CN113768743A - Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient - Google Patents
Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient Download PDFInfo
- Publication number
- CN113768743A CN113768743A CN202110958446.5A CN202110958446A CN113768743A CN 113768743 A CN113768743 A CN 113768743A CN 202110958446 A CN202110958446 A CN 202110958446A CN 113768743 A CN113768743 A CN 113768743A
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- China
- Prior art keywords
- supporting plate
- direct current
- training
- torque motor
- sliding block
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 17
- 206010019468 Hemiplegia Diseases 0.000 title claims abstract description 11
- 210000000689 upper leg Anatomy 0.000 claims abstract description 26
- 210000002414 leg Anatomy 0.000 claims abstract description 12
- 210000004394 hip joint Anatomy 0.000 claims abstract description 8
- 210000000629 knee joint Anatomy 0.000 claims abstract description 6
- 208000006011 Stroke Diseases 0.000 claims description 9
- 238000005452 bending Methods 0.000 claims description 3
- 230000003068 static effect Effects 0.000 claims description 3
- 206010008190 Cerebrovascular accident Diseases 0.000 claims description 2
- 230000002490 cerebral effect Effects 0.000 claims description 2
- 210000003414 extremity Anatomy 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 2
- 206010061225 Limb injury Diseases 0.000 description 2
- 230000000474 nursing effect Effects 0.000 description 2
- 210000003423 ankle Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000004064 dysfunction Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 208000023516 stroke disease Diseases 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
- 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 together in a plane substantially parallel to the body-symmetrical plane
-
- 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
- A61H2201/50—Control means thereof
- A61H2201/5097—Control means thereof wireless
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a household horizontal rehabilitation trainer for lower limbs of stroke hemiplegia patients, which is mainly driven by an electric push rod, and a torque motor rotates to drive legs to bend and stretch. The slide block and the connecting rod convert the linear telescopic motion of the electric push rod into the arc reciprocating motion of the thigh supporting plate so as to implement the drafting training of the hip joint; the forward and reverse rotation of the torque motor drives the shank supporting plate to do arc reciprocating motion, so that the knee joint is drawn and trained. And the autonomous rehabilitation training is realized by setting a control instruction through the controller. According to the invention, according to the rehabilitation theory and the mechanical linkage principle, the range of the drafting angle is expanded, the training action is increased, the problems of insufficient moving angle, single training action and the like of the traditional trainer are solved, the self-regulation of the training speed and the movement range is realized through the controller, the optimal rehabilitation training effect is ensured, and meanwhile, the labor-saving and convenient training experience is provided.
Description
Technical Field
The invention relates to a household horizontal rehabilitation training device for lower limbs of stroke hemiplegia patients, belongs to medical instruments, and is used for leg rehabilitation traction training of patients with lower limb injuries caused by hemiplegia or accidents caused by stroke diseases.
Background
According to medical theory and practical experience, a patient with lower limb injury caused by cerebral apoplexy hemiplegia sequela or accident needs to carry out leg stretching training for a long time, which is beneficial to the recovery of limb functions. However, due to the dysfunction of the patient, the leg stretching training can not be independently completed, the leg stretching training is generally performed by a therapist or other people, and the performer needs to have certain nursing knowledge and does the long-term reciprocating training, so that the physical strength of the performer is greatly consumed, and a special rehabilitation training product is required to replace the manual work. The traditional leg rehabilitation training machine (CPM machine) is mainly used for postoperative rehabilitation training of knee joints, has a small range of motion of hip joints and single training action, and is not suitable for the rehabilitation training of lower limb joints of hemiplegic patients. Therefore, the household horizontal rehabilitation training device for the lower limbs of the stroke hemiplegia patient is specially developed to solve the problems that the traditional leg rehabilitation training device is small in moving range and single in training action.
Disclosure of Invention
The horizontal leg stretching training is provided for stroke hemiplegia patients, the stretching angle range is expanded by combining the rehabilitation theory and the mechanical linkage principle, the training action is increased, and the optimal effect of lower limb rehabilitation training is achieved.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the main structure of the lower limb household horizontal rehabilitation training device for stroke hemiplegic patients comprises a direct-current electric push rod, a connecting rod slider mechanism, a thigh supporting plate, a guide rail, a torque motor, a shank supporting plate and a base. One end of the direct current electric push rod is fixedly connected with the base, the other end of the direct current electric push rod is installed on the sliding block through a bearing, the sliding rail is fixed on the base, and the sliding block is driven to reciprocate on the sliding rail through the extension and retraction of the direct current electric push rod; the other end of the sliding block is connected with the connecting rod by virtue of a bearing, the other end of the connecting rod is connected with the bottom of the thigh supporting plate by virtue of the bearing, and the reciprocating motion of the sliding block along the guide rail in the structure forces the connecting rod to push the thigh supporting plate to carry out the opening and closing motion, so that the thigh is driven to carry out the hip flexion and extension motion; the top end of the thigh plate is provided with a torque motor, a motor shaft and a shank supporting plate are coaxially connected with a key groove by means of a key, and the orientation of the shank in the movement process is adjusted by controlling the turning angle of the torque motor. After the hip joint movement is finished, the sliding block moves to the middle of the sliding rail and is in a static state, the thigh supporting plate is at an opening angle of 60 degrees, and the torque motor drives the shank supporting plate to open and close at 60-45 degrees, so that the shank is driven to bend and stretch the knee.
