limb crank bracket 32, one end of the upper limb crank connecting rod 33 is provided with an upper limb connecting sleeve 332, and the upper limb connecting sleeve 332 is movably sleeved on the upper limb optical axis 36; the upper limb optical axis 36 is provided with an optical axis sliding block 51, the optical axis sliding block 51 comprises a sliding block base 511 and two lifting lugs 512, the two lifting lugs 512 are arranged on the upper limb optical axis 36 in a penetrating mode, the upper limb connecting sleeve 332 is arranged between the two lifting lugs 512, the sliding block base 511 is provided with a first U-shaped groove 501, and one end of the upper limb connecting rod 34 is hinged in the first U-shaped groove 501 through a pin shaft. The upper limb optical axis 36 is perpendicular to the longitudinal direction of the upper limb second guide rail 35. The upper limb second guide rail 35 is parallel to the length direction of the upper limb bed plate 12 and the lower limb bed plate 13, and the upper limb second guide rail 35 is arranged on the main bed plate 11. The upper limb flexion and extension sliding block 351 is provided with a sliding connection seat 72, the sliding connection seat 72 is provided with a second U-shaped groove 721, and the other end of the upper limb connecting rod 34 is hinged in the second U-shaped groove 721 through a pin shaft. The upper limb flexion and extension sliding block 351 is provided with a C-shaped clamping block, and the upper limb second guide rail 35 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connection base 72 is fixedly connected with the upper limb flexion-extension sliding block 351.
In this embodiment, the upper limb crank bracket 32 includes a bracket 62 fixedly connected to the tray 61 and the tray 61, the bracket 62 has two ear plates 621, and both ends of the upper limb optical axis 36 are inserted through the ear plates 621. The bracket 62 of the upper limb crank bracket 32 is provided with an avoiding guide groove 622, and the upper limb crank connecting rod 33 passes through the avoiding guide groove 622 to be connected with the upper limb optical axis 36.
In the embodiment, the structure of the lower limb crank connecting rod sliding block mechanism 4 is basically consistent with that of the upper limb crank sliding block connecting mechanism 3, and comprises a lower limb disk-shaped crank 41, a lower limb crank bracket 42, a lower limb crank connecting rod 43, a lower limb first guide rail, a lower limb connecting rod 44, a lower limb second guide rail 45 and a lower limb crank drive, wherein the lower limb crank bracket 42 is arranged on the main bed plate 11, the lower limb disk-shaped crank 41 is arranged on the lower limb crank bracket 42, the lower limb crank drive is preferably a servo motor 8, the servo motor 8 is arranged on the back of the lower limb crank bracket 42 and connected with the lower limb disk-shaped crank 41 and used for driving the lower limb disk-shaped crank 41 to rotate, a lower limb sine sliding block 411 is fixedly arranged on the lower limb disk-shaped crank 41, the lower limb first guide rail is fixed on the lower limb crank bracket 42, the lower limb crank connecting rod 43 is movably arranged on the first lower limb guide rail, the second lower limb guide rail 45 is arranged on one side of the lower limb bed plate 15, one end of the lower limb connecting rod 44 is connected with the lower limb flexion and extension slide block 451 in the second lower limb guide rail 45, the other end of the lower limb connecting rod is connected with the lower limb crank connecting rod 43, and the lower limb bed plate 15 is hinged with the lower limb flexion and extension slide block 451.
The specific execution process of the lower limb rehabilitation training is as follows:
since the drive of the lower limbs is preferably the servo motor 8, the start and stop of the servo motor 8 can be operated by arranging a remote controller. Similar to the upper limb rehabilitation training, when the lower limb needs rehabilitation training, the lower limb servo motor 8 is started, the motor drives the lower limb disc-shaped crank 41 to rotate, the lower limb sine slider 411 on the lower limb disc-shaped crank 41 also rotates, the lower limb disc-shaped crank 41 reciprocates along the lower limb strip-shaped groove 431 in the rotation process, so that the lower limb crank connecting rod 43 is driven to move along the upper limb first guide rail, meanwhile, because the lower limb crank connecting rod 43 is connected with the lower limb connecting rod 44, the lower limb connecting rod 43 pushes the lower limb connecting rod 44 to move in the movement process, the lower limb connecting rod 44 pushes (pulls) the lower limb bending and stretching slider 451 to move along the lower limb second guide rail 45, the lower limb bending and stretching slider 451 translates to drive the lower limb bed plate 15 to move relative to the thigh bed plate 14, because the lower limb bed plate 15 is hinged relative to the thigh bed plate 14, and the lower limb bending and stretching slider 451 is hinged to the lower limb bed plate, the thigh bed board 14 will turn upwards, and the two will form a convex flexion and extension, thereby realizing the flexion and extension action of the shank and the thigh.
