CN114587943B - Auxiliary rehabilitation equipment for paralyzed patients of lower limbs - Google Patents

Auxiliary rehabilitation equipment for paralyzed patients of lower limbs Download PDF

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Publication number
CN114587943B
CN114587943B CN202210269701.XA CN202210269701A CN114587943B CN 114587943 B CN114587943 B CN 114587943B CN 202210269701 A CN202210269701 A CN 202210269701A CN 114587943 B CN114587943 B CN 114587943B
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supporting
shaft
transmission
driven
groups
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CN114587943A (en
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王荣海
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West China Hospital of Sichuan University
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West China Hospital of Sichuan University
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A61H2003/007—Appliances for aiding patients or disabled persons to walk about secured to the patient, e.g. with belts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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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 relates to the technical field of lower limb rehabilitation, in particular to auxiliary rehabilitation equipment for patients with lower limb paralysis. The walking device comprises a special walking machine, a trunk supporting mechanism, a trunk transmission mechanism and a control assembly, wherein the trunk transmission mechanism is in transmission connection with the trunk supporting mechanism, the special walking machine and the trunk transmission mechanism are in transmission connection with the control assembly, the trunk supporting mechanism comprises a supporting bottom plate, a waist supporting part, thigh supporting parts, shank supporting parts and foot supporting parts, the trunk transmission mechanism is provided with four groups, two groups of trunk transmission mechanisms are arranged on two sides of the supporting bottom plate, the other two groups of trunk transmission mechanisms are symmetrically arranged between the two groups of thigh supporting parts and the shank supporting parts, and the two groups of trunk transmission mechanisms are arranged on the two groups of thigh supporting parts. According to the invention, the leg of the patient is driven to do a walking track similar to walking steps through the trunk supporting mechanism, so that the patient can walk on the special walking machine, the movement is gentle, and the patient is prevented from being secondarily injured.

Description

Auxiliary rehabilitation equipment for paralyzed patients of lower limbs
Technical Field
The invention relates to the technical field of lower limb rehabilitation, in particular to auxiliary rehabilitation equipment for patients with lower limb paralysis.
Background
In recent years, along with the continuous acceleration of the progress of aging in China, the number of patients suffering from cerebrovascular diseases or nervous system diseases in the aged population is increased, the patients are in a younger trend, meanwhile, the number of people suffering from neuropathic pain or limb injury caused by traffic accidents, engineering accidents and the like is increased, rehabilitation training robots are developed for recovering injured parts of the patients, and according to the nerve plasticity theory, the rehabilitation robots for recovering the injured parts are mainly provided for the patients who cannot walk due to cerebral apoplexy or spinal cord injury and the like to perform rehabilitation training, and the patients are subjected to gait activities to drive systemic muscle movements by joint activities, so that the systemic movement system is gradually activated, and the rehabilitation training robots capable of helping recovery of the injured parts are provided.
In the prior art, the rehabilitation training device mainly adopts a fixed support type exoskeleton robot, the whole body movement amplitude of a patient in the mode is smaller, but the movement track cannot simulate the normal walking track, only can do actions such as stretching and kicking, and the whole movement of leg muscle groups cannot be driven. The current rehabilitation training robot has poor man-machine interaction capability and lower practicability, and the protection of patients is not enough, so that the patients are easily damaged secondarily.
Therefore, there is a need to devise an assisted rehabilitation device for paralyzed lower limbs patients to solve the above problems.
Disclosure of Invention
Based on this, it is necessary to provide an assisted rehabilitation device for paralyzed lower limbs patients in view of the problems of the prior art.
In order to solve the problems in the prior art, the invention adopts the following technical scheme:
the invention provides auxiliary rehabilitation equipment for lower limb paralysis patients, which comprises a purpose-made walking machine, a trunk supporting mechanism, a trunk transmission mechanism and a control component, wherein the trunk supporting mechanism is positioned above the purpose-made walking machine, the trunk transmission mechanism is arranged on the trunk supporting mechanism, the trunk transmission mechanism is in transmission connection with the trunk supporting mechanism, the purpose-made walking machine and the trunk transmission mechanism are in transmission connection with the control component, the trunk supporting mechanism comprises a supporting bottom plate, a waist supporting part, thigh supporting parts, a thigh supporting part and a waist supporting part, the supporting bottom plate and the waist supporting part are respectively provided with one, the waist supporting part is arranged above the supporting bottom plate, the waist supporting part is fixedly connected with the supporting bottom plate, the thigh supporting part and the foot supporting part are respectively and axially connected with the two ends of the supporting bottom plate along the vertical center surface of the supporting bottom plate, the top ends of the two groups of the thigh supporting parts are respectively and axially connected with the bottom ends of the two groups of the thigh supporting parts, the trunk transmission mechanism is provided with four groups, the waist transmission mechanism is fixedly connected with the upper thigh supporting parts and the two groups, the two upper thigh supporting parts are respectively, the two thigh supporting parts are respectively arranged at the two groups, and the two upper thigh supporting parts are respectively connected with the two upper thigh supporting parts and the upper leg supporting parts are respectively, and the two upper leg supporting parts are respectively connected with the upper leg supporting parts, and the upper leg supporting parts and the lower leg supporting parts are respectively.
Preferably, the trunk transmission mechanism comprises a walking transmission assembly, a rotary displacement assembly and a telescopic displacement assembly, wherein the rotary displacement assembly is arranged at the joint of the thigh supporting part and the calf supporting part or the joint of the thigh supporting part and the supporting bottom plate, the telescopic displacement assembly is arranged on the thigh supporting part, the walking transmission assembly is arranged on the rotary displacement assembly, and the walking transmission assembly is in transmission connection with the rotary displacement assembly and the telescopic displacement assembly.
