CN204121370U - A kind of passive type lower limb function recovery device - Google Patents
A kind of passive type lower limb function recovery device Download PDFInfo
- Publication number
- CN204121370U CN204121370U CN201420476366.1U CN201420476366U CN204121370U CN 204121370 U CN204121370 U CN 204121370U CN 201420476366 U CN201420476366 U CN 201420476366U CN 204121370 U CN204121370 U CN 204121370U
- Authority
- CN
- China
- Prior art keywords
- lower limb
- passive type
- recovery device
- function recovery
- type lower
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
This utility model relates to a kind of passive type lower limb function recovery device.This device comprises: a motion platform, a buncher, a decelerator, one by traversing carriage bar, thigh regulates support, and shank regulates support, drive link, motion guide rail, the crank rocker slide block mechanism of guide runner composition, a left and right adjusting slide block, an adjusting slider guide rail, a thigh touch panel, a shank touch panel, a foot touch panel, an angular transducer, one group of power module, a hand-held controller, an IC-card and one group of wire.This device intelligence simple to operate, can on-line tuning movement angle scope, and movement velocity and moving loads, reaching patient the extreme position that can bear can automatically stop or returning.This device can insert patient's IC-card record patient information and training information.This device is also provided with voice cue module, can play voice message according to running status.
Description
Technical field:
The present invention relates to a kind of passive type lower limb function recovery device, can be applicable to exercise rehabilitation training field.
Background technology:
In recent years, along with aged tendency of population is on the rise, and the taking place frequently of various contingency, the quantity of joint injury crowd obviously rises, and joint of the lower extremity is impaired occupies sizable ratio.Therefore the functional recovery training of lower limb is significant.It is various that current domestic common lower limb resume training device type, and technical merit also increases.But lower limb rehabilitation common is at present due to unreasonable due to Machine Design of its training angle, general minimum angles is 0 °, as patent CN201110438651.5 trains angular range to be 0 ° ~ 150 °, patent CN200410006254.0 trains angular range to be 0 ° ~ 120 °, and patent CN201010299172.5 trains angular range to be 0 ° ~ 130 °.Part passive type joint of the lower extremity resumes training device driving device and only considers speed factor, and patient must run to assigned address and just can shut down or antiport, if when not reaching assigned address, patient feels pain must perform shut-down operation immediately.The patient of shut-down operation can not be carried out for reacting phase in time to blunt patient or because of other reasons, easily cause secondary damage.
Summary of the invention:
The object of the invention is, for the deficiency of prior art, a kind of passive type Intelligent lower limb training rehabilitation apparatus and method are provided, power source is provided by buncher, drive link is adopted to carry out Motion Transmission, adopt the crank rocker slide block mechanism through optimal design again, by minimum movement range expansion to negative territory, by high-precision angle sensor return movement state, motor process controllable precise, reach patient the extreme position that can bear can automatically stop or returning, thus science be reliable more to make training process, and reaches the object strengthening training effect.Meanwhile, present invention also offers intelligent IC function, to facilitate record patient information and training information; And provide voice reminder service when plant running, to improve service quality.
For reaching above-mentioned purpose, main thought of the present invention is:
1. provide power source by buncher, can carry out stepless speed regulation by pulse modulation technology to motor, make the joint part constant angular speed of training devices, motor process fluctuation is little and be not human perception, controls safer, comfortable and reliable.
2. carry out Motion Transmission by drive link, and return real time kinematics state by the angular transducer of joint, ensure real-time and the accuracy of system responses.
3. adopt the crank rocker slide block mechanism through optimal design, by minimum movement range expansion to negative territory, make range of movement reach-5 ° ~ 130 °.
4. device is according to the Real-time Feedback of angular transducer, and by self-adapting intelligent algorithm controls system acting, reaching patient the extreme position that can bear can automatically stop or returning.
5. thigh regulates support to be adjusted to left side or right side by slide block, facilitates different patient to use.
6. thigh regulates support and shank to regulate support can regulate length according to demand, and the angle of foot touch panel also can be adjustable.
7. intellective IC card module and IC-card jack are installed on hand-held controller, patient's IC-card record patient information and training information can be inserted.
8. on hand-held controller, voice cue module is installed, plays voice message according to running status.
