CN115569036A - Automatic-adjusting human lower limb rehabilitation device - Google Patents
Automatic-adjusting human lower limb rehabilitation device Download PDFInfo
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- CN115569036A CN115569036A CN202211305040.8A CN202211305040A CN115569036A CN 115569036 A CN115569036 A CN 115569036A CN 202211305040 A CN202211305040 A CN 202211305040A CN 115569036 A CN115569036 A CN 115569036A
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 33
- 210000001699 lower leg Anatomy 0.000 claims abstract description 57
- 210000000689 upper leg Anatomy 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 210000000629 knee joint Anatomy 0.000 claims description 37
- 210000003423 ankle Anatomy 0.000 claims description 16
- 230000033001 locomotion Effects 0.000 abstract description 9
- 230000009471 action Effects 0.000 abstract description 4
- 244000309466 calf Species 0.000 description 11
- 238000000034 method Methods 0.000 description 10
- 230000000694 effects Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 230000005021 gait Effects 0.000 description 4
- 239000010409 thin film Substances 0.000 description 4
- 239000010408 film Substances 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
- 230000037230 mobility Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 210000003127 knee Anatomy 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 210000002683 foot Anatomy 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 210000002414 leg Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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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
-
- 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
- A61H1/0266—Foot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/50—Control means thereof
- A61H2201/5058—Sensors or detectors
- A61H2201/5071—Pressure sensors
-
- 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
-
- 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
- A61H2205/12—Feet
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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 an automatically-adjusted human lower limb rehabilitation device which comprises a chassis structure unit, a transmission mechanism unit and an actuating mechanism unit, wherein the transmission mechanism unit is arranged on the chassis structure unit, the actuating mechanism unit is arranged on the chassis structure unit, a transmission motor in the transmission mechanism unit transmits generated torque to a screw nut seat through screw nut transmission, so that a rear connecting rod in the actuating mechanism unit linearly moves along a guide rod, and the rear connecting rod is transmitted through motion of all parts in the actuating mechanism unit to push a front connecting rod to rotate in a fixed axis mode. The invention can automatically adjust the sizes of the parts of the crus and the thigh parts according to the human body data of the user by controlling the actions of the crus push rod and the thigh push rod, and can record the stress condition of the user in real time by the film type pressure sensor.
Description
Technical Field
The invention belongs to the technical field of rehabilitation auxiliary appliances, and particularly relates to an automatic adjusting human lower limb rehabilitation device.
Background
The lower limbs, as a part of the human body, play a very important role in the daily life of people, but the daily life of people is greatly affected by the fact that the lower limbs are inconvenient to move and even the mobility of the lower limbs is lost due to age or diseases. In recent years, with the increasing living standard of people, the demand of lower limb rehabilitation training with mobility inconvenience or mobility disability is increasing, but the population base of China is too large, the number of rehabilitation doctors cannot meet the increasing demand, and accordingly, various institutions begin to research lower limb rehabilitation institutions capable of assisting or even replacing doctors.
Chinese patent CN113827921a discloses a knee joint rehabilitation instrument for old people, which comprises a rehabilitation training box, a mechanism box, a supporting frame, a pedal and an elastic fixing belt, wherein a spring is installed on the supporting frame part, and the supporting frame part can realize the effect of improving the training effect without external force action, but the knee joint rehabilitation instrument has certain defects which are mainly reflected in that the rehabilitation instrument can not adjust the size of the components of the mechanism according to the human body data of users, and the using effect of different users can not reach the optimal state. Chinese patent CN112674989a discloses an autonomous control type knee joint rehabilitation apparatus, which comprises a base plate, a sliding part, a bending part and a transmission part, wherein a first traction rope and a second traction rope are installed in the transmission part, a user completes the knee bending movement by pulling the first traction rope, the user pulls the second traction rope to assist in completing the knee joint straightening movement, but certain defects exist in the apparatus, the rehabilitation apparatus cannot record the use state and the stress condition of the user in real time, and cannot make a more accurate rehabilitation plan collection data support for a subsequent rehabilitation doctor.