Preferably, the rotary displacement assembly comprises a rotating shaft and a first driven gear, the walking transmission assembly comprises an electric rotary driver, a driving shaft and a transmission gear, the rotating shaft is arranged at the upper end or the lower end of the thigh supporting part, the rotating shaft at the upper end is fixedly connected with the top end of the thigh supporting part and is in shaft connection with a supporting bottom plate, the rotating shaft at the lower end is in shaft connection with the bottom end of the thigh supporting part and is fixedly connected with the top end of the shank supporting part, the first driven gear is fixedly sleeved on the rotating shaft, the electric rotary driver is fixedly arranged on the outer side wall of the thigh supporting part, the driving shaft is in shaft connection with the side wall of the thigh supporting part, the axial direction of the driving shaft is consistent with the axial direction of the rotating shaft, the driving shaft is positioned beside the rotating shaft, the transmission gear is fixedly sleeved on the driving shaft, the output shaft of the electric rotary driver is fixedly connected with one end of the driving shaft, the transmission gear is meshed with the first driven gear, and the number of teeth of the transmission gear is smaller than that of the first driven gear.
Preferably, the telescopic displacement assembly comprises a first telescopic rod, a linkage device and a shaft connecting rod, wherein two ends of the first telescopic rod are respectively connected with a supporting bottom plate and a thigh supporting part or connected with a thigh supporting part and a shank supporting part, the first telescopic rod is in transmission connection with a walking transmission assembly through the linkage device, the shaft connecting rod is axially connected with the upper end of the thigh supporting part or the lower end of the shank supporting part, a protective sleeve is sleeved on the shaft connecting rod, the first telescopic rod comprises a driving threaded rod and a driven threaded rod, the driving threaded rod and the driven threaded rod are coaxially arranged, the driving threaded rod can move in the driven threaded rod along the axis direction of the driven threaded rod, external threads are arranged on the outer wall of the driving threaded rod, internal threads matched with the external threads of the driving threaded rod are arranged on the inner wall of the driven threaded rod, and the driving threaded rod is in transmission connection with the walking transmission assembly through the linkage device.
Preferably, the walking transmission assembly further comprises a second driven gear, a second driven shaft, a third driven gear and a transmission belt, wherein the second driven shaft is connected with the supporting bottom plate in a shaft mode or is connected with one side of the middle of the thigh supporting portion in a shaft mode, the axis direction of the second driven shaft is consistent with that of the rotating shaft, the second driven gear is fixedly sleeved on the second driven shaft, the third driven gear is fixedly sleeved on the rotating shaft, the second driven gear is in transmission connection with the third driven gear through the transmission belt, and the second driven shaft is in transmission connection with the driving threaded rod through the linkage device.
Preferably, the linkage device comprises a mounting seat, a driving bevel gear and a driven bevel gear, wherein the mounting seat is connected to the second driven shaft in a shaft mode, the driving bevel gear is fixedly arranged on the second driven shaft, the driven bevel gear is fixedly arranged at one end, far away from the driven threaded rod, of the driving threaded rod, the driven bevel gear and the driving bevel gear are both located inside the mounting seat, the driving bevel gear and the driven bevel gear are arranged in a ninety-degree mode, and the driving bevel gear is meshed with the driven bevel gear.
Preferably, the trunk supporting mechanism further comprises a universal shaft and a second telescopic rod, the universal shaft and the second telescopic rod are both provided with two groups and are symmetrically arranged along the vertical central plane of the supporting bottom plate, one end of the universal shaft is fixedly connected with the side wall of the supporting bottom plate, the other end of the universal shaft is fixedly connected with the telescopic displacement assembly, and the second telescopic rod is arranged in the universal shaft.
Preferably, the purpose-built walking machine is including base, the walking area, slope mounting bracket and first support frame, the base level sets up, slope mounting bracket slope is installed on the base, the walking area is installed on slope mounting bracket, the incline direction of walking area is unanimous with the incline direction of slope mounting bracket, first support frame is equipped with two sets of, two sets of first support frames are vertical fixed mounting respectively in the middle part of base both sides, the top of first support frame is equipped with holding rod and the control lever that the level set up, holding rod and control lever all are located one side that first support frame is close to purpose-built walking machine center department, control assembly is including adjusting control button, adjusting control button installs on the control lever.
Preferably, the special walking machine further comprises a second support frame, the second support frame is located at one end of the special walking machine along the length direction of the walking belt, a horizontal mounting plate is horizontally arranged at the top end of the second support frame, the control assembly further comprises a display screen, and the display screen is horizontally arranged at the top end of the horizontal mounting plate.
Preferably, the special walking machine further comprises two third supporting frames, the two third supporting frames are located at one end, far away from the second supporting frames, of the special walking machine, and a plurality of mounting holes for mounting the elastic safety ropes are formed in the third supporting frames.
Compared with the prior art, the beneficial effects of this application are:
1. can realize driving function to trunk supporting mechanism through trunk drive mechanism for trunk supporting mechanism drives patient's shank and makes the motion track that the similar walking was walked, makes the patient can realize walking on purpose-made walking machine, and then helps the patient to promote the motion and the recovery of shank muscle, can control purpose-made walking machine and trunk supporting mechanism's switch through the control assembly, and can carry out the speed governing to advancing the motion, is convenient for match the most suitable amount of exercise according to patient's recovered degree, improves patient's recovered probability, shortens recovered time.
