CN206548775U - The driving lower limb rehabilitation training device of shank - Google Patents

The driving lower limb rehabilitation training device of shank Download PDF

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Publication number
CN206548775U
CN206548775U CN201621120895.3U CN201621120895U CN206548775U CN 206548775 U CN206548775 U CN 206548775U CN 201621120895 U CN201621120895 U CN 201621120895U CN 206548775 U CN206548775 U CN 206548775U
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China
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support
driving
shank
cushion
lead screw
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CN201621120895.3U
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Chinese (zh)
Inventor
安美君
邹任玲
徐秀林
胡秀枋
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上海健康医学院
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Priority to CN201621120895.3U priority Critical patent/CN206548775U/en
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Publication of CN206548775U publication Critical patent/CN206548775U/en

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Abstract

A kind of driving lower limb rehabilitation training device of shank, it is main to drive training institution, trunk support mechanism and upper limb support structure including base and the sitting posture standing posture mapping device being separately mounted on base, two groups of shanks;Wherein, sitting posture standing posture mapping device can be converted between two kinds of structures of sitting posture and standing posture, there is provided sitting posture or standing posture two kinds of training postures, two groups of shank driving training institutions are symmetricly set on the front both sides of sitting posture standing posture mapping device, and be movably connected respectively with sitting posture standing posture mapping device, power and the training track of driving two shanks motion are provided, trunk support mechanism provides trunk support, and upper limb support structure provides upper limb support.The utility model can realize that the lower limb rehabilitation training under human body sitting position and stance trains power and training track there is provided shank drive-type;The training of accurate simulation space gait.

