CN114795850B - Knee joint auxiliary movement device and control method thereof - Google Patents
Knee joint auxiliary movement device and control method thereof Download PDFInfo
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- CN114795850B CN114795850B CN202210763398.9A CN202210763398A CN114795850B CN 114795850 B CN114795850 B CN 114795850B CN 202210763398 A CN202210763398 A CN 202210763398A CN 114795850 B CN114795850 B CN 114795850B
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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
- 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
- A61H1/024—Knee
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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
- 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
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
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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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- 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
- A61H2205/102—Knee
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- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
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- 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 knee joint auxiliary movement device and a control method thereof, and the knee joint auxiliary movement device comprises a box body, a power source arranged on the box body, a first rotating assembly and a telescopic assembly, wherein the second rotating assembly arranged on the telescopic assembly is used for rotatably connecting the box body with a first fixing piece through the first rotating assembly, the telescopic assembly is rotatably connected with a second fixing piece through the second rotating assembly, the telescopic assembly is driven by the power source to stretch, so that when the telescopic assembly stretches, the power source rotates relative to the first fixing piece, and the telescopic assembly rotates relative to the second fixing piece, so that the first fixing piece rotates relative to the second fixing piece, and assistance is provided for the bending/resetting of a knee joint. The technical problem of supplementary rehabilitation device function singleness among the prior art, can not provide helping hand for patient when walking, that is to say lack the function of supplementary initiative motion is solved.
Description
Technical Field
The invention relates to the technical field of joint movement assistance, in particular to a knee joint auxiliary movement device and a control method thereof.
Background
The problem of recovery after knee joint operation is a problem which is often faced by orthopedics, and the knee joint function of some patients still cannot be recovered to meet the normal requirement of daily life after the operation due to lack of movement or poor movement effect.
The CPM machine can be connected and fixed on a seat or a nursing bed frame, has the main functions of satisfying the patients before and after the recovery period of the bedridden patients to do full-range passive motion such as straightening, buckling, abduction and the like of the upper and lower limbs, is a physical exercise therapy, generally adopts a power transformer, a stepping speed reducing motor, a control panel, a driver, a limit starting switch and a shell as main power parts, simulates the human body to do reciprocating extension and abduction and other motions by a linear sliding table or a speed reducer, satisfies the venous return of the affected limb of the postoperative patient, relieves swelling, prevents the formation of deep venous thrombosis of the lower limb, improves the muscle strength and the joint mobility, relieves the adhesion of surrounding tissues, increases the strength of muscle groups around the joint, improves the functional state of the joint, promotes the recovery of the function, and can be used for limb recovery and clinical surgery.
However, the existing auxiliary rehabilitation device has a single function, can only provide the passive bending function of the knee joint for the patients lying in bed before and after operation, but cannot provide assistance for the patients when walking, namely, the function of assisting active movement is lacked.
Disclosure of Invention
Based on the above background, the present invention provides a power assembly attached between the upper and lower segments of the lower limb, which can assist the patient to perform rehabilitation walking, so as to solve the technical problems that the prior art has a single function, cannot provide assistance for the patient during walking, and is lacking in the function of assisting the active movement.
In order to achieve the above object, the present invention provides the following technical solutions: a knee joint auxiliary motion device is applied to a knee joint brace and is characterized by comprising a first fixing piece and a second fixing piece, wherein the first fixing piece is worn on a thigh, the second fixing piece is worn on a shank, the knee joint auxiliary motion device comprises a box body, a power source, a first rotating assembly, a telescopic assembly and a second rotating assembly, the power source is arranged on the box body, the first rotating assembly and the telescopic assembly are arranged on the box body, and the second rotating assembly is arranged on the telescopic assembly;
the box body is rotationally connected with the first fixing piece through the first rotating assembly, and the telescopic assembly is rotationally connected with the second fixing piece through the second rotating assembly;
the telescopic assembly comprises a fixed cylinder fixed on the box body and a telescopic cylinder connected in the fixed cylinder in a sliding manner, one end of the telescopic cylinder, which is positioned in the fixed cylinder, is connected with the power source, and one end, which is far away from the fixed cylinder, of the telescopic cylinder is rotationally connected with the second fixing piece through the second rotating assembly;
the power source drives the telescopic cylinder to slide in the fixed cylinder, so that the second fixing piece rotates relative to the first fixing piece.