2. Two sets of trunk drive mechanisms located in the joints of the thigh support part and the support bottom plate work, can drive the thigh support part to rotate relative to the support bottom plate, and two sets of trunk drive mechanisms located in the joints of the thigh support part and the shank support part work, can drive the shank support part to rotate relative to the thigh support part, and the two movements are combined to form a leg lifting and retracting action track, so that a patient can realize a walking function under the assistance of the trunk support mechanism, the rotation displacement assembly and the telescopic displacement assembly are driven to move through the walking drive assembly, the rotation displacement assembly drives the thigh support part or the shank support part to rotate, the rotation of the thighs or the shanks of the patient is realized, the telescopic displacement assembly is used for controlling the distance between the thighs and the waist of the patient or the distance between the shanks and the thighs of the patient, the movement track of the trunk support mechanism is controllable, and the patient is prevented from being injured when the patient realizes rehabilitation movement under the assistance of the trunk support mechanism.
3. The first driven gear of walking drive assembly drive has realized the speed reduction effect for the motion is more steady slow, is favorable to patient's rehabilitation training.
4. Through installing cardan shaft and second telescopic link additional in the both sides of supporting baseplate for connect through the cardan shaft between supporting baseplate and the thigh supporting part, and then guaranteed that certain angle deflection takes place between thigh supporting part and the supporting baseplate, simultaneously, but the interval automatically regulated between supporting baseplate and the thigh supporting part tip has been guaranteed through the second telescopic link, thereby the purpose that the realization truck supporting mechanism was convenient for the dismouting.
5. Through the walking belt of installation on the slope mount for the patient who dresses truck supporting mechanism can walk on the walking belt, and the patient can keep the health stable through the holding rod in the rehabilitation training process, through installing the control lever additional on first support frame, makes the patient control adjustment control button that can be easy, thereby adjusts whole rehabilitation equipment according to actual demand control.
6. The adjusting control button at least comprises a first start-stop switch, a speed regulating knob, a mode switching button, a second start-stop switch and other functional keys, the first start-stop switch can control the locking and the starting of the walking belt, the upper and lower equipment of a patient can be facilitated, the second start-stop switch is used for controlling the starting and the closing states of the trunk transmission mechanism, the speed of the movement can be regulated by the speed regulating knob, and the displacement track of the rehabilitation movement can be regulated by the mode switching button, so that muscles at different positions can be trained according to requirements.
7. The elastic safety rope can be installed behind the patient through the installation hole on the third support frame, and even if the patient falls down carelessly, the patient can be protected through the elastic safety rope.
Drawings
FIG. 1 is a schematic perspective view of an embodiment;
FIG. 2 is a front view of an embodiment;
FIG. 3 is a schematic perspective view of a specific walker and control assembly of an embodiment;
FIG. 4 is a top view of the tailored walker and control assembly of the embodiment;
FIG. 5 is a schematic perspective view of a torso support mechanism and torso drive mechanism of an embodiment;
FIG. 6 is a front view of the torso support mechanism and torso drive mechanism of an embodiment;
FIG. 7 is a side view of the torso support mechanism and torso drive mechanism of an embodiment;
FIG. 8 is a schematic view of a partial perspective view of an embodiment;
FIG. 9 is a schematic diagram of a partial perspective view of a second embodiment;
FIG. 10 is a schematic view of a portion of a third embodiment;
FIG. 11 is a schematic perspective view of a telescopic displacement assembly of an embodiment;
FIG. 12 is a schematic diagram of a second perspective view of the telescoping displacement assembly of the present embodiment;
fig. 13 is a schematic perspective view of a portion of the torso support mechanism of an embodiment.
The reference numerals in the figures are:
1-a special walking machine; 2-a torso support mechanism; 3-trunk transmission mechanism; 4-a control assembly; 1 a-a base; 1 b-running belt; 1 c-tilting the mounting frame; 1 d-a first support frame; 1d 1-grip; 1d 2-control lever; 1 e-a second support frame; 1e 1-a horizontal mounting plate; 1 f-a third support frame; 1f 1-mounting holes; 2 a-a supporting base plate; 2 b-lumbar support; 2 c-thigh support; 2 d-a calf support; 2 e-foot support; 2 f-cardan shaft; 2 g-second telescopic rod; 3 a-a walking transmission assembly; 3a 1-an electric rotary drive; 3a 2-driving shaft; 3a 3-drive gear; 3a 4-a second driven gear; 3a 5-a second driven shaft; 3a 6-a third driven gear; 3a 7-a drive belt; 3 b-a rotary displacement assembly; 3b 1-a rotation axis; 3b 2-a first driven gear; 3 c-a telescopic displacement assembly; 3c 1-a first telescopic rod; 3c 11-a positive threaded rod; 3c 12-driven threaded rod; 3c 2-linkage; 3c 21-mount; 3c 22-drive bevel gear; 3c 23-driven bevel gear; 3c 3-shaft connection rod; 3c 4-protective sleeve; 4 a-adjusting the control button; 4 b-display screen.
Detailed Description
The invention will be further described in detail with reference to the drawings and the detailed description below, in order to further understand the features and technical means of the invention and the specific objects and functions achieved.