Description

The driving lower limb rehabilitation training device of shank
Technical field
The utility model is related to medical rehabilitation instrument, more particularly to a kind of driving lower limb rehabilitation training device of shank.
Background technology
The patient of the motor dysfunction of lower limb caused due to disease or injury gained in sports is a lot, and it is rehabilitation to recover independent ambulation ability Treat the primary goal made great efforts.Due to the plasticity of brain, medically allowed typically by training repeated, particular task Patient carries out enough repetition sexualities.So that the cerebral cortex in restructuring is learnt by deep experience and stores correct Motor pattern.This method has obtained good clinical effectiveness, is crossing in last year, flat board ambulation training and gait training device instruction Experienced treatment method has been introduced into as neural method of rehabilitation, is able to largely use in neural clinical rehabilitation.
The current apparatus in leg training is all sole driving and joint drive type, commercialized gait lower limb health mostly There is the Handy1 that MikeTopping companies of Britain develop for 1987 in multiple robot.Secondly another rehabilitation for being successfully entered market Robot is the MANUS healing robots of Dutch Exact Dynamics companies exploitation, the NUSTEP device for rehabilitation in the U.S., Germany THERA.Vital intelligent rehabilitation image training robots, the MOTINMAKER of the WORTEC companies research and development of Switzerland, all such robots Using joint drive pattern.Another oblique bed loss of weight lower limb rehabilitation training device, can be very good to solve using horizontal loss of weight The rehabilitation at initial stage of severe case, its type of drive is driven using sole, it is possible to achieve training and joint training.
However, the motion of the driving lower limb of sole is limited by linear actuation motion, it is impossible to realize that spatial movement is trained, Gait motion can not be simulated.Joint drive type is applied to the joint function recovery training after lower limb orthopaedics corrective surgery, for category For the lower limb knee joint in ball pivot joint, gait also can not be accurately simulated.
Utility model content
The purpose of this utility model, exactly in order to solve the above problems, there is provided a kind of driving lower limb rehabilitation training of shank Device, carries out lower limb gait training according to the track of setting, can realize the compound motion of joint of lower extremity energy.
In order to achieve the above object, the utility model employs following technical scheme:A kind of driving lower limb rehabilitation of shank Trainer, it is main to be trained including base and the sitting posture-standing posture mapping device being separately mounted on base, two groups of shank drivings Mechanism, trunk support mechanism and upper limb support structure;Wherein, sitting posture-standing posture mapping device can be in two kinds of structures of sitting posture and standing posture Between convert there is provided sitting posture or two kinds of standing posture training postures, two groups of shanks driving training institutions are symmetricly set on sitting posture-standing posture and become The front both sides of converting mechanism, and be movably connected respectively with sitting posture-standing posture mapping device there is provided the power of driving two shanks motion and Track is trained, trunk support mechanism provides trunk support, and upper limb support structure provides upper limb support.
The sitting posture-standing posture mapping device includes electric lifting platform, cushion support, cushion, backrest and mapping device;Electricity Dynamic lifting platform is arranged on liftable on base, and cushion support is fixed on electric lifting platform, cushion and cushion support activity It is connected, mapping device is connected between cushion support and cushion, cushion by horizontality can be transformed to vertical state, backrest It is movably connected with mapping device, the machinery being movably connected with two groups of shank driving training institutions is respectively provided with cushion both sides Leg support.
The cushion support includes bottom plate, cushion bracket and two support columns;Cushion bracket is connected to the front portion of bottom plate, Two support columns are connected to the rear portion of bottom plate;The cushion is rotatably connected with cushion bracket;The mapping device includes Electric pushrod and double leval jib kinematic pair, electric pushrod are movably connected between bottom plate and cushion, and backrest connecting rod is provided with backrest, Double leval jib kinematic pair is movably connected between cushion bracket and backrest connecting rod.
The symmetrical configuration of two groups of shanks driving training institution is identical, respectively including pedipulator and pedipulator drive mechanism, Pedipulator drive mechanism is arranged on base, and pedipulator is movably connected with pedipulator drive mechanism and can be in pedipulator drive mechanism In the presence of make above and below before and after two-dimensional motion, pedipulator upper end and the mechanical leg support activity phase in sitting posture-standing posture mapping device Even.