As a further scheme of the invention, the power source is a motor, a gear is arranged at the output end of the motor, a rack meshed with the gear is arranged on the side wall of the telescopic cylinder, and the motor drives the telescopic cylinder to slide on the fixed cylinder through the matching of the gear and the rack.
As a further scheme of the present invention, the first rotating assembly includes a first connecting arm, and a first rotating base and a first locking structure respectively disposed at two ends of the first connecting arm, one end of the first connecting arm is detachably connected to the first fixing member through the first locking structure, and the other end of the first connecting arm is rotatably connected to the box body through the first rotating base, and a certain lateral distance is set between the power source and the first fixing member through the first connecting arm, so as to form a force-bearing angle and provide an initial moment.
As a further scheme of the present invention, the second rotating assembly further includes a second connecting arm, and a second rotating base and a second locking structure respectively disposed at two ends of the second connecting arm, one end of the second connecting arm is detachably connected to the second fixing element through the second locking structure, and the other end of the second connecting arm is rotatably connected to the telescopic cylinder through the second rotating base;
as a further scheme of the invention, the telescopic cylinder is hollow and is slidably connected with a telescopic rod, a limiting component is arranged between the telescopic cylinder and the telescopic rod and can be used for limiting the telescopic rod to slide in the telescopic cylinder, and one end of the telescopic rod, which is far away from the telescopic cylinder, is rotatably connected with the second connecting arm through the second rotating base;
as a further scheme of the present invention, the limiting assembly includes a threaded cylinder provided with two sides of the telescopic cylinder, an arc-shaped limiting member is provided between an inner wall of the telescopic cylinder and an outer wall of the telescopic rod, a threaded rod is connected to an internal thread of the threaded cylinder, one end of the threaded rod is connected to the limiting member through a first bearing, and the other end of the threaded rod is connected to a handle, and the handle is rotated to make the limiting member frictionally contact with the telescopic rod, so as to limit the sliding of the telescopic rod.
As a further scheme of the invention, a pressure sensor is arranged at the bottom end inside the telescopic cylinder and is used for detecting the pressure of the telescopic rod on the telescopic cylinder when the telescopic rod slides.
Above-mentioned auxiliary motion device rotates to be connected on first mounting through with the power supply, and flexible subassembly moves to be connected on the second mounting, stretches out and draws back through the flexible subassembly of power supply drive and provides the helping hand for the knee joint bending/reseing of patient when the walking, has replaced can only provide the technical scheme of the passive crooked function of knee joint before the art, the postoperative for bed patient among the traditional scheme. The box body is connected with the first fixing part in a rotating mode through the first rotating assembly, the power source is arranged on the box body, the telescopic assembly is connected with the second fixing part in a rotating mode through the second rotating assembly, the telescopic assembly is driven by the power source to stretch, when the telescopic assembly stretches out and draws back, the power source rotates relative to the first fixing part, the telescopic assembly rotates relative to the second fixing part, the first fixing part rotates relative to the second fixing part, and power assistance is provided for bending/resetting of the knee joint. The technical problem of supplementary rehabilitation device function singleness among the prior art, can not provide helping hand for patient when walking, that is to say lack the function of supplementary initiative motion is solved.
