CN113476269B

CN113476269B - Knee joint rehabilitation training device

Info

Publication number: CN113476269B
Application number: CN202110689832.9A
Authority: CN
Inventors: 任宇鹏; 祝剑虹; 司志宁
Original assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd
Current assignee: Beijing Ltk Medical Technology Co ltd; Beijing Ltk Technology Co ltd; Hangzhou Extreme Medical Tech Co ltd
Priority date: 2021-06-22
Filing date: 2021-06-22
Publication date: 2023-05-09
Anticipated expiration: 2041-06-22
Also published as: WO2022267370A1; CN113476269A

Abstract

The invention provides knee joint rehabilitation training equipment which comprises a seat, a knee joint adapter and a driving motor, wherein the seat comprises a support frame and a cushion arranged on the support frame, a middle notch is formed in the front position of the support frame, the knee joint adapter comprises a mounting frame and an adapter, the adapter is detachably arranged on the mounting frame, the driving motor is arranged at the middle notch, the driving motor is provided with a rotating shaft, and the mounting frame is fixed on the rotating shaft so as to rotate along with the rotating shaft to drive the adapter. According to the invention, the mounting frame for mounting the adapter is directly fixed on the rotating shaft of the driving motor, and the driving motor is arranged at the middle notch of the cushion, so that a motor direct-drive structure which is arranged in the middle of the power source is formed, double-side training can be realized, the transmission is simple, the mechanical transmission error is reduced, and fine control is convenient.

Description

Knee joint rehabilitation training device

Technical Field

The invention relates to the technical field of medical equipment, in particular to knee joint rehabilitation training equipment.

Background

The rehabilitation therapy is a new therapeutic discipline for promoting the rehabilitation of the heart functions of patients and disabled persons, is a new technical specialty, and aims to enable people to recover daily life, study, work and labor as well as social life capacity as much as possible, integrate into society and improve life quality.

In the current rehabilitation medicine field, for the lower limb hemiplegia patient who causes because of cerebral apoplexy adopts artifical auxiliary or equipment auxiliary training more, because when adopting artifical auxiliary training, medical personnel intensity of labour is big, is difficult to reach anticipated recovered effect, consequently adopts equipment auxiliary training in the auxiliary training equipment mostly to knee joint rehabilitation training equipment is more common.

The existing knee joint rehabilitation equipment on the market is provided with electric unilateral training equipment and electric bilateral training equipment. The unilateral training equipment can only train on one side; because the power source is mostly arranged at one side of the equipment, the equipment is huge in size, and although the power source is arranged between two legs of the double-side training equipment, the transmission mechanism is complex, mechanical transmission errors exist, fine control cannot be achieved, and the rehabilitation trainer feels poor when using.

Disclosure of Invention

In order to at least partially solve the problems in the prior art, the present invention provides a knee rehabilitation training device that can perform bilateral training and is simple to drive.

The knee joint rehabilitation training device comprises a seat, a knee joint adapter and a driving motor, wherein the seat comprises a support frame and a cushion arranged on the support frame, and a middle notch is formed in the front position of the support frame; the knee joint adapter comprises a mounting frame and an adapter, wherein the adapter is detachably arranged on the mounting frame; the driving motor is arranged at the middle notch and is provided with a rotating shaft, and the mounting frame is fixed on the rotating shaft and can rotate along with the rotating shaft so as to drive the adapter.

According to the knee joint rehabilitation training device, the mounting frame provided with the adapter is directly fixed on the rotating shaft of the driving motor, and the driving motor is arranged at the middle notch of the cushion, so that a structure in which the power source is placed in the middle and the motor is directly driven is formed, double-side training can be realized, transmission is simple, mechanical transmission errors are reduced, and fine control is convenient.

The drive motor also has a housing and a stator fixed in the housing, a chute for placing the coil is circumferentially arranged on the inner wall of the stator, the chute has an inclination angle alpha of 3-12 DEG relative to the axial direction of the stator

The rotating shaft comprises a shaft body, a supporting body and a surface-mounted body, wherein the surface-mounted body is annularly arranged on the periphery of the shaft body through the supporting body, magnetic steel is arranged on the surface-mounted body, a supporting space is formed between the shaft body and the surface-mounted body, and the supporting body radially extends outwards from the middle of the shaft body to divide the supporting space into a left part and a right part so as to form a double-side bearing supporting structure.

Illustratively, the magnetic steel has a first axial length L1 and the stator has a second axial length L2, L1-L2 > 10% L2.

