CN204364361U - Novel lower limb rehabilitation physical therapy apparatus - Google Patents

Abstract

The utility model relates to a novel lower limb rehabilitation physical therapy device, which is composed of a lower limb training mechanism and a control system. The lower limb training mechanism includes a supporting mechanism, a driving mechanism and a deceleration device: the supporting mechanism is divided into two types: guiding and fixing, and the guiding and supporting mechanism is used to ensure that the moving parts move along a certain track and bear the load on the moving parts. The fixed support mechanism is used to ensure the stability of the device structure and place the lower limbs; the driving mechanism is composed of two driving mechanisms, horizontal and inclined, which can be driven individually or jointly according to the needs of the patient, so as to realize various forms of exercise for lower limb rehabilitation training; the deceleration The device is placed between the drive mechanism and the support mechanism and consists of multiple pairs of gears. The hardware part of the control system is mainly composed of a stepper motor driver, an industrial computer and a motion control card; the program of the control system is written in VB language according to the patient's rehabilitation needs.

Description

New lower limb rehabilitation physiotherapy equipment

technical field

The utility model relates to a new type of lower limb rehabilitation physical therapy device, specifically a physical therapy device with additional auxiliary functions on the basis of solving the poor flexibility of most lower limb rehabilitation devices in the market, combined with ergonomic theory.

Background technique

According to statistics, the number of elderly people over 60 years old in my country has reached 120 million. Physiological decline in the aging process has led to a gradual decline in the mobility of the limbs of the elderly, and patients with lower limb motor dysfunction caused by stroke and other diseases are also increasing. Increase. Now with the continuous development of brain neurosurgery technology in my country, although more and more patients with cerebrovascular diseases have received timely surgical treatment, most patients will be accompanied by sequelae after surgery, of which hemiplegia and movement disorders are the main clinical symptoms. Performance. The current rehabilitation treatment of limb dysfunction caused by nervous system injury mainly depends on the one-on-one manual training of the therapist. Experience, it is difficult to achieve high-intensity, targeted and repetitive rehabilitation training requirements, and the cost of manual training is also high. With the rapid increase in the number of patients, saving treatment time has become an increasingly concerned issue.

Contents of the invention

The purpose of the utility model is to propose a novel lower limb rehabilitation physiotherapy device according to market needs and overcome the deficiencies of the prior art.

The technical solution of the utility model is: a new type of lower limb rehabilitation physiotherapy device, which is composed of a lower limb training mechanism and a control system, wherein the lower limb training mechanism is composed of a driving mechanism, a supporting mechanism and a deceleration device:

The driving mechanism is provided with two parts: a horizontal driving mechanism and an inclined driving mechanism: the horizontal driving mechanism is composed of a stepping motor I, a screw, and a ball nut slider; the inclined driving mechanism is composed of a stepping motor II, an externally threaded rod and an internally threaded rod Composition; the stepper motor I is connected with the lead screw through the deceleration device, the lead screw is fixed on the support base through the lead screw support plate, the ball nut slider is arranged on the lead screw, and the rotation of the lead screw drives the ball nut slider to do horizontal linear reciprocating motion, The motor support frame is hingedly connected with the ball nut slider; the motor support frame is equipped with a stepping motor II, which is connected to the external threaded rod through a reduction device, the external threaded rod and the internal threaded rod are threaded, and the internal threaded rod passes through The connecting plate and the fixing ring are connected with the lower limb support, and the rotation of the stepping motor II makes the external threaded rod and the internal threaded rod move relative to each other, adding a motion in an oblique direction to the horizontal reciprocating linear motion.

