CN207186798U - Foot motion device - Google Patents

Abstract

In the utility model, the limb linkage rehabilitation training robot, the foot movement device includes a foot Y-axis movement device, a foot Z-axis movement device, a foot rotation device and a foot adjustment device, and the foot Y-axis movement device includes a foot Y-axis Motor, foot Y-axis lead screw, foot Y-axis lead screw bearing seat, foot Y-axis guide rail, foot Y-axis slider and foot pedal, the foot pedal is arranged on the support plate, and the support plate is arranged on the foot On the Y-axis slider, the foot Y-axis motor drives the foot Y-axis lead screw to move so as to drive the support plate and the foot pedal arranged on the support plate to move along the Y-axis. The utility model has the advantages of simple structure, convenient and fast operation, and can carry out linkage rehabilitation training on the knee joint and the ankle joint of the foot.

Description

foot exercise device

technical field

The utility model relates to a limb linkage rehabilitation training robot, in particular to a leg movement device thereof.

Background technique

In traditional rehabilitation training, a number of professional medical personnel assist patients in completing foot and torso exercises. Medical staff are not only labor-intensive, but also difficult to ensure stable and continuous exercise training. In order to solve the above technical problems, a robot specially used for patients to perform rehabilitation training on lower limbs is currently provided. When in use, the patient relies on the robot to stand up, and realizes the movement training of the patient's feet through the action of the robot, so as to help The patient regained motor function of the lower extremities. However, the current lower limb rehabilitation training robot has a single structure, and patients cannot perform rehabilitation training on each joint of the foot according to the actual situation.

Utility model content

In order to solve the above technical problems, the utility model provides a foot exercise device with simple structure, convenient and quick operation, and capable of performing rehabilitation training on the knee joint and ankle joint of the foot.

The utility model is realized through the following technical solutions:

A foot movement device, which includes a foot Y-axis movement device, a foot Z-axis movement device, a foot rotation device and a foot adjustment device, and the foot Y-axis movement device includes a foot Y-axis motor, a foot Y-axis Lead screw, foot Y-axis screw bearing seat, foot Y-axis guide rail, foot Y-axis slider and pedal, the pedal is arranged on a support plate, and the support plate is arranged on the foot On the Y-axis slider, the foot Y-axis motor drives the foot Y-axis lead screw to move so as to drive the support plate and the pedal arranged on the support plate to move along the Y-axis.

The Z-axis moving device of the foot includes a Z-axis motor of the foot, a Z-axis screw of the foot, a Z-axis guide rail of the foot and a Z-axis slider of the foot, and the Z-axis motor of the foot adjusts the movement of the Y-axis screw of the foot Thus, the pedal is driven to move along the Z axis.

The foot rotation device includes a foot rotation motor, a foot plate gear set, a rotation shaft and a support frame, the rotation shaft is arranged in the middle below the foot pedal, and the support frame is arranged at the front and rear ends of the foot pedal, The foot rotation motor drives the rotation shaft through the foot plate gear set to drive the foot pedal to rotate.

The foot adjusting device includes a knee joint strap and a height adjustable device for the knee joint strap.

The knee joint strap height adjustable device includes a support rod and a support block, the support rod is vertically connected to the support plate, the support block is connected to the knee joint strap, and is worn on the support rod, and the support block can drive the knee The articulating straps move up and down the support rod.

The utility model has beneficial effects: the foot movement device includes a foot Y-axis movement device, a foot Z-axis movement device, a foot rotation device and a foot adjustment device. The foot Y-axis motion device and the foot Z-axis motion device realize the stepping and lifting of the foot, and simulate the normal activity state of the foot for rehabilitation training of the knee joint. The leg rotation device realizes the rotation of the foot and simulates the movement of the foot. Rehabilitation training is performed on the ankle joint during normal movement. The utility model has the advantages of simple structure, convenient and fast operation, and can perform linkage rehabilitation training on the knee joint and the ankle joint of the foot.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the limb linkage rehabilitation training robot of the present invention;

Fig. 2 is a schematic diagram of the hand movement device of the limb linkage rehabilitation training robot of the present invention;

Fig. 3 is a schematic diagram of the foot movement device of the limb linkage rehabilitation training robot of the present invention;

Fig. 4 is a schematic diagram of the hip joint correction device of the limb linkage rehabilitation training robot of the present invention;

Fig. 5 is a schematic diagram of the weight loss device of the limb linkage rehabilitation training robot of the present invention;

Fig. 6 is a device for adjusting the center of gravity of the human body of the limb-linked rehabilitation training robot of the present invention.