Illustratively, the assembly concentricity deviation between the stator and the spindle is < 0.02mm.

Illustratively, the proportion of space within the chute that is occupied by the coil after it is placed within the chute is defined as a slot fill rate, the slot fill rate being greater than 70%.

Illustratively, the number of the inclined grooves is n, n is equal to or greater than 21 and is an odd number.

Illustratively, the rotating shaft has a first shaft end and a second shaft end, the mounting bracket includes a first bracket body and a second bracket body, the first bracket body is fixedly connected with the first shaft end, and the second bracket body is fixedly connected with the second shaft end.

Illustratively, the adapter is disposed on the first frame and is adjustable along a length direction of the first frame, or the adapter is disposed on the second frame and is adjustable along a length direction of the second frame.

Illustratively, the adapter includes a first adapter and a second adapter, the first adapter being disposed on the first frame and being adjustable along a length direction of the first frame, and the second adapter being disposed on the second frame and being adjustable along a length direction of the second frame.

Illustratively, the seat cushion has an inclination angle β with respect to the horizontal, β being 0 ° to 20 °.

Drawings

The above and other objects, features and advantages of the present invention will become more apparent from the following more particular description of embodiments of the present invention, as illustrated in the accompanying drawings. The accompanying drawings are included to provide a further understanding of embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate the invention and together with the embodiments of the invention, and not constitute a limitation to the invention. In the drawings, like reference numerals generally refer to like parts or steps.

FIG. 1 is a block diagram of a knee rehabilitation training device according to an embodiment of the present invention;

FIG. 2 is an exploded view of the knee rehabilitation training device of FIG. 1;

FIG. 3 is an exploded view of a knee adapter of the knee rehabilitation training device of FIG. 1;

FIG. 4 is an exploded view of a drive motor of the knee rehabilitation apparatus of FIG. 1;

FIG. 5 is an internal structural view of a driving motor of the knee rehabilitation apparatus of FIG. 1;

fig. 6 is a perspective view of the stator of fig. 4;

fig. 7 is a front view of the stator of fig. 4;

fig. 8 is a cross-sectional view A-A in fig. 7.

Wherein the reference numerals are as follows

10-chair

11-support frame

111-bottom frame

112-top frame

113-middle vertical frame

114-rear vertical frame

12-cushion

121-middle notch

20-knee joint adapter

21-mounting rack

211-first frame

212-second frame

213-third frame

22-adapter

221-first adapting piece

222-second adapter

23-slider

24-adjusting knob

30-drive motor

31-spindle

3101-first shaft end

3102-second axial end

311-shaft body

312-support body

313-surface-mounted body

314-support space

315-magnetic steel

32-shell

33-stator

331-chute

34-bearing end cap

35-bearing gland

36-sealing end cap

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail with reference to the accompanying drawings. It should be apparent that the described embodiments are only some embodiments of the present invention and not all embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the invention described in the present application, all other embodiments that a person skilled in the art would have without inventive effort shall fall within the scope of the invention.

As shown in fig. 1 and 2, the knee joint rehabilitation training device provided by the present invention includes a seat 10, a knee joint adapter 20, and a driving motor 30.

The seat 10 is used for supplying the rehabilitation training person to sit, and the seat 10 includes support frame 11 and the cushion 12 of setting on support frame 11, and support frame 11 can include bottom support body 111, top support body 112, middle part erects support 113 and rear portion and erects support 114, and the whole I shape that is of bottom support body 111 can install the gyro wheel in the position at four angles on the bottom support body 111 to conveniently move whole knee joint rehabilitation training device, top support body 112 is platy, and middle part erects support 113 can be the column. The cushion 12 is fixed on the top frame 112, and the cushion 12 has a middle notch 121 at the front position of the supporting frame 11, the middle notch 121 may be V-shaped, and the cushion 12 may be provided with two left and right straps for fixing the rehabilitation trainer.