Therefore, the research on the human lower limb rehabilitation device is urgently needed, and the problems that the size adjustment is inconvenient, the stress condition of a user in the using process cannot be collected, a force interaction mechanism is lacked, the rehabilitation effect is influenced and the like in the prior art can be better solved.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an automatically-adjusted human body lower limb rehabilitation device.A shank push rod and a thigh push rod are arranged in an actuating mechanism unit, and the sizes of parts of a shank part and a thigh part can be automatically adjusted according to human body data of a user by controlling the actions of the shank push rod and the thigh push rod, and the data are recorded and stored in real time; simultaneously all be equipped with film formula pressure sensor on thigh connecting rod and knee joint shank support's the fixed bandage, can real-time recording user atress condition in the use, and when detecting unusual atress, give control system with signal transmission, in time stop device's motion, avoid user injured's risk, actuating mechanism unit is under the drive of drive mechanism unit and ankle motor in addition, can simulate the ankle, the motion of shank part and thigh part, make the gait among the more laminating user daily life of simulation gait, reach better recovered effect with the help user.
The technical scheme adopted by the invention is that the automatic adjustment human body lower limb rehabilitation device comprises a chassis structure unit, a transmission mechanism unit and an actuating mechanism unit, wherein the transmission mechanism unit is arranged on the chassis structure unit and comprises a transmission motor, a ball screw, a screw seat, a screw nut and a guide rod, the transmission motor is arranged on a rear chassis in the chassis structure unit through a motor support, the ball screw and the guide rod are both arranged in a chassis connecting shell in the chassis structure unit, the first end of the ball screw is supported on a front support seat in the chassis structure unit through a bearing, the second end of the ball screw penetrates through the rear support seat in the chassis structure unit and is connected with an output shaft of the transmission motor through a coupler, the guide rods are symmetrically arranged on two sides of the ball screw, the first end of the guide rod is supported on the front support seat, the second end of the guide rod is supported on the rear support seat, the screw nut is arranged on the screw seat, the screw nut is in transmission connection with the ball screw, and the screw seat is in sliding connection with the guide rod; the actuating mechanism unit is arranged on the chassis structural unit and comprises a front connecting rod, a thigh push rod, a shank connecting rod, a knee joint shank support, a shank push rod, a rear connecting rod, a sole supporting plate, a knee joint rotating shaft, a thigh connecting rod, a connecting rod and an ankle motor, the front connecting rod is in a U-shaped structure shape and is fixedly arranged on a front connecting rod support in the chassis structural unit, the thigh push rods are symmetrically arranged on two sides of the front connecting rod, the first end of the thigh push rod is fixedly connected with the first end of the front connecting rod through a thigh push rod connecting piece, the second end of the thigh push rod is fixedly connected with the first end of the shank connecting rod, the second end of the shank connecting rod is rotatably connected with the lower side of the knee joint shank support, the first end of the knee joint shank support is rotatably connected with the first end of the thigh connecting rod through the knee joint rotating shaft, an absolute value encoder is arranged at the knee joint rotating shaft, the second end of the thigh connecting rod is rotatably connected with the first end of the connecting rod, the second end of the connecting rod is rotatably connected with the first end of the shank connecting rod, the second end of the knee joint shank support is fixedly connected with the first end of the shank pushing rod through a shank pushing rod connecting piece, the second end of the shank pushing rod positioned at the left side is fixedly connected with the ankle motor through a sole connecting rod, the output shaft of the ankle motor is rotatably connected with the left side of the sole supporting plate, the second end of the shank pushing rod positioned at the right side is rotatably connected with the right side of the sole supporting plate, the rear connecting rod is in a U-shaped structure, and the first end of the rear connecting rod is fixedly connected with the lower side of the shank pushing rod, the middle of the rear connecting rod is provided with a nut connecting frame, and the nut connecting frame is fixedly connected with the nut seat.
Further, the chassis structure unit comprises a front chassis, a front chassis upper shell, a rear chassis upper shell, a chassis connecting shell, a front connecting rod support and a handle connecting rod, wherein the front chassis is provided with a front connecting rod support and a front support seat, the front support seat is positioned at the front end of the front connecting rod support, two sides of the front chassis and a corresponding position of the front connecting rod support are symmetrically provided with a front chassis accommodating groove, the front chassis upper shell is correspondingly provided with a front chassis upper shell accommodating groove, the rear chassis is provided with a rear support seat, the front end of the rear chassis is provided with the front chassis, the chassis connecting shell is arranged between the front chassis and the rear chassis, the first end of the chassis connecting shell is connected with the front chassis, the second end of the chassis connecting shell is connected with the rear chassis, the handle connecting rod is symmetrically arranged on two sides of the chassis connecting shell, the first end of the handle connecting rod is connected with the front chassis, the second end of the handle connecting rod is connected with the rear chassis, the front chassis is connected with the front chassis, and the rear chassis is connected with the front chassis cover.