As shown in fig. 1-6:
the auxiliary rehabilitation equipment for the paralysed lower limb patients comprises a special walking machine 1, a trunk supporting mechanism 2, a trunk transmission mechanism 3 and a control component 4, wherein the trunk supporting mechanism 2 is positioned above the special walking machine 1, the trunk transmission mechanism 3 is arranged on the trunk supporting mechanism 2, the trunk transmission mechanism 3 is in transmission connection with the trunk supporting mechanism 2, the special walking machine 1 and the trunk transmission mechanism 3 are in transmission connection with the control component 4, the trunk supporting mechanism 2 comprises a supporting bottom plate 2a, a waist supporting part 2b, a thigh supporting part 2c, a shank supporting part 2d and a foot supporting part 2e, one of the supporting bottom plate 2a and the waist supporting part 2b is arranged, the waist supporting part 2b is fixedly connected with the supporting bottom plate 2a, the thigh supporting part 2c, the shank supporting part 2d and the foot supporting part 2e are symmetrically provided with two groups along the vertical central plane of the supporting bottom plate 2a, the top ends of the two groups of thigh supporting parts 2c are respectively connected with two ends of the supporting bottom plate 2a in a shaft mode, the top ends of the two groups of shank supporting parts 2d are respectively connected with the bottom ends of the two groups of thigh supporting parts 2c in a shaft mode, the two groups of foot supporting parts 2e are respectively connected with the bottom ends of the two groups of shank supporting parts 2d in a shaft mode, the trunk transmission mechanism 3 is provided with four groups, the two groups of trunk transmission mechanisms 3 are arranged on two sides of the supporting bottom plate 2a, the output ends of the two groups of trunk transmission mechanisms 3 are respectively connected with the two groups of thigh supporting parts 2c in a transmission mode, the other two groups of trunk transmission mechanisms 3 are symmetrically arranged between the two groups of thigh supporting parts 2c and the shank supporting parts 2d, the two groups of trunk transmission mechanisms 3 are arranged on the two groups of thigh supporting parts 2c, and the output ends of the two groups of trunk transmission mechanisms 3 are connected with the two groups of shank supporting parts 2d in a transmission mode.
Based on the above embodiment, how to realize the auxiliary rehabilitation function for the paralysed patient of lower limb, the medical staff pushes the patient onto the special walking machine 1, the patient is assisted to wear the trunk support mechanism 2, the patient is supported to stand by the trunk support mechanism 2, the driving function can be realized for the trunk support mechanism 2 by the trunk transmission mechanism 3, the trunk support mechanism 2 drives the legs of the patient to do the motion track similar to walking steps, the patient can walk on the special walking machine 1, the patient is helped to promote the movement and recovery of the leg muscles, the switch of the special walking machine 1 and the trunk support mechanism 2 can be controlled by the control component 4, the speed of the travelling movement can be regulated, the most suitable amount of movement can be matched according to the rehabilitation degree of the patient, the rehabilitation probability of the patient is improved, and the rehabilitation time is shortened.
During operation, a medical staff wears the supporting bottom plate 2a on the back of a patient, fixes the waist supporting part 2b on the waist of the patient, sequentially wraps and supports thighs, calves and feet of the patient through the thigh supporting part 2c, the shank supporting part 2d and the foot supporting part 2e, and drives each part of the trunk supporting mechanism 2 to move through the trunk transmission mechanism 3 so as to realize the function of assisting the patient to walk.
Further, as shown in fig. 5-12:
the trunk transmission mechanism 3 comprises a walking transmission component 3a, a rotary displacement component 3b and a telescopic displacement component 3c, wherein the rotary displacement component 3b is arranged at the joint of the thigh support part 2c and the calf support part 2d or the joint of the thigh support part 2c and the support bottom plate 2a, the telescopic displacement component 3c is arranged on the thigh support part 2c, the walking transmission component 3a is arranged on the rotary displacement component 3b, and the walking transmission component 3a is in transmission connection with the rotary displacement component 3b and the telescopic displacement component 3 c.
Based on the above embodiment, how to realize the driving function of the trunk transmission mechanism 3 to the trunk support mechanism 2 is solved, the driving function of each part of the trunk support mechanism 2 is realized through four groups of trunk transmission mechanisms 3, in the motion process, two groups of trunk transmission mechanisms 3 positioned at the joint of the thigh support part 2c and the support bottom plate 2a work, the thigh support part 2c can be driven to rotate relative to the support bottom plate 2a, two groups of trunk transmission mechanisms 3 positioned at the joint of the thigh support part 2c and the shank support part 2d work, the shank support part 2d can be driven to rotate relative to the thigh support part 2c, the two movements are combined to form a leg lifting and retracting action track, so that a patient can realize the walking function under the help of the trunk support mechanism 2, the rotation displacement assembly 3b and the telescopic displacement assembly 3c are driven to move through the walking transmission assembly 3a, the rotation of the thigh support part 2c or the shank support part 2d is realized, the rotation of the thigh or the shank of the patient is realized, the telescopic displacement assembly 3c is used for controlling the distance between the thigh of the patient and the waist or the distance between the thigh and the shank support mechanism of the patient can not be injured, and the supporting mechanism 2 can be controlled to realize the rehabilitation motion.