Another aspect of the present invention is to provide a control method for a knee joint exercise assisting apparatus, applied to the above-described knee joint exercise assisting apparatus, the control method including:
respectively connecting two ends of the auxiliary rehabilitation device of the knee joint auxiliary exercise device to the first fixing part and the second fixing part;
acquiring a current operation mode of the knee joint auxiliary motion device, wherein the operation mode comprises an active motion mode, an auxiliary motion mode and a standing mode, and controlling the knee joint auxiliary motion device to execute a corresponding control strategy according to the current operation mode;
adjusting a current operating mode of the power source, the operating mode including;
if the current running mode is adjusted to be the active running mode, controlling the power source to rotate back and forth according to a first preset rotating speed and a first preset period so as to drive the telescopic cylinder to slide back and forth through the power source, and thus assisting the bending/resetting of the knee joint of the patient during walking;
and closing the auxiliary rehabilitation device until the rehabilitation training of the patient is finished.
As a further aspect of the present invention, the adjusting the current operation mode of the power source further includes, after the step of:
when the operation mode is adjusted to the auxiliary movement mode, the patient can carry out rehabilitation walking, so that the telescopic rod can freely slide in the telescopic cylinder;
when the pressure of the telescopic rod on the pressure sensor reaches the threshold value of the pressure sensor, controlling a power source to rotate back and forth according to a second preset rotating speed and a second preset period so as to drive the telescopic cylinder to slide back and forth through the power source, and thus assisting the resetting of the knee joint of the patient during walking;
repeatedly executing the step of controlling the power source to rotate back and forth according to a second preset rotating speed and a second preset period after the pressure of the telescopic rod on the pressure sensor reaches the threshold value of the pressure sensor so as to drive the telescopic cylinder to slide back and forth through the power source, thereby assisting the reduction of the knee joint of the patient during walking;
and closing the auxiliary rehabilitation device until the rehabilitation training of the patient is finished.
As a further aspect of the present invention, the adjusting the current operation mode of the power source includes the following steps:
when the operation mode is adjusted to be the standing mode, the position of the telescopic cylinder relative to the fixed cylinder is adjusted through the power source;
the telescopic cylinder is fixedly connected with the telescopic rod through the limiting assembly, so that the leg posture of the patient is fixed, and a supporting force is provided for the patient to keep the leg posture;
until the rehabilitation training of the patient is finished.
Drawings
FIG. 1 is a first perspective view of the overall structure of the present invention;
FIG. 2 is a perspective view of the knee brace of the present invention;
FIG. 3 is a cross-sectional view of a portion of the structure of FIG. 1 in accordance with the present invention;
FIG. 4 is a cross-sectional view of another portion of the structure of FIG. 1 in accordance with the present invention;
FIG. 5 isbase:Sub>A cross-sectional view of the structure of FIG. 4 taken along line A-A thereof in accordance with the present invention;
FIG. 6 is a top view of the structure of FIG. 1 in accordance with the present invention;
FIG. 7 is an enlarged view of the structure of FIG. 4 at B in accordance with the present invention;
FIG. 8 is a flowchart of a first control method according to the present invention;
FIG. 9 is a flowchart of a second control method of the present invention;
FIG. 10 is a flowchart of a third control method according to the present invention;
description of the main element symbols:
| |
101 | |
102 |
| Shank |
103 | |
104 |
| |
201 | |
202 |
| |
203 | Speed regulating |
204 |
| |
205 | |
301 |
| Fixed |
302 | |
303 |
| |
304 | |
305 |
| |
401 | Threaded |
402 |
| |
403 | Threaded |
404 |
| First bearing | 405 | |
406 |
| Positioning |
501 | Second bearing | 502 |
| First connecting |
601 | Second connecting |
602 |
| First |
603 | Second rotating |
604 |
| |
605 | |
606 |
| |
607 | First fixed |
701 |
| Second fixed |
702 |
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The first embodiment is as follows:
referring to fig. 1 to 7, a first embodiment of the present invention provides a knee joint auxiliary exercise device, which is applied to a knee joint brace, the knee joint brace includes a first fixing member worn on a thigh and a second fixing member worn on a shank, the knee joint auxiliary exercise device includes a box 201, a power source 301 disposed on the box 201, a first rotating assembly and a telescopic assembly, and a second rotating assembly disposed on the telescopic assembly;
wherein, box body 201 rotates through first rotating assembly and first mounting to be connected, flexible subassembly rotates through second rotating assembly and second mounting to be connected, that is to say, rotate box body 201 through first rotating assembly and first mounting to be connected, power supply 301 sets up on box body 201, flexible subassembly rotates through second rotating assembly and second mounting to be connected, stretch out and draw back through power supply 301 drive flexible subassembly, make flexible subassembly when flexible, power supply 301 is rotatory for first mounting relatively, flexible subassembly is rotatory for the second mounting relatively, thereby make first mounting rotate for the second mounting relatively, thereby provide the helping hand for knee joint bending/resetting.