Among them, 1-hand movement device, 2-foot movement device, 3-hip joint correction device, 4-weight reduction device, 5-body center of gravity adjustment device, 11-armrest, 12-hand swing motor, 13-hand swing Pieces, 14-hand sheath, 15-hand X-axis adjustment handwheel, 16-hand X-axis adjustment screw, 17-hand Y-axis adjustment handwheel, 18-hand Y-axis adjustment gear, 19-hand Y-axis adjustment rack, 110-hand Z-axis adjustment motor, 111-hand Z-axis screw assembly, 21-foot Y-axis motor, 22-foot Y-axis slider, 23-foot Y-axis guide rail, 24-foot pedal, 25-foot Y-axis screw, 26-foot Y-axis screw bearing seat, 27-foot Z-axis motor, 28-foot Z-axis screw, 29-foot Part Z-axis guide rail, 210-foot Z-axis slider, 211-foot plate gear set, 212-rotation shaft, 213-knee joint strap, 214-knee joint height adjustable device, 215-support plate, 216- Support frame, 31-Hip joint adjustment hand wheel, 32-Hip joint adjustment screw, 33-Hip joint adjustment block, 34-Hip joint fixed wheel, 35-Hip joint adjustment wheel, 36-Hip joint motor, 37-Hip joint Lifting screw assembly, 38-back cushion, 41-worm gear reducer motor, 42-reduction gear, 43-coil take-up wheel, 44-bearing housing, 45-guide wheel, 46-drawing rope, 47-banding assembly, 51- Inclined steps, 52-base, 53-push rod motor, 54-inclined platform.

specific embodiment

As shown in Figures 1 to 6, the limb linkage rehabilitation training robot includes a hand motion device 1, a foot motion device 2, a hip joint correction device 3, a weight reduction device 4 and a human center of gravity adjustment device 5, and the hand motion device 1 includes The left hand motion device and the right hand motion device, the foot motion device include the left foot motion device and the foot motion device.

In this embodiment, the hand motion device 1 includes an armrest 11, a hand swing device and a hand adjustment device, and the hand swing device includes a hand swing motor 12, a hand swing piece 13 and a hand swing sheath 14 connected in sequence, The hand-swing motor 12 drives the hand-swing piece 13 to move so as to drive the arm arranged in the hand-swing sheath 14 to swing. In this setting, when the patient does not need rehabilitation training for the upper limbs, the left and right armrests can be held by hand. When the patient needs rehabilitation training for the upper limbs, the left and right arms are placed in the corresponding left and right hand swing gloves, and the hand swing motor 12 drives the hand swing piece 13 to move to drive Swing the arm in the hand sheath 14 to move back and forth, realize the rehabilitation training of simulating the front and back swing of the human hand, and the training effect is better.

In this embodiment, the hand adjustment device includes hand X-axis adjustment device, hand Y-axis adjustment device and hand Z-axis adjustment device connected in sequence, and the hand X-axis adjustment device includes hand X-axis adjustment hand wheel 15 and The hand X-axis adjustment lead screw 16 connected with the hand swing binding sheath 14, the hand X axis adjustment hand wheel 15 drives the hand X axis adjustment screw 16 to move so as to drive the hand swing binding hand sheath 14 along the X axis direction sports. Hand Y-axis adjustment device comprises hand Y-axis adjustment handwheel 17, hand Y-axis adjustment gear 18 and hand Y-axis adjustment rack 19, and hand Y-axis adjustment handwheel 17 drives Y-axis hand adjustment gear 18 and The hand Y-axis adjustment gear rack 19 is engaged to drive the X-axis hand adjustment device to move along the Y-axis direction. The Z-axis hand adjustment device includes a hand Z-axis adjustment motor 110 and a hand Z-axis screw assembly 111, and the hand Z-axis adjustment motor 110 drives the hand Z-axis screw assembly 111 to move to drive the X-axis hand adjustment device and The Y-axis hand adjustment device moves along the Z-axis direction. The hand X-axis adjustment device, the hand Y-axis adjustment device and the hand Z-axis adjustment device can be used by people with different body types, and the arm comfort and rehabilitation training effect are the best.