Further, as shown in fig. 5-12:
the rotary displacement assembly 3b comprises a rotary shaft 3b1 and a first driven gear 3b2, the walking transmission assembly 3a comprises an electric rotary driver 3a1, a driving shaft 3a2 and a transmission gear 3a3, the rotary shaft 3b1 is arranged at the upper end or the lower end of a thigh supporting part 2c, the rotary shaft 3b1 at the upper end is fixedly connected with the top end of the thigh supporting part 2c and is in shaft connection with a supporting bottom plate 2a, the rotary shaft 3b1 at the lower end is in shaft connection with the bottom end of the thigh supporting part 2c and is fixedly connected with the top end of a shank supporting part 2d, the first driven gear 3b2 is fixedly sleeved on the rotary shaft 3b1, the electric rotary driver 3a1 is fixedly arranged on the outer side wall of the thigh supporting part 2c, the driving shaft 3a2 is in shaft connection with the side wall of the thigh supporting part 2c, the axial direction of the driving shaft 3a2 is consistent with the axial direction of the rotary shaft 3b1, the transmission gear 3a3 is fixedly sleeved on the driving shaft 3a2, the first driven gear 3a1 is fixedly sleeved on the driven gear 3a, and the driven gear 3a is meshed with the first driven gear 3a 3b and is meshed with the first driven gear 3 b.
Based on the above embodiment, the problem of how to realize the driving function of the walking transmission assembly 3a to the rotary displacement assembly 3b is solved, the electric rotary driver 3a1 drives the first driven gear 3b2 meshed with the first driven gear 3a3 to rotate in the rotating process, and then drives the rotary shaft 3b1 fixedly connected with the first driven gear 3b2 to rotate synchronously, and the rotary shaft 3b1 rotates to drive the lower leg supporting part 2d or the thigh supporting part 2c fixedly connected with the rotary shaft 3b to rotate, so that the rotary displacement assembly 3b drives the thigh or the lower leg of the patient to rotate.
It should be noted that, because the number of teeth of the transmission gear 3a3 is smaller than that of the first driven gear 3b2, the first driven gear 3b2 is driven by the walking transmission assembly 3a to achieve a deceleration effect, so that the movement is more stable and slow, and the rehabilitation training of a patient is facilitated.
Specifically, the electric rotary driver 3a1 is a bi-directional servo motor.
Further, as shown in fig. 5-12:
the telescopic displacement assembly 3c comprises a first telescopic rod 3c1, a linkage device 3c2 and a shaft connecting rod 3c3, two ends of the first telescopic rod 3c1 are respectively connected with a supporting bottom plate 2a and a thigh supporting portion 2c or connected with a thigh supporting portion 2c and a shank supporting portion 2d, the first telescopic rod 3c1 is in transmission connection with the walking transmission assembly 3a through the linkage device 3c2, the shaft connecting rod 3c3 is connected with the upper end of the thigh supporting portion 2c or the lower end of the shank supporting portion 2d in a transmission mode, a protective sleeve 3c4 is sleeved on the shaft connecting rod 3c3, the first telescopic rod 3c1 comprises a driving threaded rod 3c11 and a driven threaded rod 3c12, the driving threaded rod 3c11 and the driven threaded rod 3c12 are coaxially arranged, the driving threaded rod 3c11 can move in the driven threaded rod 3c12 along the axis direction, external threads are arranged on the outer wall of the driving threaded rod 3c11, internal threads matched with the external threads of the driving threaded rod 3c11 are arranged on the inner wall of the driven threaded rod 3c12, and the driving threaded rod 3c11 is connected with the walking transmission assembly 3a through the linkage device 3c 2.
Based on the above embodiment, how to implement the problem of the limit function of the telescopic displacement assembly 3c on the rehabilitation movement track of the torso support mechanism 2, the distance between the thigh support portion 2c and the calf support portion 2d or the distance between the thigh support portion 2c and the support base plate 2a can be ensured to be kept within a certain range by the first telescopic rod 3c1 on the telescopic displacement assembly 3c, and when the distance between the support base plate 2a and the thigh support portion 2c or the distance between the thigh support portion 2c and the calf support portion 2d is changed, the distance is matched with the rotation process of the rotation displacement assembly 3b, so that the overall movement of the torso support mechanism 2 is more accurate and stable.
During operation, the walking transmission assembly 3a outputs and drives the rotating shaft 3b1 to rotate, the rotating shaft 3b1 drives the first telescopic rod 3c1 in transmission connection with the rotating shaft through the linkage device 3c2 to move during rotation, the driving threaded rod 3c11 in the first telescopic rod 3c1 rotates, the driven threaded rod 3c12 in threaded connection with the driving threaded rod 3c11 is forced to move along the axis direction of the driving threaded rod 3c11, the telescopic function of the first telescopic rod 3c1 is achieved, and the thigh support part 2c and the support bottom plate 2a or the distance between the thigh support part 2c and the shank support part 2d is driven through the shaft connecting rod 3c3 to change.
Further, as shown in fig. 5-12:
the walking transmission assembly 3a further comprises a second driven gear 3a4, a second driven shaft 3a5, a third driven gear 3a6 and a transmission belt 3a7, wherein the second driven shaft 3a5 is in shaft connection with the supporting bottom plate 2a or in shaft connection with one side of the middle of the thigh supporting part 2c, the axis direction of the second driven shaft 3a5 is consistent with that of the rotating shaft 3b1, the second driven gear 3a4 is fixedly sleeved on the second driven shaft 3a5, the third driven gear 3a6 is fixedly sleeved on the rotating shaft 3b1, the second driven gear 3a4 is in transmission connection with the third driven gear 3a6 through the transmission belt 3a7, and the second driven shaft 3a5 is in transmission connection with the driving threaded rod 3c11 through the linkage device 3c 2.
Based on the above embodiment, how to realize the problem that the walking transmission assembly 3a drives the linkage device 3c2 to move, the walking transmission assembly 3a drives the rotating shaft 3b1 to rotate, and then drives the third driven gear 3a6 fixedly connected with the rotating shaft 3b1 to synchronously rotate, the third driven gear 3a6 drives the second driven gear 3a4 fixedly connected with the third driven gear 3a through the transmission belt 3a7 to rotate, and then drives the second driven shaft 3a5 fixedly connected with the second driven gear 3a4 to synchronously rotate, and the second driven shaft 3a5 drives the linkage device 3c2 to move, so that the process that the walking transmission assembly 3a drives the driving shaft 3a20 to move is realized.