The pedipulator includes big leg mechanism and small leg mechanism, and big leg mechanism is flexibly connected with small leg mechanism;The thigh Mechanism is included in thick link, thigh push rod and thigh length adjusting knob, thick link upper end and sitting posture-standing posture mapping device Mechanical leg support be movably connected, the lower end of thigh push rod is flexibly connected with small leg mechanism;Between thick link and thigh push rod Pivot bush unit is connected, and adjusts entirely the length of leg mechanism greatly by thigh length adjusting knob;The small leg mechanism includes pin Pedal, shank link, shank push rod, lower-leg length governor motion and knee joint cover, shank link are installed on the footrests, shank Push rod is connected with shank link pivot bush unit, and passes through the length of the whole small leg mechanism of lower-leg length governor motion regulation;Knee is closed Section cover is fixedly linked with shank link, and shank push rod upper end is movably connected with thigh push rod, the upper end of shank link and pedipulator Drive mechanism movable drive is connected, and whole pedipulator is realized functional movement.
The pedipulator drive mechanism includes horizontal drive mechanism and upright driving mechanism;Horizontal drive mechanism includes branch Seat, horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and horizontal lead screw electric driving mechanism;Bearing is arranged on base On, horizontal lead screw fixed station is connected on bearing, and horizontal lead screw is connected on horizontal lead screw fixed station, horizontal lead screw sliding block suit Can be movable along horizontal lead screw on horizontal lead screw, horizontal lead screw electric driving mechanism is connected to after horizontal lead screw fixed station End, is connected with horizontal lead screw transmission by stepper motor and drives horizontal lead screw to rotate;Upright driving mechanism is solid including vertical screw mandrel Determine platform, vertical screw mandrel, vertical screw mandrel sliding block and vertical screw mandrel electric driving mechanism, vertical screw mandrel fixed station and horizontal lead screw sliding block It is fixedly connected, vertical screw mandrel slide block set can be moved up and down on vertical screw mandrel along vertical screw mandrel, vertical screw mandrel motorized motions machine Structure is connected to vertical screw mandrel fixed station upper end, is connected by stepper motor with vertical screw rod transmission and drives vertical screw mandrel to rotate;It is logical Overregulating the stepper motor of horizontal drive mechanism and upright driving mechanism can realize vertical screw mandrel sliding block in the horizontal direction and vertically The two-dimensional motion in direction, and then realize the two-dimensional motion of pedipulator.
The trunk support mechanism includes support bar, suspender clip, trunk vest and brace;Support bar is arranged on bottom plate, Suspender clip is arranged on support bar, and brace is connected with trunk vest and is connected with suspender clip knot that can be undone by a pull.
The upper limb support structure includes two vertical support bars, two horizontal support bars, hand steered plate and two U-shaped handrails;Two erect Support bars are separately mounted on bottom plate, and two horizontal support bars are connected on two vertical support bars and can adjusted up and down, hand Plate is helped to be placed on two horizontal support bars, two U-shaped handrails are separately mounted to the both sides of hand steered plate.
There is provided shank drive-type for the lower limb rehabilitation training that the utility model can be realized under human body sitting position and stance Train power and training track.
Drive mechanism is placed on shank position by the utility model, the lower limb knee joint for belonging to ball pivot joint, can essence The really training of simulation space gait.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the driving lower limb rehabilitation training device of the utility model shank;
Fig. 2, Fig. 3 be the utility model in sitting posture-standing posture mapping device structural scheme of mechanism, wherein, Fig. 2 is sitting posture, Fig. 3 is standing posture;
Fig. 4, Fig. 5, Fig. 6 drive the structural representation of training institution for the shank in the utility model, wherein, Fig. 4 is whole Body structural representation, Fig. 5 is the structural representation of pedipulator drive mechanism, and Fig. 6 is the structural representation of pedipulator;
Fig. 7, Fig. 8 are the structural representation of the trunk support mechanism in the utility model;
Fig. 9 be the utility model in upper limb support structure structural representation;
Figure 10, Figure 11 are use state schematic diagram of the present utility model, wherein, Figure 10 is sitting posture, Figure 11 be standing posture (not Draw trunk support mechanism).
Embodiment
Referring to Fig. 1, the driving lower limb rehabilitation training device of shank of the present utility model mainly includes base 1 and difference Sitting posture-standing posture mapping device 2, two groups of shanks on base drive training institution 3, trunk support mechanism 4 and upper limbs branch Support structure 5;Wherein, sitting posture-standing posture mapping device can convert that there is provided sitting posture or standing posture two between two kinds of structures of sitting posture and standing posture Kind of training posture, two groups of shanks driving training institutions are symmetricly set on the front both sides of sitting posture-standing posture mapping device, and respectively with Sitting posture-standing posture mapping device is movably connected there is provided the power of driving two shanks motion and training track, and trunk support mechanism is provided Trunk support, upper limb support structure provides upper limb support.