Preferably, the front connecting rod can be accommodated in the front chassis accommodating groove and the front chassis upper shell accommodating groove.
Preferably, the middle of the handle connecting rod is provided with an anti-skid rubber sleeve.
Furthermore, fixing straps for fixing are arranged on the thigh connecting rod, the knee joint shank bracket and the sole supporting plate, and thin film type pressure sensors are arranged on the thigh connecting rod and the fixing straps of the knee joint shank bracket.
The invention has the characteristics and beneficial effects that:
1. according to the automatic adjusting human lower limb rehabilitation device, the actuating mechanism unit is internally provided with the shank push rod and the thigh push rod, the sizes of parts of a shank part and a thigh part can be automatically adjusted according to human body data of a user by controlling the actions of the shank push rod and the thigh push rod, the stored data can be recorded in real time, and the sizes of the parts of the device can be adjusted according to different user requirements.
2. According to the automatic-adjusting human lower limb rehabilitation device, the thin-film pressure sensors are arranged on the thigh connecting rod and the fixing straps of the knee joint and lower limb support, so that the stress condition of a user can be recorded in real time in the use process, and when abnormal stress is detected, a signal is transmitted to the control system, the movement of the device is stopped in time, and the risk of injury of the user is avoided.
3. According to the automatic-adjusting human lower limb rehabilitation device provided by the invention, the actuating mechanism unit can simulate the movement of the ankle, the calf part and the thigh part under the driving of the transmission mechanism unit and the ankle motor, so that the simulated gait is more fit for the gait of the user in daily life, and the user is helped to achieve a better rehabilitation effect.
4. The automatic-adjustment human lower limb rehabilitation device provided by the invention can be externally connected with a virtual reality platform, can integrate a virtual reality technology into the rehabilitation process of a user in the use process, enhances the human-computer interaction effect, and is also convenient for a rehabilitation doctor to formulate a more accurate rehabilitation scheme according to the data of the user.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a front view of the overall structure of the present invention;
FIG. 3 is a schematic view of the chassis structure unit and the transmission mechanism unit installation of the present invention;
FIG. 4 is a partial schematic view of the mounting of the chassis structure unit and the transmission mechanism unit of the present invention;
FIG. 5 is a schematic view of the actuator unit of the present invention;
FIG. 6 is a schematic view of the starting position during use of the present invention;
fig. 7 is a schematic view of the working position of the present invention during use.
The main reference numbers:
a chassis structure unit 1; a front chassis 11; a front connecting rod support 111; a front support 112; a front chassis receiving groove 113; a front chassis upper shell 12; a rear chassis 13; a rear support 131; a rear chassis upper shell 14; the chassis is connected with the shell 15; a grip link 16; a transmission mechanism unit 2; a drive motor 21; a ball screw 22; a nut seat 23; a nut 24; a guide rod 25; a motor bracket 26; a coupling 27; an actuator unit 3; a front connecting rod 31; a thigh push rod 32; a shank link 33; a knee joint lower leg support 34; a shank push rod 35; a rear connecting rod 36; a sole support plate 37; a thigh link 39; a connecting rod 310; an ankle motor 311; a thigh push rod attachment 312; a knee joint rotation shaft 313; an absolute value encoder 314; a shank pushrod connection 315; a ball link 316; a nut connecting frame 317; a securing strap 318; a thin film type pressure sensor 319; a user 4.
Detailed Description
The technical contents, structural features, attained objects and effects of the present invention are explained in detail below with reference to the accompanying drawings.
The invention provides an automatic adjustment lower limb rehabilitation device for a human body, which comprises a chassis structure unit 1, a transmission mechanism unit 2 and an execution mechanism unit 3 as shown in figures 1 and 2.
As shown in fig. 3, the chassis structure unit 1 includes a front chassis 11, a front chassis upper shell 12, a rear chassis 13, a rear chassis upper shell 14, a chassis connecting shell 15 and a handle link 16, wherein the front chassis 11 is provided with a front connecting rod support 111 and a front support 112, the front support 112 is located at the front end of the front connecting rod support 111, two sides of the front chassis 11 are symmetrically provided with front chassis accommodating grooves 113 corresponding to the front connecting rod support 111, the front chassis upper shell 12 is correspondingly provided with front chassis upper shell accommodating grooves, the rear chassis 13 is provided with a rear support 131, the front end of the rear chassis 13 is provided with the front chassis 11, the chassis connecting shell 15 is provided between the front chassis 11 and the rear chassis 13, a first end of the chassis connecting shell 15 is connected to the front chassis 11, a second end of the chassis connecting shell 15 is connected to the rear chassis 13, two sides of the chassis connecting shell 15 are symmetrically provided with the handle link 16, a first end of the handle link 16 is connected to the front chassis 11, a second end of the handle link 16 is connected to the rear chassis upper shell, a rubber sleeve is provided at the middle of the handle link 16, the front chassis upper shell 12 covers the rear chassis upper shell 14, and covers the rear chassis upper shell 13.