Further, as shown in fig. 5-12:
the linkage device 3c2 comprises a mounting seat 3c21, a driving bevel gear 3c22 and a driven bevel gear 3c23, wherein the mounting seat 3c21 is in shaft connection with the second driven shaft 3a5, the driving bevel gear 3c22 is fixedly arranged on the second driven shaft 3a5, the driven bevel gear 3c23 is fixedly arranged at one end, far away from the driven threaded rod 3c12, of the driving threaded rod 3c11, the driven bevel gear 3c23 and the driving bevel gear 3c22 are both positioned in the mounting seat 3c21, the driving bevel gear 3c22 and the driven bevel gear 3c23 are in ninety-degree arrangement, and the driving bevel gear 3c22 is meshed with the driven bevel gear 3c23.
During operation, the second driven shaft 3a5 rotates to drive the driving bevel gear 3c22 fixedly connected with the second driven shaft to synchronously rotate, the driving bevel gear 3c22 drives the driven bevel gear 3c23 meshed with the driving bevel gear 3c22 to rotate, and then drives the driving threaded rod 3c11 fixedly connected with the driven bevel gear 3c23 to rotate, so that the telescopic function of the first telescopic rod 3c1 is realized, and the mounting seat 3c21 is used for mounting the driving bevel gear 3c22 and the driven bevel gear 3c23.
Further, as shown in fig. 13:
the trunk supporting mechanism 2 further comprises a universal shaft 2f and a second telescopic rod 2g, the universal shaft 2f and the second telescopic rod 2g are both provided with two groups and are symmetrically arranged along the vertical central plane of the supporting bottom plate 2a, one end of the universal shaft 2f is fixedly connected with the side wall of the supporting bottom plate 2a, the other end of the universal shaft 2f is fixedly connected with the telescopic displacement assembly 3c, and the second telescopic rod 2g is arranged in the universal shaft 2 f.
Based on the above embodiment, the problem of difficulty in wearing and dismounting due to lateral deflection in the process of wearing or dismounting the trunk support mechanism 2 between the legs and the waist of a patient is solved, and the universal shaft 2f and the second telescopic rod 2g are additionally arranged on two sides of the support bottom plate 2a, so that the support bottom plate 2a is connected with the thigh support part 2c through the universal shaft 2f, and further, the thigh support part 2c can deflect at a certain angle with the support bottom plate 2a, meanwhile, the distance between the support bottom plate 2a and the end part of the thigh support part 2c is guaranteed to be automatically adjusted through the second telescopic rod 2g, and the purpose that the trunk support mechanism 2 is convenient to dismount is realized.
Further, as shown in fig. 3-4:
the special walking machine 1 comprises a base 1a, a walking belt 1b, an inclined mounting frame 1c and a first supporting frame 1d, wherein the base 1a is horizontally arranged, the inclined mounting frame 1c is obliquely arranged on the base 1a, the walking belt 1b is arranged on the inclined mounting frame 1c, the inclined direction of the walking belt 1b is consistent with that of the inclined mounting frame 1c, the first supporting frame 1d is provided with two groups, the two groups of the first supporting frames 1d are respectively and vertically fixedly arranged in the middle of two sides of the base 1a, the top end of the first supporting frame 1d is provided with a holding rod 1d1 and a control rod 1d2 which are horizontally arranged, the holding rod 1d1 and the control rod 1d2 are both positioned on one side, close to the center of the special walking machine 1, of the first supporting frame 1d, and the control assembly 4 comprises an adjusting control button 4a which is arranged on the control rod 1d 2.
Based on the above embodiment, the problem of how to realize the intelligent and humanized auxiliary rehabilitation training process is solved, through the walking belt 1b installed on the inclined mounting frame 1c, a patient wearing the trunk support mechanism 2 can walk on the walking belt 1b, the patient can keep stable in body through the holding rod 1d1 in the rehabilitation training process, and the control rod 1d2 is additionally arranged on the first support frame 1d, so that the patient can easily control the adjusting control button 4a, and the whole rehabilitation device is controlled and adjusted according to actual demands.
It should be noted that, the adjusting control button 4a at least includes a first start-stop switch, a speed adjusting knob, a mode switching button, a second start-stop switch, and other functional keys, the first start-stop switch can control the locking and opening of the travelling belt 1b, so that the patient's up-down equipment is facilitated, the second start-stop switch is used for controlling the opening and closing states of the trunk transmission mechanism 3, the speed adjusting knob can adjust the speed of the movement, and the mode switching button can adjust the displacement track of the rehabilitation movement, thereby training the muscles at different positions according to the requirements.
Further, as shown in fig. 3-4:
the special walking machine 1 further comprises a second supporting frame 1e, the second supporting frame 1e is located at one end of the special walking machine 1 along the length direction of the walking belt 1b, a horizontal mounting plate 1e1 is horizontally arranged at the top end of the second supporting frame 1e, the control assembly 4 further comprises a display screen 4b, and the display screen 4b is horizontally arranged at the top end of the horizontal mounting plate 1e 1.
Based on the above embodiment, the horizontal mounting plate 1e1 is mounted on the second support frame 1e, so that the display screen 4b can be mounted on the special walking machine 1, so that a patient can observe the motion state, the motion time, the motion mode and the like intuitively, the man-machine interaction capability is improved, and the practicability is enhanced.