The support mechanism includes a support for support and fixation, a bracket for fixing the patient's lower limbs and bearing part of the load, and soft rubber straps;

The supporting support is composed of stepping motor I external support, reduction device I end support, stepping motor II external support and the two ends of reduction device II connecting bracket; Shell, supporting shell Internal support rods, pedals and pedal brackets; the external bracket of the stepping motor I is supported and connected to the end of the reduction device I, and placed on the supporting shell through the internal struts of the supporting shell; one end of the external bracket of the stepping motor II is through a hinge It is connected with the ball nut slider, and one end is connected with the external threaded rod; the support feet are placed at the bottom of the support shell, and the support rod inside the support shell is placed inside the support shell to ensure the stability of the structure; the pedal bracket is connected with the pedal through nuts, and the pedal is used to place the patient feet.

The bracket that fixes the patient's lower limbs and bears part of the load: the bracket is composed of a thigh rod I, a thigh rod II, a calf rod I and a calf rod II, the thigh rod I and the thigh rod II are connected by a bolt, and the thigh rod I is hinged to the support block , the same calf rod I is connected with the calf rod II, and the calf rod I is hinged with the thigh rod II. There is a row of equidistant pin holes on the above four rods, and the fit of the pin holes can be adjusted according to the patient's leg length. Position; the soft rubber straps are respectively fixed on the thigh rod II and the calf rod I, the patient's legs and feet are placed on the pedals, and the legs are fixed with the soft rubber straps.

The reduction device is composed of reduction devices I and II: reduction device I is composed of a pair of gears, placed between the protective plate and the screw support plate II; reduction device II is composed of three gears, and the driving wheel is placed in the reduction box In the middle position, the remaining two driven gears are placed on both sides of the driving wheel and connected with external threaded rods respectively.

The hardware of the control system is mainly composed of an industrial computer, a motion control card and a stepper motor driver: the industrial computer controls the speed of the two motors by setting different parameters, realizes various forms of exercise for lower limb rehabilitation training, and guides patients to move passively ; It is also possible to set different resistance parameters within the range of motion to enable patients to take active exercise training and resistance exercise training.

Description of drawings:

Fig. 1 is the structural schematic diagram of new lower limb rehabilitation physical therapy apparatus;

Fig. 2 is the partial cross-sectional schematic diagram of the novel lower limb rehabilitation physiotherapy apparatus;

Fig. 3 is the structural representation of leg support;

Fig. 4 is a schematic diagram of an externally threaded rod in the tilting drive mechanism;

Fig. 5 is a schematic diagram of the screw member in the horizontal drive mechanism.

The labeling of the main components in the figure is given below:

1-support block, 2-bearing cover I, 3-thigh rod I, 4-bolt I, 5-soft rubber strap I, 6-thigh rod II, 7-calf rod I, 8-connecting plate, 9-fix Ring, 10-bearing cover II, 11-soft rubber strap II, 12-bolt II, 13-calf rod II, 14-pedal, 15-pedal bracket I, 16-pedal bracket II, 17-stepping motor II, 18-bracket I, 19-reduction box, 20-ball nut slider, 21-support foot I, 22-bearing cover III, 23-external thread rod, 24-internal thread rod, 25-support shell, 26-support rod , 27-support foot II, 28-lead screw support plate I, 29-lead screw, 30-support rod, 31-reduction box end cover, 32-lead screw support plate II, 33-protection plate, 34-bracket II, 35-stepper motor I, 36-coupling I, 37-gear I, 38-coupling II, 39-gear II, 40-connection block, 41-bearing I, 42-gear III, 43-bearing II , 44 - Gear IV.

Detailed ways

The utility model provides a new type of rehabilitation physiotherapy apparatus. The utility model will be further described below in conjunction with the accompanying drawings.

The mechanism of the present utility model is mainly divided into a lower limb training mechanism and a control system as shown in Figure 1 and Figure 2, wherein the lower limb training mechanism includes a driving mechanism, a supporting mechanism and a deceleration device.