Referring to Fig. 2, Fig. 3, sitting posture-standing posture mapping device 2 in the utility model includes electric lifting platform 21, cushions support Frame 22, cushion 23, backrest 24 and mapping device;Electric lifting platform 21 is arranged on liftable on base 1, and cushion support 22 is fixed On electric lifting platform, cushion 23 is movably connected with cushion support, and mapping device is connected between cushion support and cushion, Cushion by horizontality can be transformed to vertical state, backrest is movably connected with mapping device, and use is respectively equipped with cushion both sides In the mechanical leg support 25 being movably connected with two groups of shank driving training institutions.Cushion support 22 therein include bottom plate 221, Cushion bracket 222 and two support columns 223;Cushion bracket is connected to the front portion of bottom plate, and two support columns are connected to bottom plate Rear portion;Cushion is rotatably connected with cushion bracket;Mapping device includes electric pushrod 26 and double leval jib kinematic pair 27, electronic to push away Bar is movably connected between bottom plate and cushion, and backrest connecting rod 28 is provided with backrest, and double leval jib kinematic pair is movably connected in cushion Between support and backrest connecting rod.
Referring to Fig. 4, Fig. 5, Fig. 6, coordinate referring to Fig. 1, two groups of shanks in the utility model drive the structure of training institution 3 Symmetrically the same, respectively including pedipulator 31 and pedipulator drive mechanism 32, pedipulator drive mechanism 32 is arranged on base 1, machinery Leg and pedipulator drive mechanism be movably connected and above and below can making in the presence of pedipulator drive mechanism before and after two-dimensional motion, it is mechanical Leg upper end is movably connected with the mechanical leg support in sitting posture-standing posture mapping device.Wherein, pedipulator 31 includes big leg mechanism and small Leg mechanism, big leg mechanism is flexibly connected with small leg mechanism;Big leg mechanism includes thick link 311, thigh push rod 312 and thigh length Adjusting knob 313 is spent, thick link upper end is movably connected with the mechanical leg support in sitting posture-standing posture mapping device, thigh push rod Lower end be flexibly connected with small leg mechanism;Pivot bush unit is connected between thick link and thigh push rod, and is adjusted by thigh length Save the length of the whole big leg mechanism of knob regulation.Small leg mechanism includes pedal 314, shank link 315, shank push rod 316, small Leg length governor motion 317 and knee joint cover 318, shank link are installed on the footrests, shank push rod and shank link activity Socket is connected, and passes through the length of the whole small leg mechanism of lower-leg length governor motion regulation;Knee joint cover is fixed with shank link It is connected, shank push rod upper end is movably connected with thigh push rod, upper end and the pedipulator drive mechanism movable drive phase of shank link Even, whole pedipulator is made to realize functional movement.Pedipulator drive mechanism 32 includes horizontal drive mechanism and upright driving mechanism;Water Flat drive mechanism includes bearing 321, horizontal lead screw fixed station 322, horizontal lead screw 323, horizontal lead screw sliding block 324 and horizontal lead screw Electric driving mechanism 325;Bearing is arranged on base, and horizontal lead screw fixed station is connected on bearing, and horizontal lead screw is connected to water On flat screw mandrel fixed station, horizontal lead screw slide block set can be movable along horizontal lead screw on horizontal lead screw, and horizontal lead screw is electronic Drive mechanism is connected to horizontal lead screw fixed station rear end, is connected by stepper motor with horizontal lead screw transmission and drives horizontal lead screw to turn It is dynamic;Upright driving mechanism includes vertical screw mandrel fixed station 326, vertical screw mandrel 327, vertical screw mandrel sliding block 328 and vertical screw mandrel electricity Dynamic drive mechanism 329, vertical screw mandrel fixed station is fixedly connected with horizontal lead screw sliding block, and vertical screw mandrel slide block set is mounted in vertical screw mandrel On can be moved up and down along vertical screw mandrel, vertical screw mandrel electric driving mechanism is connected to vertical screw mandrel fixed station upper end, passes through stepping Motor is connected with vertical screw rod transmission drives vertical screw mandrel to rotate;By the step for adjusting horizontal drive mechanism and upright driving mechanism Stepper motor can realize the two-dimensional motion of vertical screw mandrel sliding block in the horizontal direction with vertical direction, and then realize two maintenance and operations of pedipulator It is dynamic.
Referring to Fig. 7, Fig. 8, coordinate referring to Fig. 1, the trunk support mechanism 4 in the utility model includes support bar 41, brace Button 42, trunk vest 43 and brace 44;Support bar is arranged on bottom plate, and suspender clip is arranged on support bar, and brace is carried on the back with trunk The heart is connected and is connected with suspender clip knot that can be undone by a pull.
Referring to Fig. 9, coordinate referring to Fig. 1, the upper limb support structure 5 in the utility model includes two vertical support bars 51, two Horizontal support bar 52, the U-shaped handrail 54 of hand steered plate 53 and two;Two vertical support bars are separately mounted on bottom plate, two horizontal support bars It is connected on two vertical support bars and can adjusts up and down, hand steered plate is placed on two horizontal support bars, two U-shaped handrails difference Installed in the both sides of hand steered plate.
Figure 10, Figure 11 are use state schematic diagram of the present utility model, wherein, Figure 10 is sitting posture, Figure 11 be standing posture (not Draw trunk support mechanism).