Further, as shown in fig. 3-4:
the special walking machine 1 further comprises two third supporting frames 1f, the two third supporting frames 1f are located at one end, far away from the second supporting frame 1e, of the special walking machine 1, and the third supporting frames 1f are provided with a plurality of mounting holes 1f1 for mounting elastic safety ropes.
Based on the above embodiment, how to protect the patient during the process of assembling and disassembling the torso support mechanism 2, the elastic safety rope can be mounted on the patient through the mounting hole 1f1 on the third support frame 1f, and even if the patient falls down carelessly, the patient can be protected by the elastic safety rope.
The foregoing examples merely illustrate one or more embodiments of the invention, which are described in greater detail and are not to be construed as limiting the scope of the invention. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the invention, which are all within the scope of the invention. Accordingly, the scope of protection of the present invention is to be determined by the appended claims.

Claims (7)

1. The utility model provides an auxiliary rehabilitation device for paralysed patient of lower limb, including special walking machine (1), torso supporting mechanism (2), torso drive mechanism (3) and control module (4), torso supporting mechanism (2) are located special walking machine (1) top, torso drive mechanism (3) set up on torso supporting mechanism (2), torso drive mechanism (3) are connected with torso supporting mechanism (2) transmission, special walking machine (1) and torso drive mechanism (3) all are connected with control module (4) transmission, characterized in that, torso supporting mechanism (2) are including supporting baseplate (2 a), waist supporting part (2 b), thigh supporting part (2 c), shank supporting part (2 d) and foot supporting part (2 e), supporting baseplate (2 a) and waist supporting part (2 b) all are equipped with one, waist supporting part (2 b) set up in supporting baseplate (2 a) top, waist supporting part (2 b) and supporting baseplate (2 a) fixed connection, thigh supporting part (2 c), shank supporting part (2 d) and foot supporting part (2 e) are equipped with two sets of vertical support shaft top of supporting baseplate (2 a) along two sets of vertical support shaft support ends respectively, the top ends of the two groups of shank supporting parts (2 d) are respectively connected with the bottom ends of the two groups of thigh supporting parts (2 c) in a shaft way, the two groups of foot supporting parts (2 e) are respectively connected with the bottom ends of the two groups of shank supporting parts (2 d) in a shaft way, the trunk transmission mechanisms (3) are provided with four groups, wherein the two groups of trunk transmission mechanisms (3) are arranged on two sides of the supporting bottom plate (2 a), the output ends of the two groups of trunk transmission mechanisms (3) are respectively connected with the two groups of thigh supporting parts (2 c) in a transmission way, the other two groups of trunk transmission mechanisms (3) are symmetrically arranged between the two groups of thigh supporting parts (2 c) and the shank supporting parts (2 d), the two groups of trunk transmission mechanisms (3) are arranged on the two groups of thigh supporting parts (2 c), and the output ends of the two groups of trunk transmission mechanisms (3) are connected with the two groups of shank supporting parts (2 d) in a transmission way;
the trunk transmission mechanism (3) comprises a walking transmission component (3 a), a rotary displacement component (3 b) and a telescopic displacement component (3 c), wherein the rotary displacement component (3 b) is arranged at the joint of the thigh support part (2 c) and the calf support part (2 d) or the joint of the thigh support part (2 c) and the support bottom plate (2 a), the telescopic displacement component (3 c) is arranged on the thigh support part (2 c), the walking transmission component (3 a) is arranged on the rotary displacement component (3 b), and the walking transmission component (3 a) is in transmission connection with the rotary displacement component (3 b) and the telescopic displacement component (3 c);
the rotary displacement assembly (3 b) comprises a rotary shaft (3 b 1) and a first driven gear (3 b 2), the traveling transmission assembly (3 a) comprises an electric rotary driver (3 a 1), a driving shaft (3 a 2) and a transmission gear (3 a 3), the rotary shaft (3 b 1) is arranged at the upper end or the lower end of a thigh supporting part (2 c), the rotary shaft (3 b 1) at the upper end is fixedly connected with the top end of the thigh supporting part (2 c) and is in shaft connection with a supporting bottom plate (2 a), the rotary shaft (3 b 1) at the lower end is in shaft connection with the bottom end of the thigh supporting part (2 c) and is fixedly connected with the top end of a small leg supporting part (2 d), the first driven gear (3 b 2) is fixedly sleeved on the rotary shaft (3 b 1), the electric rotary driver (3 a 1) is fixedly arranged on the outer side wall of the thigh supporting part (2 c), the driving shaft (3 a 2) is in shaft connection with the side wall of the thigh supporting part (2 c), the axial direction of the driving shaft (3 a 2) is in shaft (3 a 2) is fixedly connected with the axial direction of the rotary shaft (3 b 1) and is in shaft (3 a2 b) and is meshed with the first driven gear (3 a) at one end of the rotary driver (3 a2 b) and is fixedly arranged at the side of the rotary driver (3 a 2) is meshed with the rotary shaft (3 b), the number of teeth of the transmission gear (3 a 3) is smaller than the number of teeth of the first driven gear (3 b 2);
the telescopic displacement assembly (3 c) comprises a first telescopic rod (3 c 1), a linkage device (3 c 2) and a shaft connecting rod (3 c 3), two ends of the first telescopic rod (3 c 1) are respectively connected with a supporting bottom plate (2 a) and a thigh supporting portion (2 c) or are connected with the thigh supporting portion (2 c) and a shank supporting portion (2 d), the first telescopic rod (3 c 1) is in transmission connection with a walking transmission assembly (3 a) through the linkage device (3 c 2), the shaft connecting rod (3 c 3) is connected with the upper end of the thigh supporting portion (2 c) or the lower end of the shank supporting portion (2 d) in a shaft mode, a protective sleeve (3 c 4) is sleeved on the shaft connecting rod (3 c 3), the first telescopic rod (3 c 1) comprises a driving threaded rod (3 c 11) and a driven threaded rod (3 c 12), the driving threaded rod (3 c 11) and the driven threaded rod (3 c 12) are coaxially arranged, the driving threaded rod (3 c 11) can be in the axis direction of the driven threaded rod (3 c 12) in a transmission mode, and the driving threaded rod (3 c 11) is provided with an external thread of the driving threaded rod (3 c) in a transmission mode, and the driving threaded rod (3 c 11) is in a threaded mode.