Described driving mechanism is provided with two parts of horizontal driving mechanism and inclined driving mechanism: horizontal driving mechanism is made up of stepping motor I 35, leading screw 29, ball nut slider 20; 23 and internally threaded rod 24; stepper motor I 35 is keyed to gear I 37 through coupling I 36, gear I meshes with gear IV, gear IV is keyed to lead screw 29, and lead screw 29 is supported and fixed by the lead screw On the support seat, the ball nut slider 20 is set on the leading screw 29, the leading screw 29 rotates to drive the ball nut slider 20 to do linear reciprocating motion, and the connecting block 40 is hingedly connected with the ball nut slider 20; one end of the bracket 1 is arranged on the reduction box On the end cover, the other end is connected to the stepping motor II 17; the stepping motor II 17 is connected to the gear II 39 through the coupling II 38, the gear II 38 is meshed with the gear III 42, and the gear III 42 is connected to the external threaded rod 23 , the externally threaded rod 23 and the internally threaded rod 24 are threadedly matched, and the relative movement of the two rods makes the lower limb support frame complete the movement in the inclined direction, and the internally threaded rod 24 is connected with the lower limb support through the connecting plate 8 and the fixing ring 9.

The support mechanism: includes a support for support and fixation, a bracket for fixing the patient's lower limbs and bearing part of the load, and soft rubber straps;

Described supporting support is made of stepping motor I external bracket II 34, leading screw supporting plate I 28, leading screw supporting plate II 32, stepping motor II external bracket I 18, leading screw supporting plate I 28, leading screw supporting plate II 32 and protective plate 33, wherein the gear I 37 and gear IV 44 in the deceleration device are placed between the screw support plate II 32 and the protective plate 33; the fixed support is composed of supporting feet I 21, supporting feet II 27, Support housing 25, support bar 30, support bar 26, pedal 14, pedal support I 15 and II 16 are formed; Lead screw support plate I 28 and lead screw support plate II 32 are placed at support bar 30 two ends, lead screw support plate II 32 and protective plate 33 are connected by screws, and are placed inside the support shell 25 together; one end of the support rod 26 is placed on the support shell, and the other end is connected with the support foot II 27; the support foot I 21 is placed at the bottom of the support shell 25; 15 one ends are connected with calf bar II 13, and the other end is connected with pedal support II 16, and pedal 14 is placed on the pedal support II 16; Pedal is used to lay patient's pin.

The bracket that fixes the patient's lower limbs and bears part of the load is shown in Figure 3: the bracket is composed of thigh rod I 3, thigh rod II 6, calf rod I 7 and calf rod II 13, thigh rod I 3 and thigh rod II 6 pass through Pin connection, thigh bar I 3 is hingedly connected with support block 1, similarly calf bar I 7 and calf bar II 13 are pin connected, calf bar I 7 is hingedly connected with thigh bar II 6, and a row of etc. The pin hole of the distance can adjust the matching position of the pin hole according to the patient's leg length; the soft rubber straps 11 are respectively fixed on the thigh bar II 6 and the calf bar I 7, and the patient's legs and feet are placed on the pedal 14, and the legs The part is fixed with a soft rubber strap 11.

Described reduction device is made up of reduction device I and II: reduction device I is made up of a pair of gears, namely gear I 37, gear IV 44; Reduction device II is made up of three gears, namely gear II 39, gear III 42, driving gear II 39 is placed in the middle of the reduction box body, and the remaining two driven gears III 42 are placed on both sides of the driving gear II 39 and connected with external threaded rods 23 respectively.

The connection mode of the externally threaded rod is shown in Figure 4: the gear III 42 is keyed to the externally threaded rod 23, the bearing I 41 is placed on both sides of the gear III 42, and the bearings are respectively placed in the reduction box 19 and the end cover 31 of the reduction box .

The installation of described leading screw is as shown in Figure 5: gear IV 44 is connected with leading screw 29 keys, and bearing II 43 places leading screw 29 two ends, puts into the leading screw support plate respectively.