According to above-mentioned thinking, the present invention adopts following technical scheme:
A kind of passive type lower limb function recovery device, comprise a motion platform, a buncher, a decelerator, one by traversing carriage, thigh regulates support, shank regulates support, drive link, motion guide rail, the crank rocker slide block mechanism of guide runner composition is secondary, a left and right adjusting slide block, an adjusting slider guide rail, a thigh touch panel, a shank touch panel, a foot touch panel, an angular transducer, one group of power module, a hand-held controller, an IC-card and one group of wire, it is characterized in that: described motion platform is provided with buncher and power module, buncher is connected with decelerator, decelerator is connected with traversing carriage, moved by traversing carriage driving crank slider-rocker mechanism, angular transducer is connected with hand-held controller by wire with buncher, hand-held controller is connected by wire with power module, power supply is obtained by power module, IC-card 19 can insert hand-held controller 18.
Described passive type lower limb function recovery device, it is characterized in that can on-line tuning movement angle scope, movement velocity and moving loads.
Described passive type lower limb function recovery device, to is characterized in that minimum movement range expansion, to negative territory, making range of movement reach-5 ° ~ 130 °.
Described passive type lower limb function recovery device, is characterized in that the Real-time Feedback according to angular transducer, and by self-adapting intelligent algorithm controls system acting, reaching patient the extreme position that can bear can automatically stop or returning.
Described passive type Intelligent lower limb training rehabilitation device, is characterized in that the difference for carrying out the lower limb resumed training, and thigh regulates support to regulate guide rail to be adjusted to left side or right side by left and right adjusting slide block and slide block.
Described passive type Intelligent lower limb training rehabilitation device, is characterized in that thigh regulates support and shank to regulate support can regulate length according to demand, the adjustable angle of foot touch panel.
Described passive type Intelligent lower limb training rehabilitation device, the hand-held controller that it is characterized in that device installs intellective IC card module and IC-card jack, can insert patient's IC-card record patient information and training information.
Described passive type Intelligent lower limb training rehabilitation device, the hand-held controller that it is characterized in that device installs voice cue module, plays voice message according to running status.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and remarkable advantage:
1) the present invention adopts self-adapting intelligent algorithm controls system acting, can according to the rehabilitation degree of patient different and adjustment movement angular range, automatic adjustment movement speed, makes running steady, and in time, safety coefficient is high in response.
2) the present invention by minimum movement range expansion to negative territory, make range of movement reach-5 ° ~ 130 °, this is necessary in rehabilitation course, and at present most domestic rehabilitation equipment due to mechanism design unreasonable, it stretches the number of degrees can not be less than 0 °, and rehabilitation efficacy is not good enough.
3) the present invention is by self-adapting intelligent algorithm controls system acting, and reaching patient the extreme position that can bear can automatically stop or returning, and energy available protecting patient, avoids second hurt.
4) the present invention is directed to the difference need carrying out the lower limb resumed training, thigh regulates support to be adjusted to the left side or the right by slide block, no matter is therefore left lower limb or right lower limb, all can conveniently by embedding device, and in use procedure, use can not be affected because of the scraping of the parts such as connecting rod.
5) the present invention can regulate leg portion length easily and regulate the angle of sole, is applicable to different patient demand.
6) the present invention can insert patient's IC-card record patient information and training information, can incorporate hospital or rehabilitation institution's formation information system.
7) the present invention has sound prompt function, can play voice message according to running status, operates hommization more.
Accompanying drawing illustrates:
Fig. 1 is passive type lower limb function recovery device mechanism map of the present invention;
Fig. 2 is crank rocker slide block mechanism joint angles of the present invention schematic diagram when being negative value;
Fig. 3 is crank rocker slide block mechanism default location schematic diagram of the present invention;
Fig. 4 is existing same category of device linkage schematic diagram;
Detailed description of the invention:
Be described in detail below in conjunction with accompanying drawing pair and the preferred embodiment of the present invention.