As shown in fig. 4, a transmission mechanism unit 2 is disposed on the chassis structure unit 1, and the transmission mechanism unit 2 includes a transmission motor 21, a ball screw 22, a screw seat 23, a screw 24 and a guide rod 25, the transmission motor 21 is disposed on the rear chassis 13 through a motor bracket 26, the ball screw 22 and the guide rod 25 are both disposed in the chassis connection housing 15, and a first end of the ball screw 22 is supported on the front support seat 112 through a bearing, a second end of the ball screw 22 passes through the rear support seat 131 and is connected to an output shaft of the transmission motor 21 through a coupling 27, the guide rods 25 are symmetrically disposed on two sides of the ball screw 22, and a first end of the guide rod 25 is supported on the front support seat 112, a second end of the guide rod 25 is supported on the rear support seat 131, the screw 24 is disposed on the screw seat 23, and the screw 24 is connected to the ball screw 22 in a transmission manner, and the screw seat 23 is connected to the guide rod 25 in a sliding manner.
As shown in fig. 5, the actuator unit 3 is disposed on the chassis structure unit 1, and the actuator unit 3 includes a front connecting rod 31, a thigh push rod 32, a shank connecting rod 33, a knee joint shank bracket 34, a shank push rod 35, a rear connecting rod 36, a sole supporting plate 37, a knee joint rotating shaft 313, a thigh link 39, a connecting rod 310 and an ankle motor 311, the front connecting rod 31 is U-shaped, the front connecting rod 31 is fixed on the front connecting rod support 111, the front connecting rod 31 can be accommodated in the front chassis accommodating groove 113 and the front chassis upper shell accommodating groove, the thigh push rods 32 are symmetrically disposed on two sides of the front connecting rod 31, a first end of the thigh push rod 32 is fixedly connected with a first end of the front connecting rod 31 through a thigh push rod connecting piece 312, a second end of the thigh push rod 32 is fixedly connected with a first end of the shank connecting rod 33, a second end of the shank connecting rod 33 is rotatably connected with a lower side of the knee joint shank bracket 34, the first end of the knee joint calf support 34 is rotatably connected with the first end of the thigh link 39 through the knee joint rotating shaft 313, the knee joint rotating shaft 313 is provided with an absolute value encoder 314, the second end of the thigh link 39 is rotatably connected with the first end of the connecting rod 310, the second end of the connecting rod 310 is rotatably connected with the first end of the calf connecting rod 33, the second end of the knee joint calf support 34 is fixedly connected with the first end of the calf push rod 35 through the calf push rod connecting piece 315, the second end of the calf push rod 35 positioned at the left side is fixedly connected with the ankle motor 311 through the sole link 316, the output shaft of the ankle motor 311 is rotatably connected with the left side of the sole supporting plate 37, the second end of the calf push rod 35 positioned at the right side is rotatably connected with the right side of the sole supporting plate 37, the rear connecting rod 36 is in a U-shaped structure, and the first end of the rear connecting rod 36 is fixedly connected with the lower side of the calf push rod 35, a nut connecting frame 317 is arranged in the middle of the rear connecting rod 36, and the nut connecting frame 317 is fixedly connected with the nut base 23.
In a preferred embodiment, fixing bands 318 are provided on the thigh link 39, the knee joint lower leg support 34, and the sole support plate 37, and the thin film type pressure sensors 319 are provided on the thigh link 39 and the fixing bands 318 of the knee joint lower leg support 34.
The method comprises the following specific operation steps:
as shown in fig. 6 and 7, the lower limb rehabilitation device for a human body provided by the invention can be used for collecting human body data when the device is used for the first time; if the present invention is not used for the first time, the human body data is only input into the controller, wherein the lower leg push rod 35 and the thigh push rod 32 can be automatically adjusted, so that the thigh part length and the lower leg part length in the actuator unit 3 can be matched with the data of the user 4.