Claims (8)

1. a kind of driving lower limb rehabilitation training device of shank, it is characterised in that:Mainly include base and be separately mounted to bottom Sitting posture-standing posture mapping device, two groups of shanks on seat drive training institution, trunk support mechanism and upper limb support structure;Wherein, Sitting posture-standing posture mapping device can be converted between two kinds of structures of sitting posture and standing posture trains postures, two there is provided two kinds of sitting posture or standing posture Group shank driving training institution is symmetricly set on the front both sides of sitting posture-standing posture mapping device, and is converted respectively with sitting posture-standing posture Mechanism is movably connected there is provided the power of driving two shanks motion and training track, and trunk support mechanism provides trunk support, upper limbs Supporting construction provides upper limb support.
2. the driving lower limb rehabilitation training device of shank as claimed in claim 1, it is characterised in that:The sitting posture-standing posture becomes Converting mechanism includes electric lifting platform, cushion support, cushion, backrest and mapping device;Electric lifting platform is arranged on can on base Lifting, cushion support is fixed on electric lifting platform, and cushion is movably connected with cushion support, and mapping device is connected to cushion Between support frame and cushion, cushion by horizontality can be transformed to vertical state, backrest is movably connected with mapping device, sat Pad both sides are respectively provided with the mechanical leg support being movably connected with two groups of shank driving training institutions.
3. the driving lower limb rehabilitation training device of shank as claimed in claim 2, it is characterised in that:The cushion support bag Include bottom plate, cushion bracket and two support columns;Cushion bracket is connected to the front portion of bottom plate, and two support columns are connected to bottom plate Rear portion;The cushion is rotatably connected with cushion bracket;The mapping device includes electric pushrod and double leval jib kinematic pair, electricity Dynamic push rod is movably connected between bottom plate and cushion, and backrest connecting rod is provided with backrest, and double leval jib kinematic pair is movably connected in seat Between pad support and backrest connecting rod.
4. the driving lower limb rehabilitation training device of shank as claimed in claim 1, it is characterised in that:Two groups of shanks driving The symmetrical configuration of training institution is identical, respectively including pedipulator and pedipulator drive mechanism, and pedipulator drive mechanism is arranged on base On, pedipulator and pedipulator drive mechanism are movably connected and front and rear two maintenance and operations above and below can making in the presence of pedipulator drive mechanism Dynamic, pedipulator upper end is movably connected with the mechanical leg support in sitting posture-standing posture mapping device.
5. the driving lower limb rehabilitation training device of shank as claimed in claim 4, it is characterised in that:The pedipulator includes big Leg mechanism and small leg mechanism, big leg mechanism are flexibly connected with small leg mechanism;The big leg mechanism includes thick link, thigh push rod With thigh length adjusting knob, thick link upper end is movably connected with the mechanical leg support in sitting posture-standing posture mapping device, thigh The lower end of push rod is flexibly connected with small leg mechanism;Pivot bush unit is connected between thick link and thigh push rod, and passes through thigh length Spend the length of the whole big leg mechanism of adjusting knob regulation;The small leg mechanism includes pedal, shank link, shank push rod, small Leg length governor motion and knee joint cover, shank link are installed on the footrests, shank push rod and shank link pivot bush unit phase Even, and by lower-leg length governor motion the length of whole small leg mechanism is adjusted;Knee joint cover is fixedly linked with shank link, small Leg push rod upper end is movably connected with thigh push rod, and the upper end of shank link is connected with pedipulator drive mechanism movable drive, makes whole Individual pedipulator realizes functional movement.
6. the driving lower limb rehabilitation training device of shank as claimed in claim 4, it is characterised in that:The pedipulator driving machine Structure includes horizontal drive mechanism and upright driving mechanism;Horizontal drive mechanism includes bearing, horizontal lead screw fixed station, level silk Bar, horizontal lead screw sliding block and horizontal lead screw electric driving mechanism;Bearing is arranged on base, and horizontal lead screw fixed station is connected to branch On seat, horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set can be along horizontal lead screw on horizontal lead screw Movable, horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end, passes through stepper motor and horizontal lead screw Transmission, which is connected, drives horizontal lead screw to rotate;Upright driving mechanism includes vertical screw mandrel fixed station, vertical screw mandrel, vertical screw mandrel sliding block With vertical screw mandrel electric driving mechanism, vertical screw mandrel fixed station is fixedly connected with horizontal lead screw sliding block, vertical screw mandrel slide block set dress It can be moved up and down on vertical screw mandrel along vertical screw mandrel, vertical screw mandrel electric driving mechanism is connected on vertical screw mandrel fixed station End, is connected with vertical screw rod transmission by stepper motor and drives vertical screw mandrel to rotate;By adjusting horizontal drive mechanism and vertical The stepper motor of drive mechanism can realize the two-dimensional motion of vertical screw mandrel sliding block in the horizontal direction with vertical direction, and then realize machine The two-dimensional motion of tool leg.
7. the driving lower limb rehabilitation training device of shank as claimed in claim 1, it is characterised in that:The trunk support mechanism Including support bar, suspender clip, trunk vest and brace;Support bar is arranged on bottom plate, and suspender clip is arranged on support bar, brace It is connected and is connected with suspender clip knot that can be undone by a pull with trunk vest.
8. the driving lower limb rehabilitation training device of shank as claimed in claim 1, it is characterised in that:The upper limb support structure Including two vertical support bars, two horizontal support bars, hand steered plate and two U-shaped handrails;Two vertical support bars are separately mounted on bottom plate, Two horizontal support bars are connected on two vertical support bars and can adjusted up and down, and hand steered plate is placed on two horizontal support bars, Two U-shaped handrails are separately mounted to the both sides of hand steered plate.
CN201621120895.3U 2016-10-13 2016-10-13 The driving lower limb rehabilitation training device of shank CN206548775U (en)

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN109674638A (en) * 2019-01-22 2019-04-26 安徽状元郎电子科技有限公司 A kind of rehabilitation department robot with auxiliary physical therapy function

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106344349A (en) * 2016-10-13 2017-01-25 上海健康医学院 Crus driving type lower limb rehabilitation training device
CN106344349B (en) * 2016-10-13 2018-08-24 上海健康医学院 The driving lower limb rehabilitation training device of shank
CN109674638A (en) * 2019-01-22 2019-04-26 安徽状元郎电子科技有限公司 A kind of rehabilitation department robot with auxiliary physical therapy function
CN109674638B (en) * 2019-01-22 2020-11-20 安徽状元郎电子科技有限公司 Robot with auxiliary physical therapy function for rehabilitation department

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