In this embodiment, the first lower limb guide rail is a lower limb optical axis 46, two ends of the lower limb optical axis 46 are mounted on the lower limb crank bracket 42, one end of the lower limb crank connecting rod 43 is provided with a lower limb connecting sleeve 432, and the lower limb connecting sleeve 432 is movably sleeved on the lower limb optical axis 46. The lower limb optical axis 46 is provided with an optical axis sliding block 51, the optical axis sliding block 51 comprises a sliding block base 511 and two lifting lugs 512, the two lifting lugs 512 are arranged on the lower limb optical axis 46 in a penetrating mode, the lower limb connecting sleeve 432 is arranged between the two lifting lugs 512, the sliding block base 511 is provided with a first U-shaped groove 501, and one end of the lower limb connecting rod 44 is hinged in the first U-shaped groove 501 through a pin shaft. The axis of the lower limb optical axis 46 is perpendicular to the longitudinal direction of the lower limb second guide rail 45. The second lower limb guide rails 45 are parallel to the longitudinal direction of the calf bed plate 15 and the thigh bed plate 14, and the second lower limb guide rails 45 are provided on the main bed plate 11. The lower limb bending and extending slide block 451 is provided with a slide connecting seat 72, the slide connecting seat 72 is provided with a second U-shaped groove 721, and the other end of the lower limb connecting rod 44 is hinged in the second U-shaped groove 721 through a pin shaft. The lower limb bending and stretching slide block 451 is provided with a C-shaped clamping block, and the lower limb second guide rail 45 is provided with a C-shaped clamping groove matched with the C-shaped clamping block. The sliding connection base 72 is fixedly connected with the lower limb flexion and extension sliding block 451.
In this embodiment, the lower limb crank bracket 42 includes a bracket 62 fixedly connected to the tray 61, the bracket 62 has two ear plates 621, and both ends of the lower limb optical axis 46 are inserted through the ear plates 621. An avoidance guide groove 622 is formed in the bracket 62 of the lower limb crank bracket 42, and the lower limb crank link 43 passes through the avoidance guide groove 622 to be connected with the lower limb optical axis 46.
In this embodiment, the large arm bed plate 12 and the small arm bed plate 13 are embedded in the main bed plate 11, and the large arm bed plate 12 and the small arm bed plate 13 are flush with the main bed plate 11; thigh bed board 14 and shank bed board 15 are embedded on main bed board 11, and thigh bed board 14 and shank bed board 15 are the same level with main bed board 11, and big arm bed board 12, shank bed board 13, thigh bed board 14 constitute a part of bed board 1 with shank bed board 15, and fuse with bed board 1 and become an organic whole, do not account for the size above bed board 1, need not secondary installation, facilitate the use.
The invention adopts the sinusoidal motion mechanism formed by connecting the disc-shaped crank, the sinusoidal slide block and the crank, and realizes the sinusoidal motion of the upper limb and the lower limb in the bending and stretching process, thereby buffering the motion, reducing the impact on the upper limb and the lower limb and providing better use experience for users. The crank drive is preferably a servo motor, and can be changed with different motion frequencies by controlling the motor, so as to achieve the intensity most suitable for the motion of a user. The small arm bed board, the big arm bed board and the driving mechanisms of the small arm bed board and the big arm bed board are connected with the bed board 1 into a whole, and no external device is needed, so that the bed is more convenient and simpler.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to be limited thereto. Those skilled in the art can make numerous possible variations and modifications to the present invention, or modify equivalent embodiments to equivalent variations, without departing from the scope of the invention, using the teachings disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical spirit of the present invention should fall within the protection scope of the technical scheme of the present invention, unless the technical spirit of the present invention departs from the content of the technical scheme of the present invention.