Referring to fig. 3 in combination, the knee joint adapter 20 includes a mounting bracket 21 and an adapter member 22, the adapter member 22 being detachably provided on the mounting bracket 21. The mounting frame 21 may include a first frame 211 and a second frame 212, the first frame 211 and the second frame 212 may be disposed in parallel, and the first frame 211 and the second frame 212 are connected through a third frame 213. As an exemplary embodiment, the adaptor 22 includes a first adaptor 221 and a second adaptor 222, the first adaptor 221 may be provided on the first frame 211 by a slider 23 and an adjustment knob 24 to be adjustable in a length direction of the first frame 211, and the slider 23 and the adjustment knob 24 may be regarded as a detachable structure of the first adaptor 221, which is not limited to the combination of the slider 23 and the adjustment knob 24. The second adapting piece 222 is disposed on the second frame 212 and is adjustable along the length direction of the second frame 212, and the detachable structure of the second adapting piece 222 is identical to that of the first adapting piece 221, which will not be described herein, so that the two legs can be conveniently trained simultaneously based on the arrangement of the adapting piece 22 comprising the first adapting piece 221 and the second adapting piece 222.

The driving motor 30 is arranged at the middle notch 121, referring to fig. 4, the driving motor 30 is provided with a rotating shaft 31, the mounting frame 21 is fixed on the rotating shaft 31 to rotate along with the rotating shaft 31 so as to drive the adapting piece 22, and the mounting frame 21 for mounting the adapting piece 22 is directly fixed on the rotating shaft 31 of the driving motor 30, and the driving motor 30 is arranged at the middle notch 121 of the cushion 12, so that a power source middle placement and motor direct driving structure is formed, double-side training and transmission are simple, mechanical transmission errors are reduced, and fine control is convenient.

As shown in fig. 5, the rotating shaft 31 has a first shaft end 3101 and a second shaft end 3102, and it should be understood that, when training is performed on both sides, the first frame 211 is fixedly connected to the first shaft end 3101, and the second frame 212 is fixedly connected to the second shaft end 3102.

Referring to fig. 4 to 8 in combination, the driving motor 30 further has a housing 32 and a stator 33 fixed in the housing 32, a chute 331 for placing the coil is circumferentially arranged on an inner wall of the stator 33, the chute 331 has an inclination angle α of 3 ° -12 ° with respect to an axial direction of the stator 33, specifically, α may be 3 °,6 °,9 ° and 12 °, based on such a structure, not only is it convenient to embed the coil windings, but also harmonic electromotive force generated by tooth harmonic magnetic fields can be weakened, thereby weakening additional torque caused by these harmonic magnetic fields, reducing electromagnetic vibration and noise.

Further, the rotating shaft 31 includes a shaft body 311, a supporting body 312 and a surface-mounted body 313, the first shaft end 3101 and the second shaft end 3102 are respectively located at the left and right ends of the shaft body 311, the surface-mounted body 313 is annularly arranged on the periphery of the shaft body 311 through the supporting body 312, a magnetic steel 315 is arranged on the surface-mounted body 313, a supporting space 314 is formed between the shaft body 311 and the surface-mounted body 313, the supporting body 312 extends radially outwards from the middle part of the shaft body 311 to divide the supporting space 314 into a left part and a right part, and bearings can be arranged in the left part and the right part through a bearing end cover 34, a bearing end cover 35 and a sealing end cover 36 so as to form a double-side bearing supporting structure. Based on such a structure, the driving motor 30 can be bidirectionally output, thereby facilitating simultaneous double-sided training.

Further, the magnetic steel 315 has a first axial length L1, and the stator 33 has a second axial length L2, L1-L2 > 10%. Times.L 2. Thus, the driving motor 30 can operate at an ultra-low speed, and the minimum rotation speed can reach 0.0167 rpm, so that the fine control of rehabilitation training can be facilitated.

Further, the assembly concentricity deviation between the stator 33 and the rotating shaft 31 is < 0.02mm. Thus, the fluctuation of the output torque of the driving motor 30 can be reduced, the driving motor 30 can be ensured to stably run, and the rehabilitation trainer is prevented from being injured by pulling.

Further, the ratio of the coil to occupy the space in the chute 331 after being placed in the chute 331 is defined as the full rate of the chute, and the full rate of the chute is more than 70%. In this way, not only the temperature rise of the coil winding can be reduced, but also the proportion of the effective material can be effectively increased, and the material cost of the driving motor 30 can be reduced.

Further, the number of the inclined grooves 331 is n, n is larger than or equal to 21 and is an odd number. Compared with a conventional driving motor, the driving motor 30 in the invention can achieve more than twenty poles as long as four poles or eight poles, the number of the inclined slots 331 is odd, the least common multiple of the inclined slots is larger, and the fraction of one circle of the inclined slots can be divided into more pairs, so that the driving motor 30 has low-speed stable performance.