The main function of the control system is to set different parameters to control the speed of the two motors; the stepper motor I 35 rotates to drive the ball nut slider 20 to perform horizontal reciprocating linear motion; the stepper motor II 17 drives the external threaded rod 23 through gear transmission Rotate, so that the inner threaded rod 24 and the outer threaded rod 23 move relatively to form a reciprocating tilting movement; set different motion forms according to the needs of the patient to guide the patient to move passively; also set different resistance parameters within the range of motion to make the patient actively Exercise training and resistance exercise training.

Claims (4)

1. A novel lower limb rehabilitation physiotherapy device, characterized in that it consists of a lower limb training mechanism and a control system, wherein the lower limb training mechanism is composed of a driving mechanism, a supporting mechanism and a deceleration device; The driving mechanism is provided with two parts: a horizontal driving mechanism and an inclined driving mechanism: the horizontal driving mechanism is composed of a stepping motor I, a screw, and a ball nut slider; the inclined driving mechanism is composed of a stepping motor II, an externally threaded rod and an internally threaded rod Composition; the stepper motor I is connected to the lead screw through the reduction device, the lead screw is fixed on the support seat through the lead screw support plate, the ball nut slider is arranged on the lead screw, and the motor support frame is hingedly connected with the ball nut slider; the motor support frame There is a stepping motor II on the top, and the stepping motor II is connected with the external threaded rod through the reduction device, and the external threaded rod and the internal threaded rod are matched through threads; The support mechanism includes a support for support and fixation, a bracket for fixing the patient's lower limbs and bearing part of the load, and soft rubber straps; The supporting support is composed of stepping motor I external support, reduction device I end support, stepping motor II external support and the two ends of reduction device II connecting bracket; The shell, the internal support rod of the support shell, the pedal and the pedal bracket are composed; the external support of the stepping motor I is connected with the end of the reduction device I, and is placed on the support shell through the internal strut of the support shell; one end of the external support of the stepping motor II is through a hinge It is connected with the ball nut slider, and one end is connected with the external threaded rod; the support feet are placed at the bottom of the support shell, and the support rod inside the support shell is placed inside the support shell to ensure the stability of the structure; the pedal bracket is connected with the pedal through nuts, and the pedal is used to place the patient feet; The bracket that fixes the patient's lower limbs and bears part of the load: the bracket is composed of a thigh rod I, a thigh rod II, a calf rod I and a calf rod II, the thigh rod I and the thigh rod II are connected by a bolt, and the thigh rod I is hinged to the support block , the same calf rod I is connected to the calf rod II with a pin, and the calf rod I is hinged to the thigh rod II; The reduction device is composed of reduction devices I and II: reduction device I is composed of a pair of gears, placed between the protective plate and the screw support plate II; reduction device II is composed of three gears, and the driving wheel is placed in the reduction box In the middle position, the remaining two driven gears are placed on both sides of the driving wheel and connected with external threaded rods respectively; The hardware part of the control system is mainly composed of an industrial computer, a motion control card and a stepper motor driver. 2. The new type of lower limb rehabilitation physical therapy device according to claim 1, characterized in that the screw rotates to drive the ball nut slider to do horizontal reciprocating linear motion; The rotation of the external threaded rod and the internal threaded rod produce relative movement, and an oblique direction movement is added on the basis of the horizontal reciprocating linear motion. 3. The new lower limb rehabilitation physiotherapy device according to claim 1, characterized in that a row of equidistant pin holes are arranged on the four rods of the thigh and the calf, and the matching position of the pin holes can be adjusted according to the patient's leg length; The soft rubber straps are respectively fixed on the thigh rod II and the calf rod I, and the patient's legs and feet are placed on the pedals, and the legs are fixed with the soft rubber straps. 4. The novel lower limb rehabilitation physiotherapy apparatus according to claim 1, characterized in that the stepper motor I rotates to drive the ball nut slider to do horizontal reciprocating linear motion; the stepper motor II rotates the external threaded rod through gear transmission, so that the internal The threaded rod and the external threaded rod move relatively to form a reciprocating tilting movement.