Specifically, as shown in fig. 2, the first fixing part includes a thigh sheath 101 and thigh connecting plates 102 disposed on two sides of the thigh sheath 101, the second fixing part includes a calf sheath 103 and calf connecting plates 104 disposed on two sides of the calf sheath 103, the thigh connecting plates 102 are hinged to the calf connecting plates 104, so that the thigh sheath 101 and the calf sheath 103 can rotate relative to each other, the box body is rotatably connected to the thigh connecting plates 102 through a first rotating assembly, and the telescopic assembly is rotatably connected to the calf connecting plates 104 through a second rotating assembly.
As shown in fig. 3, the telescopic assembly includes a fixed cylinder 302 fixed on the box 201, a telescopic cylinder 303 slidably connected in the fixed cylinder 302, one end of the telescopic cylinder 303 located in the fixed cylinder 302 is connected to a power source 301, the power source 301 is a motor, an output end of the motor is provided with a gear 304, a rack 305 engaged with the gear 304 is provided on a side wall of the telescopic cylinder 303, the motor drives the telescopic cylinder 303 to slide on the box 201 in a reciprocating manner through cooperation of the gear 304 and the rack 305, when the motor rotates in a forward direction, the telescopic cylinder 303 slides above the fixed cylinder 302, when the motor rotates in a reverse direction, the telescopic cylinder 303 slides below the fixed cylinder 302, that is, when the motor rotates in the forward direction, the telescopic cylinder 303 slides up and down in the fixed cylinder 302, and further, the first fixing member and the second fixing member rotate with each other, so as to provide assistance for bending/resetting of the knee joint.
As shown in fig. 4-5, to ensure that the auxiliary exercise device is suitable for different patients, the interior of the telescopic tube 303 is hollow, and a telescopic rod 401 is slidably connected to the telescopic tube 303, a limiting assembly is disposed between the telescopic tube 303 and the telescopic rod 401, the limiting assembly is used for limiting the telescopic rod 401 from sliding in the telescopic tube 303, and one end of the telescopic rod 401, which is far away from the telescopic tube 303, is rotatably connected to a second fixing member through a second rotating assembly;
wherein, spacing subassembly is including locating the screw thread section of thick bamboo 402 of telescopic cylinder 303 both sides, be equipped with curved locating part 403 between telescopic cylinder 303 inner wall and the telescopic link 401 outer wall, screw thread section of thick bamboo 402 internal thread connection has threaded rod 404, locating part 403 is connected through first bearing 405 to the one end of threaded rod 404, the other end is connected with handle 406, rotatory handle 406 makes locating part 403 and telescopic link 401 frictional contact, the slip of restriction telescopic link 401, to different patients like this, adjust the position relation between telescopic cylinder 303 and the telescopic link 401 through spacing subassembly, in order to adapt to different patient leg lengths.