In an embodiment not shown, the number of the adaptor members 22 may be only one, one adaptor member 22 being provided on the first frame 211 to be adjustable in the length direction of the first frame 211, or the one adaptor member 22 being provided on the second frame 212 to be adjustable in the length direction of the second frame 212. One adapter 22 arrangement is suitable for unilateral training.

Referring again to fig. 1, the seat cushion 12 has an inclination angle β of 0 ° -20 °, β being for example 0 °,10 °,13 °,20 °, etc. with respect to the horizontal plane, based on the inclined seat cushion 12 arrangement, the rehabilitation trainer is more comfortable in use, has a low center of gravity, and is more stable in equipment.

In the description of the present invention, it should be understood that the azimuth or positional relationship indicated by the azimuth words such as "left", "right", "rear", "horizontal", etc. are generally based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present invention and simplifying the description, and these azimuth words do not indicate or imply that the device or element to be referred to must have a specific azimuth or be constructed and operated in a specific azimuth, without limiting the scope of protection of the present invention.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one or more components or features' spatial positional relationships to other components or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass not only the orientation of the elements in the figures but also different orientations in use or operation. For example, if the element in the figures is turned over entirely, elements "over" or "on" other elements or features would then be included in cases where the element is "under" or "beneath" the other elements or features. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". Moreover, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and all such cases are intended to be encompassed herein.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, components, assemblies, and/or combinations thereof.

It should be noted that the terms "first," "second," and the like in the description and claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or described herein.

The present invention has been illustrated by the above-described embodiments, but it should be understood that the above-described embodiments are for purposes of illustration and description only and are not intended to limit the invention to the embodiments described. In addition, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications are possible in light of the teachings of the invention, which variations and modifications are within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a knee joint rehabilitation training device, includes seat, knee joint adapter and driving motor, the seat include the support frame with set up in cushion on the support frame, its characterized in that:

the cushion is provided with a middle notch at the front position of the support frame;

the knee joint adapter comprises a mounting frame and an adapter, wherein the adapter is detachably arranged on the mounting frame;

the driving motor is arranged at the middle notch and is provided with a rotating shaft, the mounting frame is fixed on the rotating shaft and can rotate along with the rotating shaft to drive the adapter, the driving motor is further provided with a shell and a stator fixed in the shell, inclined slots for placing coils are circumferentially arranged on the inner wall of the stator, and the number of the inclined slots is n, n is more than or equal to 21 and is an odd number;

the rotating shaft comprises a shaft body, a supporting body and a surface-mounted body, wherein the surface-mounted body is arranged on the periphery of the shaft body in a surrounding mode through the supporting body, magnetic steel is arranged on the surface-mounted body and has a first axial length L1, and the stator has a second axial length L2, wherein L1-L2 is more than 10% multiplied by L2.

2. The knee rehabilitation apparatus according to claim 1, wherein the chute has an inclination angle α of 3 ° to 12 ° with respect to an axial direction of the stator.

3. The knee joint rehabilitation apparatus according to claim 2, wherein a supporting space is formed between the shaft body and the surface mount body, the supporting body extending radially outward from a middle portion of the shaft body to divide the supporting space into left and right portions so as to form a double-sided bearing supporting structure.

4. A knee rehabilitation apparatus according to claim 3, characterised in that the assembly concentricity deviation between the stator and the spindle is < 0.02mm.

5. A knee rehabilitation apparatus according to claim 3, characterised in that the proportion of space in the chute taken up by the coil after it has been placed in the chute is defined as the slot filling rate, which is greater than 70%.

6. The knee joint rehabilitation training device of any one of claims 1-5 wherein the shaft has a first shaft end and a second shaft end, the mounting bracket comprises a first bracket body and a second bracket body, the first bracket body is fixedly connected with the first shaft end, and the second bracket body is fixedly connected with the second shaft end.

7. The knee joint rehabilitation training device of claim 6 wherein the adapter is disposed on the first frame and is adjustable along a length of the first frame or the adapter is disposed on the second frame and is adjustable along a length of the second frame.

8. The knee joint rehabilitation apparatus according to claim 6, wherein the adapter includes a first adapter and a second adapter, the first adapter being disposed on the first frame and being adjustable along a length of the first frame, the second adapter being disposed on the second frame and being adjustable along a length of the second frame.

9. The knee rehabilitation apparatus according to any of claims 1-5, wherein the seat cushion has an inclination angle β of 0 ° -20 ° with respect to the horizontal plane.