In use, the user 4 lies on the bed, places the human lower limb rehabilitation device on the bed, places the feet of the user 4 on the sole supporting plate 37, fixes the soles by the fixing bands 318 on the sole supporting plate 37, fixes the calves by the fixing bands 318 on the knee joint calves support 34, and fixes the thighs by the fixing bands 318 on the thigh link 39, thereby achieving the requirement of fixing the positions of the user 4 and the human lower limb rehabilitation device. When the human lower limb rehabilitation device is used, the user 4 can control the human lower limb rehabilitation device to start, the external power supply drives the transmission motor 21 to rotate, the transmission motor 21 transmits generated torque to the nut seat 23 through the ball screw 22 and the nut 24 in the transmission mechanism unit 2, the nut seat 23 generates force along the direction of the ball screw 22, and therefore the rear connecting rod 36 generates plane motion, and the front connecting rod 31 is driven to rotate in a fixed axis mode through transmission of the execution mechanism unit 3. Simultaneously ankle motor 311 is also through external power drive for sole backup pad 37 can cooperate preceding connecting rod 31 to be the dead axle and rotate, just so can reach and help 4 whole low limbs of user to carry out the rehabilitation training, including the purpose that lifts up thigh, crooked knee and simulation ankle rotation angle. In addition, the absolute value encoder 314 in the human lower limb rehabilitation device can record the running condition of the device in the use process, the fixing straps 318 on the thigh connecting rods 39 and the fixing straps 318 on the knee joint and lower leg supports 34 are provided with the film type pressure sensors 319 which can record the stress conditions of the thighs and the lower legs of the user 4 in the use process, if the resistance of the user 4 to the human lower limb rehabilitation device is too large in the use process, the film type pressure sensors 319 can record and transmit signals to the control system, the power supply of the human lower limb rehabilitation device is cut off in time, the motion of the human lower limb rehabilitation device is stopped, and the injury risk of the user 4 is avoided. Meanwhile, the human lower limb rehabilitation device can be externally connected with a virtual reality platform, the virtual reality technology can be integrated into the rehabilitation process of the user 4 in the using process, the human-computer interaction effect is enhanced, and a more accurate rehabilitation scheme can be conveniently formulated by a rehabilitation doctor according to the data of the user 4.
The above-mentioned embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various modifications and improvements made to the technical solution of the present invention by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (5)
1. An automatically-adjusted lower limb rehabilitation device for a human body is characterized by comprising a chassis structure unit, a transmission mechanism unit and an execution mechanism unit,
the chassis structure unit is provided with the transmission mechanism unit, the transmission mechanism unit comprises a transmission motor, a ball screw, a screw seat, a screw nut and a guide rod, the transmission motor is arranged on a rear chassis in the chassis structure unit through a motor support, the ball screw and the guide rod are both arranged in a chassis connecting shell in the chassis structure unit, a first end of the ball screw is supported on a front supporting seat in the chassis structure unit through a bearing, a second end of the ball screw penetrates through the rear supporting seat in the chassis structure unit and is connected with an output shaft of the transmission motor through a coupler, the guide rods are symmetrically arranged on two sides of the ball screw, the first end of each guide rod is supported on the front supporting seat, a second end of each guide rod is supported on the rear supporting seat, the screw nut is arranged on the screw seat and is in transmission connection with the ball screw, and the screw seat is in sliding connection with the guide rods;
the actuating mechanism unit is arranged on the chassis structural unit and comprises a front connecting rod, a thigh push rod, a shank connecting rod, a knee joint shank support, a shank push rod, a rear connecting rod, a sole supporting plate, a knee joint rotating shaft, a thigh connecting rod, a connecting rod and an ankle motor, the front connecting rod is in a U-shaped structure shape and is fixedly arranged on a front connecting rod support in the chassis structural unit, the thigh push rods are symmetrically arranged on two sides of the front connecting rod, the first end of the thigh push rod is fixedly connected with the first end of the front connecting rod through a thigh push rod connecting piece, the second end of the thigh push rod is fixedly connected with the first end of the shank connecting rod, the second end of the shank connecting rod is rotatably connected with the lower side of the knee joint shank support, the first end of the knee joint shank support is rotatably connected with the first end of the thigh connecting rod through the knee joint rotating shaft, an absolute value encoder is arranged at the knee joint rotating shaft, the second end of the thigh connecting rod is rotatably connected with the first end of the connecting rod, the second end of the connecting rod is rotatably connected with the first end of the shank connecting rod, the second end of the knee joint shank support is fixedly connected with the first end of the shank pushing rod through a shank pushing rod connecting piece, the second end of the shank pushing rod positioned at the left side is fixedly connected with the ankle motor through a sole connecting rod, the output shaft of the ankle motor is rotatably connected with the left side of the sole supporting plate, the second end of the shank pushing rod positioned at the right side is rotatably connected with the right side of the sole supporting plate, the rear connecting rod is in a U-shaped structure, and the first end of the rear connecting rod is fixedly connected with the lower side of the shank pushing rod, and a nut connecting frame is arranged in the middle of the rear connecting rod and fixedly connected with the nut seat.