Further, in order to improve the adaptation effect, an adjusting assembly is arranged at one end of the telescopic rod 401, which is far away from the telescopic cylinder 303, and the adjusting assembly is rotatably connected with a second fixing piece through a second rotating assembly;
the adjusting component comprises a thread which is arranged at one end, far away from the telescopic cylinder 303, of the telescopic rod 401, a positioning cylinder 501 is connected to the telescopic rod 401 in a threaded mode, a second bearing 502 which is arranged outside the positioning cylinder 501 in a sleeved mode is connected, namely, an inner ring of the second bearing 502 is connected with the positioning cylinder 501 in a rotating mode, an outer ring of the second bearing 502 is connected with a second fixing piece in a rotating mode through a second rotating component, and the adjusting component can move up and down on the telescopic rod 401 through the rotating positioning cylinder 501.
Specifically, the second rotating assembly includes a second connecting arm 602, a second rotating base 604 and a second locking structure respectively disposed at two ends of the second connecting arm 602, one end of the second connecting arm 602 is rotatably connected to the outer wall of the second bearing 502 through the second rotating base 604, the second rotating base 604 is a cylinder, one end of the cylinder is fixedly connected to the outer wall of the second bearing 502, the other end of the cylinder is provided with a rotating groove, the rotating groove is rotatably connected to the second connecting arm 602, one end of the second connecting arm 602 is detachably connected to the second fixing member through the second locking structure, the second locking structure includes a first threaded hole 605 disposed at one end of the second connecting arm 602 far away from the second rotating base 604, a second threaded hole 606 disposed on the lower leg connecting plate 104, and a bolt 607 connecting the two threaded holes, so that the telescopic rod 401 and the second fixing member can be detachably connected.
As shown in fig. 6, the first rotating assembly includes a first connecting arm 601, a first rotating base 603 and a first locking structure respectively disposed at two ends of the first connecting arm 601, one end of the first connecting arm 601 is detachably connected to the first fixing member through the first locking structure, the other end is rotatably connected to the box 201 through the first rotating base 603, a certain lateral distance is set between the power source 301 and the first fixing member through the first connecting arm 601 to form a force-receiving angle and provide an initial moment, it should be noted that the first rotating base 603 and the second rotating base 604 have the same structure, and the first locking structure includes a first threaded hole 605 disposed at one end of the first connecting arm 601 far from the first rotating base 603, a second threaded hole 606 disposed on the thigh connecting plate 102, and a bolt 607 connecting the two threaded holes;
the first threaded hole 605 on the first connecting arm 601 and the first threaded hole 605 on the second connecting arm 602, and the second threaded hole 606 on the shank link plate 104 and the second threaded hole 606 on the thigh link plate 102 are identical in structure and are labeled in common.
As shown in fig. 7, a first fixing block 701 is disposed on an inner wall of an opening end of the telescopic cylinder 303, and a second fixing block 702 is disposed on an outer wall of the telescopic rod 401, that is, when the telescopic cylinder 303 moves upward, the first fixing block 701 extrudes the second fixing block 702 to drive the telescopic rod 401 to move upward.
Further, a pressure sensor 205 is arranged at the bottom end of the interior of the telescopic cylinder 303, and the pressure sensor 205 is used for detecting the pressure on the telescopic cylinder 303 caused by the sliding of the telescopic rod 401.
In this embodiment, the knee joint bending/repositioning device further includes a control system, that is, the power source 301 is controlled by a control system, and the control system controls the power source 301 to drive the telescopic cylinder 303 to slide on the box body to provide assistance for knee joint bending/repositioning, and the control system includes a controller (specifically, a Micro Controller Unit (MCU)) disposed on the box body 201, a start switch 202, a mode switch 203, a pressure sensor 205, and a speed adjusting module 204, wherein the mode switch 203 is used for switching a movement mode, the speed adjusting module 204 is used for changing the power of the power source 301, and the control system changes the power of the power source 301 according to the force applied to the telescopic cylinder 303 when the knee joint bends.
In the present embodiment, the start switch 202, the controller, the speed adjustment module 204, the mode switch 203, the pressure sensor 205, and the power source 301 are electrically connected.