Claims (10)
1. A horizontal limb rehabilitation physiotherapy method is characterized by comprising the following steps:
s1, the user lies down;
s2, when the upper limbs need rehabilitation physiotherapy, inputting upper limb rehabilitation instructions, driving the small arms to turn upwards and the large arms to turn downwards through the rehabilitation physiotherapy device, so that the small arms drive the large arms to do flexion and extension movement;
when lower limbs need rehabilitation physiotherapy, inputting a lower limb rehabilitation instruction, driving the lower limbs to turn upwards through a rehabilitation physiotherapy device, and driving the thighs to turn upwards so as to drive the lower limbs to do flexion and extension movement;
when the upper limb and the lower limb need rehabilitation physiotherapy at the same time, inputting rehabilitation instructions of the upper limb and the lower limb, driving the small arm to turn upwards and the large arm to turn downwards through the rehabilitation physiotherapy device so that the small arm drives the large arm to do flexion and extension movement, driving the shank to turn upwards and the thigh to turn upwards through the rehabilitation physiotherapy device so that the shank drives the thigh to do flexion and extension movement;
and S3, stopping inputting the rehabilitation command of the upper limb and/or the lower limb.
2. The horizontal four-limb rehabilitation physiotherapy device is characterized by comprising a bed plate (1), a bed frame (2), an upper limb crank connecting rod slider mechanism (3) and a lower limb crank connecting rod slider mechanism (4), wherein the bed plate (1) is arranged on the bed frame (2), the bed plate (1) comprises a main bed plate (11), a big arm bed plate (12), a small arm bed plate (13), a thigh bed plate (14) and a shank bed plate (15), the big arm bed plate (12) is hinged on the main bed plate (11), the small arm bed plate (13) is hinged with the big arm bed plate (12), the thigh bed plate (14) is hinged on the main bed plate (11), the shank bed plate (15) is hinged with the thigh bed plate (14), the upper limb crank connecting rod slider mechanism (3) is arranged below the bed plate (1), the small arm bed plate (13) is hinged with an upper limb bending slider (351) of the upper limb crank connecting rod slider mechanism (3), the hinge point between the small arm bed board (13) and the large arm bed board (12) is lower than the hinge point between the large arm bed board (12) and the main bed board (11); the lower limb crank connecting rod sliding block mechanism (4) is installed below the bed plate (1), the lower limb bending and stretching sliding block (451) of the lower limb crank connecting rod sliding block mechanism (4) is hinged to the shank bed plate (15), and the hinge point between the shank bed plate (15) and the thigh bed plate (14) is higher than the hinge point between the thigh bed plate (14) and the main bed plate (11).
3. The horizontal limb rehabilitation physiotherapy device according to claim 2, wherein the upper limb crank-link slider mechanism (3) comprises an upper limb disc crank (31), an upper limb crank bracket (32), an upper limb crank-link (33), a first upper limb guide rail, an upper limb link (34), a second upper limb guide rail (35) and an upper limb crank drive, the upper limb crank bracket (32) is mounted on the main bed plate (11), the upper limb disc crank (31) is arranged on the upper limb crank bracket (32), the upper limb crank drive is used for driving the upper limb disc crank (31) to rotate, an upper limb sine slider (311) is fixedly arranged on the upper limb disc crank (31), the first upper limb guide rail is fixed on the upper limb crank bracket (32), an upper limb strip-shaped groove (331) is arranged on the upper limb crank-link (33), and the upper limb sine slider (311) is positioned in the upper limb strip-shaped groove (331), the upper limbs crank connecting rod (33) is mobilizable to be located on the first guide rail of upper limbs, one side of forearm bed board (13) is located in upper limbs second guide rail (35), upper limbs connecting rod (34) one end is bent with the upper limbs in upper limbs second guide rail (35) and is stretched slider (351) and be connected, and the other end is connected with upper limbs crank connecting rod (33), forearm bed board (13) is bent with the upper limbs and is stretched slider (351) and articulate.
4. The horizontal four-limb rehabilitation physiotherapy device according to claim 3, wherein the lower limb crank-link slider mechanism (4) comprises a lower limb disc crank (41), a lower limb crank bracket (42), a lower limb crank-link (43), a first lower limb guide rail, a lower limb link (44), a second lower limb guide rail (45) and a lower limb crank drive, the lower limb crank bracket (42) is installed on the main bed plate (11), the lower limb disc crank (41) is arranged on the lower limb crank bracket (42), the lower limb crank drive is used for driving the lower limb disc crank (41) to rotate, a lower limb sine slider (411) is fixedly arranged on the lower limb disc crank (41), the first lower limb guide rail is fixed on the lower limb crank bracket (42), a lower limb strip-shaped groove (431) is arranged on the lower limb crank-link (43), and the lower limb sine slider (411) is positioned in the lower limb strip-shaped groove (431), the lower limb crank connecting rod (43) is movably arranged on the first lower limb guide rail, the second lower limb guide rail (45) is arranged on one side of the lower limb bed plate (15), one end of the lower limb connecting rod (44) is connected with the lower limb bending and stretching sliding block (451) in the second lower limb guide rail (45), the other end of the lower limb connecting rod is connected with the lower limb crank connecting rod (43), and the lower limb bed plate (15) is hinged with the lower limb bending and stretching sliding block (451).