The slide block and the connecting rod in the structure convert the linear motion of the electric push rod into the arc reciprocating motion of the thigh supporting plate to implement the drafting training of the hip joint; the forward and reverse rotation of the torque motor drives the shank supporting plate to do arc reciprocating motion, so that the knee joint is drawn and trained.
When the lower limb horizontal rehabilitation training device is used, the lower limb horizontal rehabilitation training device can be placed on a common bed and below the legs, the ankle of a patient is bound by the binding belt on the shank supporting plate, the patient can autonomously set a control instruction (adjusting the training position, the training speed, the movement range and the like) through the remote controller, the direct-current electric push rod and the torque motor are started, and the expected leg bending and stretching movement is realized.
The invention has the advantages and innovativeness that:
1. the linkage structure has a large angle opening and closing range, and drives the hip joint to move fully;
2. comprises two training actions, wherein an electric push rod drives a hip joint to move in a flexion-extension way, and a torque motor drives a knee joint to move in a flexion-extension way;
3. the electric push rod and the torque motor are dynamically controlled in a matched manner through a controller;
4. the streamline appearance is simulated, and the device is small and attractive and is suitable for various environments such as families, medical institutions, nursing institutions and the like;
drawings
FIG. 1 is a schematic view of the assembly of the lower limb household horizontal rehabilitation training device
FIG. 2 is a partial cross-sectional view of a lower limb household horizontal rehabilitation training device
Detailed Description
The invention is further described with reference to the following figures and detailed description.
As shown in fig. 1 and 2, the lower limb household horizontal rehabilitation training device mainly comprises a direct current electric push rod 1, a connecting bearing 2, a thigh supporting plate 3, a rotating shaft 4, a shank supporting plate 5, a direct current torque motor 6, a connecting rod 7, a sliding rail 8, a sliding block 9 and a base 10. Wherein the tail end of the direct current electric push rod 1 is fixed in a groove of the base 10, and the telescopic end and one end of the sliding block 9 are sleeved by a through hole on the telescopic end and are connected with each other through a stud and a bearing; the other end of the sliding block 9 is sleeved by a through hole on the sliding block, and a fixed shaft is manufactured by utilizing a stud and a bearing and is connected with the connecting rod 7 so as to rotate on the fixed shaft; the slide 9 is connected with the slide rail through a slotted connection and can do reciprocating linear motion on the slide rail. The slide rail 8 is fixed on the bottom plate of the base 10. The other end of the connecting rod 7 is also connected with the central position of the bottom of the thigh supporting plate 3 by a fixed shaft, so that the connecting rod can rotate on the fixed shaft; the tail part of the thigh supporting plate 3 is sleeved and connected with the side wall of the base 10 through the connecting bearing 2 by virtue of a through hole on the side wall, so that the thigh supporting plate can rotate on the fixed shaft; a motor cavity is reserved on the side wall of the head of the thigh supporting plate 3, the direct current torque motor 6 is fixed to the motor cavity, the motor shaft extends out of the through hole, and is in interference fit with the key groove in the rotating shaft 4 by means of the key on the motor shaft, so that the motor shaft and the key groove are coaxially connected, the shank supporting plate 5 is fixed to the rotating shaft 4, and the direct current torque motor 6 drives the shank supporting plate 5 to rotate.
The telescopic motion of the direct current electric push rod 1 in the structure is converted into the linear reciprocating motion of the slide block 9 through fixed connection and then converted into the arc motion of the thigh supporting plate 3 through the connection of the connecting rod 7, and the direct current torque motor 6 carries out angle matching to drive the thigh part bound on the direct current electric push rod to do hip joint flexion and extension motion; when the direct current electric push rod 1 stretches to a proper position and is in a static state, the thigh supporting plate 3 and the base 10 are in an angle state of 60-45 degrees, the thigh is lifted and supported, and the direct current torque motor 6 acts alone to drive the shank part to do knee joint bending and stretching movement.