Above-mentioned auxiliary motion device rotates to be connected on first mounting through with the power supply, and flexible subassembly moves to be connected on the second mounting, stretches out and draws back through the flexible subassembly of power supply drive and provides the helping hand for the knee joint bending/reseing of patient when the walking, has replaced can only provide the technical scheme of the passive crooked function of knee joint before the art, the postoperative for bed patient among the traditional scheme. Specifically, the box body is rotationally connected with a first fixed part through a first rotating component, the power source is arranged on the box body, the telescopic component is rotationally connected with a second fixed part through a second rotating component and drives the telescopic component to be telescopic through the power source, make flexible subassembly when flexible, the power supply is rotatory for first mounting, and flexible subassembly is rotatory for the second mounting to make first mounting rotate for the second mounting, thereby provide the helping hand for knee joint bending/resetting. The technical problem of supplementary rehabilitation device function singleness among the prior art, can not provide helping hand for patient when walking, that is to say lack the function of supplementary initiative motion is solved.
Compared with the prior art, beneficial effect lies in:
1. when the knee joint needs to be bent/reset, the power source is started to drive the telescopic cylinder to slide up and down in the fixed cylinder, then the second fixed block is extruded by the first fixed block to drive the telescopic rod to move upwards, or the telescopic rod is pushed to move downwards by the top end in the telescopic cylinder, so that the purpose of driving the first fixed part connected to the telescopic rod to rotate is achieved, and the effect of assisting the patient to walk actively is achieved;
2. according to the different body types and leg lengths of patients, the adjusting component can move up and down on the telescopic rod by rotating the positioning barrel so as to adjust the position of the second rotating base connected to the shank connecting plate and adapt to different patients;
3. set up spacing subassembly on telescopic link and telescopic cylinder, when the patient stands, for guaranteeing the patient and standing the appearance, fix the telescopic link on telescopic cylinder through spacing subassembly to provide the helping hand of standing to the patient.
The technical problem that the auxiliary rehabilitation device in the prior art is single in function and cannot provide assistance for a patient during walking and standing rehabilitation training, namely, the function of assisting active movement is lacked is solved.
Example two:
referring to fig. 8, a second embodiment of the present invention provides a control method of a first rehabilitation assisting device, which is applied to the first rehabilitation assisting device.
The control method includes steps S101 to S104:
s101, respectively connecting two ends of the auxiliary rehabilitation device to a first fixing piece and a second fixing piece;
that is, first link arm 601 is detachably coupled to thigh link plate 102 by a first locking structure, and second link arm 602 is detachably coupled to shank link plate 104 by a second locking structure.
S102, the mode switch 203 is turned, and the current running mode of the power source 301 is adjusted.
S103, if the current running mode is adjusted to be the active running mode, controlling a power source to rotate back and forth according to a first preset rotating speed and a first preset period so as to drive the telescopic cylinder to slide back and forth through the power source, and thus assisting the bending/resetting of the knee joint of the patient during walking;
that is, the power source 301 can rotate back and forth in the positive and negative directions through a first preset rotation speed and a first preset period, after the knee joint brace and the auxiliary motion device are worn by the patient, the power source is switched on, the mode switch 203 is toggled, the operation mode is adjusted to be the active motion mode, and the power of the power source is adjusted by the patient through the speed adjusting module 204;
in this embodiment, a time control module may be added to the control system for setting the exercise time, when the exercise time is reached, the auxiliary rehabilitation device is automatically turned off, and when the auxiliary rehabilitation device is automatically turned off, the telescopic cylinder is located at an initial position, that is, a standing posture of the patient when the patient stands upright.
Wherein the operating time of motion time namely the power supply, also be the duty cycle of power supply, also the power supply can be reciprocal rotatory several times for the power supply can drive flexible subassembly and carry out reciprocating sliding with certain flexible speed, make the relative first mounting of second mounting rotate, thereby change patient's shank gesture, for patient improves the helping hand when the initiative is walked, pressure sensor 205 in this mode does not carry out work.