2. The rehabilitation assisting device for patients with lower limb paralysis according to claim 1, wherein the walking transmission assembly (3 a) further comprises a second driven gear (3 a 4), a second driven shaft (3 a 5), a third driven gear (3 a 6) and a transmission belt (3 a 7), the second driven shaft (3 a 5) is connected on the supporting base plate (2 a) in a shaft mode or is connected on one side of the middle of the thigh supporting portion (2 c) in a shaft mode, the axis direction of the second driven shaft (3 a 5) is consistent with the axis direction of the rotating shaft (3 b 1), the second driven gear (3 a 4) is fixedly sleeved on the second driven shaft (3 a 5), the third driven gear (3 a 6) is fixedly sleeved on the rotating shaft (3 b 1), the second driven gear (3 a 4) is in transmission connection with the third driven gear (3 a 6) through the transmission belt (3 a 7), and the second driven shaft (3 a 5) is in transmission connection with the driving threaded rod (3 c 11) through a device (3 c 2).
3. The rehabilitation aid for patients with lower limb paralysis according to claim 2, wherein the linkage device (3 c 2) comprises a mounting seat (3 c 21), a driving bevel gear (3 c 22) and a driven bevel gear (3 c 23), the mounting seat (3 c 21) is connected to the second driven shaft (3 a 5) in a shaft mode, the driving bevel gear (3 c 22) is fixedly arranged on the second driven shaft (3 a 5), the driven bevel gear (3 c 23) is fixedly arranged at one end, far away from the driven threaded rod (3 c 12), of the driving threaded rod (3 c 11), the driven bevel gear (3 c 23) and the driving bevel gear (3 c 22) are located in the mounting seat (3 c 21), the driving bevel gear (3 c 22) and the driven bevel gear (3 c 23) are arranged in a ninety degree mode, and the driving bevel gear (3 c 22) is meshed with the driven bevel gear (3 c 23).
4. A rehabilitation aid for paralysed patients of lower extremities according to claim 3, characterized in that the trunk support mechanism (2) further comprises a universal shaft (2 f) and a second telescopic rod (2 g), the universal shaft (2 f) and the second telescopic rod (2 g) are provided with two groups and are symmetrically arranged along the vertical central plane of the support base plate (2 a), one end of the universal shaft (2 f) is fixedly connected with the side wall of the support base plate (2 a), the other end of the universal shaft (2 f) is fixedly connected with the telescopic displacement assembly (3 c), and the second telescopic rod (2 g) is arranged in the universal shaft (2 f).
5. The rehabilitation aid device for patients with lower limb paralysis according to claim 1, wherein the special walking machine (1) comprises a base (1 a), a walking belt (1 b), an inclined mounting frame (1 c) and a first supporting frame (1 d), the base (1 a) is horizontally arranged, the inclined mounting frame (1 c) is obliquely arranged on the base (1 a), the walking belt (1 b) is arranged on the inclined mounting frame (1 c), the inclined direction of the walking belt (1 b) is consistent with that of the inclined mounting frame (1 c), the first supporting frame (1 d) is provided with two groups, the two groups of first supporting frames (1 d) are respectively and vertically fixedly arranged in the middle parts of two sides of the base (1 a), the top end of the first supporting frame (1 d) is provided with a holding rod (1 d 1) and a control rod (1 d 2) which are horizontally arranged, the holding rod (1 d 1) and the control rod (1 d 2) are respectively arranged on one side, close to the center of the special walking machine (1), of the control assembly (4) comprises an adjusting button (4 a), and the adjusting button (4) is arranged on the control rod (1 d).
6. The rehabilitation aid device for lower limb paralysed patients according to claim 5, wherein the special walking machine (1) further comprises a second support frame (1 e), the second support frame (1 e) is located at one end of the special walking machine (1) along the length direction of the walking belt (1 b), a horizontal mounting plate (1 e 1) is horizontally arranged at the top end of the second support frame (1 e), the control assembly (4) further comprises a display screen (4 b), and the display screen (4 b) is horizontally arranged at the top end of the horizontal mounting plate (1 e 1).
7. The rehabilitation aid device for patients with lower limb paralysis according to claim 6, wherein the special walking machine (1) further comprises two third supporting frames (1 f), the two third supporting frames (1 f) are positioned at one end of the special walking machine (1) far away from the second supporting frames (1 e), and a plurality of mounting holes (1 f 1) for mounting elastic safety ropes are formed in the third supporting frames (1 f).
CN202210269701.XA 2022-03-18 2022-03-18 Auxiliary rehabilitation equipment for paralyzed patients of lower limbs Active CN114587943B (en)

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