Claims (3)
1. The utility model provides a horizontal rehabilitation training device at home to cerebral apoplexy hemiplegia patient low limbs which characterized in that: the trainer consists of a direct current electric push rod (1), a connecting bearing (2), a thigh supporting plate (3), a rotating shaft (4), a shank supporting plate (5), a direct current torque motor (6), a connecting rod (7), a sliding rail (8), a sliding block (9) and a base (10);
the tail end of the direct current electric push rod (1) is fixed in a groove of the base (10), and the telescopic end is sleeved with one end of the sliding block (9) by virtue of a through hole on the telescopic end and is connected with a bearing by virtue of a stud; the other end of the sliding block (9) is sleeved by the through hole on the sliding block, and a fixed shaft is manufactured by utilizing a stud and a bearing and is connected with the connecting rod (7) so as to enable the sliding block to rotate on the fixed shaft; the sliding block (9) is connected with the sliding rail through a slotted connection and performs reciprocating linear motion on the sliding block; the slide rail (8) is fixed on the bottom plate of the base (10); the other end of the connecting rod (7) is also connected with the central position of the bottom of the thigh supporting plate (3) by a fixed shaft, so that the connecting rod can rotate on the fixed shaft; the tail part of the thigh supporting plate (3) is sleeved with the side wall of the base (10) through the connecting bearing (2) by virtue of the through hole on the side wall, so that the thigh supporting plate rotates on the fixed shaft; a motor cavity is reserved on the side wall of the head of the thigh supporting plate (3), the direct current torque motor (6) is fixed in the motor cavity, the motor shaft extends out of the through hole, interference fit is carried out between the motor shaft and a key groove in the rotating shaft (4) by means of a key on the motor shaft, the motor shaft and the key groove are coaxially connected, the shank supporting plate (5) is fixed on the rotating shaft (4), and the direct current torque motor (6) drives the shank supporting plate (5) to rotate.
2. The lower limb household horizontal rehabilitation training device for stroke hemiplegia patients as claimed in claim 1, wherein: the telescopic motion of the direct current electric push rod (1) is converted into the linear reciprocating motion of the slide block (9) through fixed connection and then converted into the arc motion of the thigh supporting plate (3) through the connection of the connecting rod (7), and the direct current torque motor (6) is in angle fit to drive the thigh part bound on the direct current torque motor to do hip joint flexion and extension motion; the direct current electric push rod (1) stretches to a proper position and is in a static state, the thigh supporting plate (3) and the base (10) are in an angle state of 60-45 degrees, the thigh is lifted and supported, and the direct current torque motor (6) acts independently to drive the shank part to do knee joint bending and stretching movement.
3. The lower limb household horizontal rehabilitation training device for stroke hemiplegia patients as claimed in claim 1, wherein: the shape of the trainer refers to the lines of the legs of the human body, and the product is attached to the legs by adopting smooth, soft and concise curves and curved surfaces; the turning parts are designed by round corners.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958446.5A CN113768743A (en) | 2021-08-20 | 2021-08-20 | Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110958446.5A CN113768743A (en) | 2021-08-20 | 2021-08-20 | Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113768743A true CN113768743A (en) | 2021-12-10 |
Family
ID=78838371
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110958446.5A Pending CN113768743A (en) | 2021-08-20 | 2021-08-20 | Lower limb household horizontal rehabilitation training device for stroke hemiplegia patient |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113768743A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4974830A (en) * | 1989-01-19 | 1990-12-04 | Sutter Corporation | Continuous passive motion device |
| CN107174476A (en) * | 2017-04-18 | 2017-09-19 | 燕山大学 | A kind of pedipulator of lower limb rehabilitation robot |
| CN206809645U (en) * | 2017-06-02 | 2017-12-29 | 上海市普陀区人民医院 | A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side |
| CN208448070U (en) * | 2018-03-21 | 2019-02-01 | 中国人民解放军第一五三中心医院 | One kind helping wound knee joint and restores function chair |
| CN208626138U (en) * | 2018-03-11 | 2019-03-22 | 钟云 | A kind of lower limb auxiliary rehabilitation device |
| CN111904790A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN112870021A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism |
-
2021
- 2021-08-20 CN CN202110958446.5A patent/CN113768743A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4974830A (en) * | 1989-01-19 | 1990-12-04 | Sutter Corporation | Continuous passive motion device |
| CN107174476A (en) * | 2017-04-18 | 2017-09-19 | 燕山大学 | A kind of pedipulator of lower limb rehabilitation robot |
| CN206809645U (en) * | 2017-06-02 | 2017-12-29 | 上海市普陀区人民医院 | A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side |
| CN208626138U (en) * | 2018-03-11 | 2019-03-22 | 钟云 | A kind of lower limb auxiliary rehabilitation device |
| CN208448070U (en) * | 2018-03-21 | 2019-02-01 | 中国人民解放军第一五三中心医院 | One kind helping wound knee joint and restores function chair |
| CN111904790A (en) * | 2020-08-12 | 2020-11-10 | 威海经济技术开发区天智创新技术研究院 | Multi-track knee joint rehabilitation training robot |
| CN112870021A (en) * | 2021-01-19 | 2021-06-01 | 西安交通大学 | Hip and knee ankle active and passive training rehabilitation device based on four-bar linkage mechanism |
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