As shown in Figure 1, passive type lower limb function recovery device of the present invention, comprise a motion platform 13, a buncher 9, a decelerator 8, one by traversing carriage 14, thigh regulates support 1, shank regulates support 7, drive link 11, motion guide rail 12, the crank rocker slide block mechanism that guide runner 6 forms is secondary, a left and right adjusting slide block 15, an adjusting slider guide rail 16, a thigh touch panel 2, a shank touch panel 4, a foot touch panel 5, an angular transducer 3, one group of power module 10, a hand-held controller 18, an IC-card 19 and one group of wire 17, it is characterized in that: described motion platform 13 is provided with buncher 9 and power module 10, buncher 9 is connected with decelerator 8, decelerator 8 is connected with traversing carriage 14, moved by traversing carriage 14 driving crank slider-rocker mechanism, angular transducer 3 is connected with hand-held controller 18 by wire 17 with buncher 9, hand-held controller 18 is connected by wire 17 with power module 10, power supply is obtained by power module 10, IC-card 19 can insert hand-held controller 18.
As shown in Figure 1, passive type lower limb function recovery device of the present invention, when needing the lower limb carrying out functional recovery training to be left lower limb, then thigh regulates support 1 to remain on position shown in Fig. 1, can carry out functional recovery training to left lower limb.Be right lower limb when needing the lower limb carrying out functional recovery training, the screw on support 1 is then regulated by thigh to unclamp, support 1 lower semisection is regulated by thigh to extract out from left side the first half, unclamp left and right adjusting slide block 15, guide rail 16 is regulated to regulate support 1 to move on to right side on thigh by slide block, regulated by thigh support 1 lower semisection to insert right side the first half, rear tighten the screws, then left and right adjusting slide block 15 is screwed down.Functional recovery training can be carried out to right lower limb.
As shown in Figure 2, crank rocker slide block mechanism of the present invention, when buncher 9 rotates to a direction, drive guide runner 6 to left movement, then angular transducer 3 measuring angle A increase, and lower limb are curvature movement, and defining now buncher 9 is rotating forward.When buncher reverses, drive guide runner 6 to move right, then angular transducer 3 measuring angle A reduce, and lower limb are stretching.
As shown in Figures 2 and 3, crank rocker slide block mechanism of the present invention, the minimum angles that angle A can arrive can set, when guide runner 6 moves right, make angular transducer 3 measuring angle A continue to reduce, when arriving the minimum angles-5 ° of setting, guide runner 6 will no longer move right, and the left movement that alters course, angle A is increased.
As shown in Figure 2 and Figure 4, crank rocker slide block mechanism of the present invention, the maximum angle that angle A can arrive can set, when guide runner 6 is to left movement, make angular transducer 3 measuring angle A continue to increase, when arriving the maximum angle 130 ° of setting, guide runner 6 will no longer to left movement, and change and move right, angle A is reduced.
Claims (8)
1. a passive type lower limb function recovery device, comprise a motion platform (13), a buncher (9), a decelerator (8), one by traversing carriage (14), thigh regulates support (1), shank regulates support (7), drive link (11), the crank rocker slide block mechanism that motion guide rail (12) and guide runner (6) form, a left and right adjusting slide block (15), an adjusting slider guide rail (16), a thigh touch panel (2), a shank touch panel (4), a foot touch panel (5), an angular transducer (3), one group of power module (10), a hand-held controller (18), an IC-card (19) and one group of wire (17), it is characterized in that: described motion platform (13) is provided with buncher (9) and power module (10), buncher (9) is connected with decelerator (8), decelerator (8) is connected with traversing carriage (14), moved by traversing carriage (14) driving crank slider-rocker mechanism, angular transducer (3) is connected with hand-held controller (18) by wire (17) with buncher (9), hand-held controller (18) is connected by wire (17) with power module (10), power supply is obtained by power module (10), IC-card (19) can insert hand-held controller (18).
2. passive type lower limb function recovery device according to claim 1, is characterized in that: can on-line tuning movement angle scope, movement velocity and moving loads.
3. passive type lower limb function recovery device according to claim 1, is characterized in that: it is characterized in that: by minimum movement angle spread to negative territory, makes movement angle scope reach-5 ° ~ 130 °.
4. passive type lower limb function recovery device according to claim 1, it is characterized in that: according to the Real-time Feedback of angular transducer (3), by self-adapting intelligent algorithm controls system acting, reaching patient the extreme position that can bear can automatically stop or returning.