2. The self-adjusting lower limb rehabilitation device according to claim 1, wherein the chassis structural unit comprises a front chassis, a front chassis upper shell, a rear chassis upper shell, a chassis connecting shell, a front connecting rod support and a handle connecting rod, the front chassis is provided with a front connecting rod support and a front support, the front support is located at the front end of the front connecting rod support, the front chassis accommodating grooves are symmetrically arranged at the positions of the two sides of the front chassis corresponding to the front connecting rod support, the front chassis upper shell is correspondingly provided with a front chassis upper shell accommodating groove, the rear chassis is provided with a rear support, the front end of the rear chassis is provided with the front chassis, the chassis connecting shell is arranged between the front chassis and the rear chassis, the first end of the chassis connecting shell is connected with the front chassis, the second end of the chassis connecting shell is connected with the rear chassis, the handle connecting rods are symmetrically arranged on two sides of the chassis connecting shell, the first end of each handle connecting rod is connected with the front chassis, the second end of each handle connecting rod is connected with the rear chassis, the upper cover of the front chassis is covered on the front chassis, and the upper cover of the rear chassis is covered on the rear chassis.
3. The self-adjusting lower extremity rehabilitation device of claim 2, wherein said front connecting rod is receivable in said front chassis receiving slot and said front chassis upper shell receiving slot.
4. The self-adjusting lower limb rehabilitation device of claim 3, wherein an anti-slip rubber sleeve is provided in the middle of the grip link.
5. The self-adjusting lower limb rehabilitation device according to claim 1, wherein fixing straps for fixing are provided on the thigh link, the knee joint lower leg support and the sole support plate, and the fixing straps of the thigh link and the knee joint lower leg support are provided with film pressure sensors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211305040.8A CN115569036A (en) | 2022-10-24 | 2022-10-24 | Automatic-adjusting human lower limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211305040.8A CN115569036A (en) | 2022-10-24 | 2022-10-24 | Automatic-adjusting human lower limb rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115569036A true CN115569036A (en) | 2023-01-06 |
Family
ID=84587292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211305040.8A Pending CN115569036A (en) | 2022-10-24 | 2022-10-24 | Automatic-adjusting human lower limb rehabilitation device |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20170075699A (en) * | 2017-06-21 | 2017-07-03 | 서강대학교산학협력단 | Frame Structure Of Lower Limb Assistance Robot |
| CN206809645U (en) * | 2017-06-02 | 2017-12-29 | 上海市普陀区人民医院 | A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side |
| CN108553271A (en) * | 2018-06-30 | 2018-09-21 | 中国科学院合肥物质科学研究院 | A kind of MR damper sitting and lying formula lower limb rehabilitation robot |
| CN209884684U (en) * | 2019-02-25 | 2020-01-03 | 河南翔宇医疗设备股份有限公司 | Lower limb joint rehabilitation training device |
| CN111773038A (en) * | 2020-08-06 | 2020-10-16 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206809645U (en) * | 2017-06-02 | 2017-12-29 | 上海市普陀区人民医院 | A kind of healing hemiplegic lower limb instrument for training based on the linkage of strong side |
| KR20170075699A (en) * | 2017-06-21 | 2017-07-03 | 서강대학교산학협력단 | Frame Structure Of Lower Limb Assistance Robot |
| CN108553271A (en) * | 2018-06-30 | 2018-09-21 | 中国科学院合肥物质科学研究院 | A kind of MR damper sitting and lying formula lower limb rehabilitation robot |
| CN209884684U (en) * | 2019-02-25 | 2020-01-03 | 河南翔宇医疗设备股份有限公司 | Lower limb joint rehabilitation training device |
| CN111773038A (en) * | 2020-08-06 | 2020-10-16 | 长春工业大学 | Novel lower limb rehabilitation exoskeleton robot and control method |
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