In this embodiment, the foot movement device realizes the rehabilitation training of the hip joint, knee joint and ankle joint, including a foot Y-axis movement device, a foot Z-axis movement device, a foot rotation device and a foot adjustment device, and the foot The Y-axis motion device includes a foot Y-axis motor 21, a foot Y-axis screw 25, a foot Y-axis screw bearing seat 26, a foot Y-axis guide rail 23, a foot Y-axis slider 22 and a pedal 24, Pedal 24 is arranged on support plate 215, and support plate 215 is arranged on the foot Y-axis slider 22, and foot Y-axis motor 21 drives foot Y-axis lead screw 25 to move thereby drives support plate 215 and is arranged on the support plate. Pedal 24 on 25 moves along Y axis. In this embodiment, the support plate 215 is arranged on the foot Y-axis slider 22, and the pedal 24, the foot Z-axis movement device, the foot rotation device and the foot adjustment device are arranged on the support plate 215. In this embodiment, The patient's left and right feet are worn in the corresponding left and right foot pedals 24, and the foot Y-axis motor drives the foot Y-axis screw 25 to move so as to drive the support plate and the foot pedal 24 and foot Z-axis movement device on the support plate are set. , the foot rotation movement and the foot adjustment device slide along the Y-axis on the Y-axis guide rail. This setting can realize the rehabilitation training of simulating the forward and backward steps of the human foot, and the rehabilitation training effect is better.

In this embodiment, the foot Z-axis motion device includes a foot Z-axis motor 27, a foot Z-axis screw 28, a foot Z-axis guide rail 29, and a foot Z-axis slider 210, and the foot Z-axis motor 27 drives the foot. The Y-axis lead screw 28 moves to drive the pedal 24 to move along the Z-axis. This setting can realize rehabilitation training that simulates the lifting of the human foot up and down, and the rehabilitation effect is better.

In this embodiment, the foot rotation device includes a foot rotation motor, a foot plate gear set 211, a rotation shaft 212 and a support frame 216. The rotation shaft 212 is arranged in the middle part below the foot pedal 24, above the support plate 215, and the support frame 216 is located at At the front and rear ends of the pedal, the foot rotating motor drives the rotation shaft 212 to move through the pedal gear set 211 to drive the pedal 24 to rotate. Wherein, the support frame 216 is used to adjust the rotation angle of the pedal 24 . This setting can realize the simulation of ankle joint movement, realize the rehabilitation training of the foot, and its rehabilitation effect is better.

In this embodiment, the foot adjusting device includes a knee joint strap 213 and a knee joint strap height adjustable device 214 . The knee joint strap height adjustment device includes a support rod and a support block, the support rod is vertically connected to the support plate, the support block is connected to the knee joint strap 213, and is worn on the support rod, and the support block can drive the knee joint strap Move up and down along the support rod, and when adjusted to a suitable position, it can be locked by screws. This setting is suitable for people with different body shapes, and the comfort of the feet and the effect of rehabilitation training are the best.

In this embodiment, the hip joint correction device includes a hip joint adjustment device and a hip joint lifting device, and the hip joint lifting device includes a hip joint motor 36 and a hip joint lifting screw assembly 37 . There are two hip joint motors 36 in this embodiment. The hip joint lifting lead screw assembly includes two vertical rods arranged at intervals. Lead screws are arranged on the two vertical rods. Sliders are arranged on the lead screws. A cross bar is connected between the two slide blocks. The hip joint motor 36 drives the lead screw. The movement drives the slider and the cross bar connected with the slider to move up and down.