5. passive type lower limb function recovery device according to claim 1, it is characterized in that: for the difference need carrying out the lower limb resumed training, thigh regulates support (1) to regulate guide rail (16) to be adjusted to left side or right side by left and right adjusting slide block (15) and slide block.
6. passive type lower limb function recovery device according to claim 1, is characterized in that: thigh regulates support (1) and shank to regulate support (7) can regulate length according to demand, the adjustable angle of foot touch panel (5).
7. passive type lower limb function recovery device according to claim 1, is characterized in that: the hand-held controller of device is installed intellective IC card module and IC-card jack, can insert patient's IC-card (19) record patient information and training information.
8. passive type lower limb function recovery device according to claim 1, is characterized in that: the hand-held controller of device installs voice cue module, plays voice message according to running status.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420476366.1U CN204121370U (en) | 2014-08-22 | 2014-08-22 | A kind of passive type lower limb function recovery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420476366.1U CN204121370U (en) | 2014-08-22 | 2014-08-22 | A kind of passive type lower limb function recovery device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204121370U true CN204121370U (en) | 2015-01-28 |
Family
ID=52377761
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420476366.1U Expired - Fee Related CN204121370U (en) | 2014-08-22 | 2014-08-22 | A kind of passive type lower limb function recovery device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204121370U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846677A (en) * | 2017-11-24 | 2019-06-07 | 丰田自动车株式会社 | Rehabilitation supports device, rehabilitation to support system, control method and control program |
| CN110259653A (en) * | 2019-05-05 | 2019-09-20 | 西安培华学院 | A kind of human motion power generator |
-
2014
- 2014-08-22 CN CN201420476366.1U patent/CN204121370U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109846677A (en) * | 2017-11-24 | 2019-06-07 | 丰田自动车株式会社 | Rehabilitation supports device, rehabilitation to support system, control method and control program |
| CN110259653A (en) * | 2019-05-05 | 2019-09-20 | 西安培华学院 | A kind of human motion power generator |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110742775B (en) | Upper limb active and passive rehabilitation training robot system based on force feedback technology | |
| CN110151496A (en) | A kind of multidigit appearance lower limb rehabilitation robot and its application method | |
| CN108785997A (en) | A kind of lower limb rehabilitation robot Shared control method based on change admittance | |
| CN104107131B (en) | A kind of self adaptation of lower limb exoskeleton rehabilitation robot supports weight reducing device | |
| CN110279557A (en) | A kind of lower limb rehabilitation robot control system and control method | |
| CN105832496A (en) | Novel lower extremity exoskeleton rehabilitation training device and training method | |
| CN204121370U (en) | A kind of passive type lower limb function recovery device | |
| CN107041827A (en) | Automatic rehabilitation equipment and rehabilitation machines | |
| CN105818151A (en) | Traditional Chinese medicine massage robot based on force tracking and using method thereof | |
| CN107263541A (en) | Robot and control method and system for force tracking error of robot | |
| CN205247473U (en) | Height -adjustable's iris discernment entrance guard equipment | |
| CN108888477B (en) | Flexible control method for medical rehabilitation exoskeleton | |
| DE102012107117A1 (en) | Orthesensteuerung | |
| CN109044580A (en) | Neck, lumbar vertebra rehabilitation bed | |
| CN107361896A (en) | Cervical traction apparatus | |
| CN209220852U (en) | Elbow joint training adapter and healing and training elbow joint equipment | |
| CN201861910U (en) | Multi-body position lower limb exercise rehabilitation machine | |
| CN204751710U (en) | Tubular annealing stove is with permanent tension take -up | |
| CN113558609A (en) | Training data processing method based on sitting and lying type lower limb rehabilitation equipment and related equipment | |
| CN202236176U (en) | Visual function promoting training instrument | |
| CN111096246A (en) | Rat dynamic weight reduction training running table and control system thereof | |
| CN206434546U (en) | Shank drives training institution | |
| CN105769509B (en) | A kind of stand-type lower-limb exercise recovery apparatus | |
| CN206526152U (en) | A kind of No operation functional spinal pressure reduction therapy equipment | |
| Yu et al. | Control strategy of an active arm weight-bearing unit for hemiplegic arm rehabilitation |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20150822 |
|
| EXPY | Termination of patent right or utility model |