S104, closing the starting switch until the rehabilitation training of the patient is finished;
example three:
referring to fig. 9, a second embodiment of the present invention further provides a control method of a second rehabilitation assisting device, which is applied to the rehabilitation assisting device of the first embodiment.
The control method includes steps S201 to S206:
s201, connecting two ends of the auxiliary rehabilitation device to a first fixing piece and a second fixing piece respectively;
that is, first link arm 601 is detachably coupled to thigh link plate 102 by a first locking structure, and second link arm 602 is detachably coupled to shank link plate 104 by a second locking structure.
S202, toggling the mode switch 203, adjusts the current operating mode of the power source 301.
S203, when the operation mode is adjusted to be the auxiliary motion mode, the patient performs rehabilitation walking, so that the telescopic rod 401 freely slides in the telescopic cylinder 303;
that is, the patient in this mode can walk by himself, with the power source 301 in the off state.
S204, when the pressure of the telescopic rod on the pressure sensor reaches the threshold value of the pressure sensor, controlling a power source to rotate back and forth according to a second preset rotating speed and a second preset period so as to drive the telescopic cylinder to slide back and forth through the power source, so that the knee joint of the patient can be reset during walking, and the power source is closed;
that is to say, when the patient walks by oneself, the knee joint cannot bear the upper body pressure due to insufficient leg strength, so that the knee joint is bent autonomously, the patient cannot control the knee joint to be straightened, at the moment, the telescopic rod 401 extrudes the pressure sensor 205, so that the pressure reaches the threshold value of the pressure sensor 205, the pressure sensor 205 transmits a signal out, the controller controls the power source to be started, and the telescopic rod is extruded by the telescopic cylinder, so that the leg of the patient is straightened;
wherein the power supply starts, predetermines the rotational speed according to the second of predetermineeing and the cycle is predetermine to the second and makes a round trip to rotate, and the second predetermines the rotational speed and compares first predetermined speed and can not change, and he is the definite value, namely for supporting patient's knee joint, and the cycle is predetermine to the second in this embodiment, that is to say, after the flexible section of thick bamboo roll-off of power supply drive, patient's shank resets, and the flexible section of thick bamboo of redriving resets, finishes this cycle, and the power supply stop work.
That is to say, when the telescopic link is in the position of contacting pressure sensor 205, power supply 301 drive telescopic cylinder 303 is when the least significant end, and patient's shank is in the reset state, and after patient's shank was in the reset state, power supply 301 drive telescopic cylinder 303 contracts to reset.
S205, repeatedly executing the steps of controlling the power source to rotate back and forth according to a second preset rotating speed and a second preset period after the pressure of the telescopic rod on the pressure sensor reaches the threshold value of the pressure sensor, driving the telescopic cylinder to slide back and forth through the power source, assisting the knee joint of the patient to reset when walking, and closing the power source;
and S206, turning off the starting switch 202 until the rehabilitation training of the patient is finished.
Example four:
referring to fig. 10, a third embodiment of the present invention further provides a control method of a third rehabilitation assisting device, which is applied to the rehabilitation assisting device of the first embodiment.
The control method includes steps S301 to S305:
s301, connecting two ends of the auxiliary rehabilitation device to the first fixing piece and the second fixing piece respectively;
s302, the mode switch 203 is turned, and the current running mode of the power source 301 is adjusted;
s303, when the operation mode is adjusted to be the standing mode, adjusting the position of the telescopic cylinder relative to the fixed cylinder through a power source;
s304, the telescopic cylinder is fixedly connected with the telescopic rod through the limiting assembly, so that the leg posture of the patient is fixed, and supporting force is provided for the patient to keep the leg posture;
and S305, turning off the starting switch until the rehabilitation training of the patient is finished.
In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (5)
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| CN202210763398.9A CN114795850B (en) | 2022-07-01 | 2022-07-01 | Knee joint auxiliary movement device and control method thereof |
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| CN202210763398.9A CN114795850B (en) | 2022-07-01 | 2022-07-01 | Knee joint auxiliary movement device and control method thereof |
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