5. The horizontal limb rehabilitation physiotherapy device according to claim 4, wherein the upper limb first guide rail is an upper limb optical axis (36), two ends of the upper limb optical axis (36) are mounted on the upper limb crank bracket (32), one end of the upper limb crank connecting rod (33) is provided with an upper limb connecting sleeve (332), and the upper limb connecting sleeve (332) is movably sleeved on the upper limb optical axis (36); the first guide rail of low limbs is low limbs optical axis (46), install on low limbs crank bracket (42) at the both ends of low limbs optical axis (46), low limbs crank connecting rod (43) one end is equipped with low limbs adapter sleeve (432), low limbs optical axis (46) are located to mobilizable cover of low limbs adapter sleeve (432).
6. The horizontal limb rehabilitation physiotherapy device according to claim 5, wherein an optical axis slider (51) is arranged on the upper limb optical axis (36), the optical axis slider (51) comprises a slider base (511) and two lifting lugs (512), the two lifting lugs (512) are arranged on the upper limb optical axis (36) in a penetrating manner, the upper limb connecting sleeve (332) is arranged between the two lifting lugs (512), the slider base (511) is provided with a first U-shaped groove (501), and one end of the upper limb connecting rod (34) is hinged in the first U-shaped groove (501) through a pin shaft; be equipped with optical axis slider (51) on low limbs optical axis (46), optical axis slider (51) are including slider base (511) and two lugs (512), wear to establish on low limbs optical axis (46) two lugs (512), between two lugs (512) are located to low limbs adapter sleeve (432), slider base (511) are equipped with first U-shaped groove (501), low limbs connecting rod (44) one end articulate through the round pin axle in first U-shaped groove (501).
7. The horizontal limb rehabilitation physiotherapy device according to claim 6, wherein the upper limb flexion and extension slide block (351) is provided with a sliding connection seat (72), the sliding connection seat (72) is provided with a second U-shaped groove (721), and the other end of the upper limb connecting rod (34) is hinged in the second U-shaped groove (721) through a pin shaft; the lower limb bending and extending sliding block (451) is provided with a sliding connection seat (72), the sliding connection seat (72) is provided with a second U-shaped groove (721), and the other end of the lower limb connecting rod (44) is hinged in the second U-shaped groove (721) through a pin shaft.
8. The horizontal limb rehabilitation physiotherapy device according to claim 5, wherein the upper limb crank bracket (32) comprises a tray (61) and a bracket (62) fixedly connected with the tray (61), the bracket (62) is provided with two ear plates (621), and two ends of the upper limb optical axis (36) are threaded on the ear plates (621); lower limbs crank bracket (42) include tray (61) and tray (61) fixed connection's bracket (62), bracket (62) are equipped with two otic placodes (621), lower limbs optical axis (46) both ends are worn on otic placode (621).
9. The horizontal limb rehabilitation physiotherapy device according to claim 8, wherein the bracket (62) of the upper limb crank bracket (32) is provided with an avoidance guide groove (622), and the upper limb crank connecting rod (33) passes through the avoidance guide groove (622) and is connected with the upper limb optical axis (36); be equipped with on bracket (62) of low limbs crank bracket (42) and dodge guide way (622), low limbs crank connecting rod (43) pass and dodge guide way (622) and be connected with low limbs optical axis (46).
10. The horizontal limb rehabilitation physiotherapy device according to any one of claims 2 to 9, wherein the upper arm bed board (12) and the lower arm bed board (13) are embedded on the main bed board (11), and the upper arm bed board (12) and the lower arm bed board (13) are flush with the main bed board (11); the thigh bed plate (14) and the shank bed plate (15) are embedded on the main bed plate (11), and the thigh bed plate (14) and the shank bed plate (15) are flush with the main bed plate (11); and the upper limb crank drive and the lower limb crank drive are both servo motors (8).
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| CN202011027467.7A CN113057815B (en) | 2020-09-25 | 2020-09-25 | Horizontal four-limb rehabilitation physiotherapy method and device |
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| CN202011027467.7A CN113057815B (en) | 2020-09-25 | 2020-09-25 | Horizontal four-limb rehabilitation physiotherapy method and device |
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