The hip joint adjustment device is arranged on the cross bar and can move up and down with the cross bar. The hip joint adjustment device includes a hip joint adjustment hand wheel 31, a hip joint adjustment screw 32, a hip joint adjustment block 33, a hip joint fixing wheel 34 and a hip joint Adjustment wheel 35; the hip joint adjustment wheel 35 is connected with the hip joint adjustment block 33. The hip joint fixed wheel 34 and the hip joint adjustment wheel 35 are arc-shaped, the hip joint adjustment wheel 35 is located at the inner side of the hip joint fixed wheel 34, and can rotate along the hip joint fixed wheel 34, and the hip joint adjustment block 33 is arranged on the hip joint adjustment wheel. On the leading screw 32, further, the hip joint adjustment wheel 35 is provided with a bump, the hip joint adjustment block 33 is provided with a groove, and the protrusion on the hip joint adjustment wheel 35 is embedded in the groove on the hip joint adjustment block 33 The hip joint adjustment hand wheel 31 drives the hip joint adjustment screw 32 to move, thereby driving the hip joint adjustment block 33 and the hip joint adjustment wheel cooperating with the hip joint adjustment block 33 to move, finally realizing hip joint correction and rehabilitation training, and the rehabilitation effect is better good. Further, hip joint guide rails can be arranged on both sides of the hip joint adjustment screw, and the hip joint adjustment block 33 can run along the hip joint guide rails. This setting makes the hip joint adjustment block 33 run more smoothly, and the hip joint can correct the rehabilitation training effect. better. In addition, the hip joint correcting device is also provided with a cushion 38 for the patient to rely on, which can relieve the patient's pain and make him in a more comfortable state.

In this embodiment, the weight reducing device includes a worm gear reducer motor 41, a reduction gear 42, a take-up wheel 43, a pull cord 46 and a strap assembly 47, the take-up pulley 43 is arranged in the bearing housing 44, and the pull cord 46 passes through the guide wheel 45 guides to the take-up wheel 43, and the worm gear motor 41 drives the take-up wheel 43 to rotate through the reduction gear 42 so as to drive the strap assembly 47 connected with the pull cord 46 to move along the Z axis. This setting reduces the load-bearing pressure on the soles of the feet, so that the rehabilitation training of the limbs and other bodies can reach the best state.

In this embodiment, the device for adjusting the center of gravity of the human body includes an inclined step 51, a base 52, a push rod motor 53 disposed in the base 52, and an inclined platform 54 connected to the push rod of the push rod motor 53. The center of the inclined platform 54 is provided with an inclined The shaft and the inclined shaft are fixed in the bearing housing.

The technical solutions provided by the embodiments of the utility model have been introduced in detail above. In this paper, specific examples have been used to illustrate the principles and implementation methods of the embodiments of the utility model. The descriptions of the above embodiments are only applicable to help understand the utility model. The principle of the embodiment; at the same time, for those of ordinary skill in the art, according to the embodiment of the present invention, there will be changes in the specific implementation and scope of application. In summary, the contents of this specification should not be interpreted as Utility model restrictions.

Claims (5)

1. A foot movement device, characterized in that: it includes a foot Y-axis movement device, a foot Z-axis movement device, a foot rotation device and a foot adjustment device, and the foot Y-axis movement device includes a foot Y-axis Motor, foot Y-axis lead screw, foot Y-axis lead screw bearing seat, foot Y-axis guide rail, foot Y-axis slider and pedal, and the pedal is arranged on a support plate, and the support plate It is arranged on the Y-axis slider of the foot, and the Y-axis motor of the foot drives the Y-axis lead screw of the foot to move so as to drive the support plate and the pedal arranged on the support plate to move along the Y-axis. 2. The foot movement device according to claim 1, characterized in that: the foot Z-axis movement device comprises a foot Z-axis motor, a foot Z-axis screw, a foot Z-axis guide rail and a foot Z-axis The slider, the Z-axis motor of the foot adjusts the movement of the Y-axis lead screw of the foot so as to drive the pedal to move along the Z-axis. 3. The foot exercise device according to claim 1, wherein the foot rotation device comprises a foot rotation motor, a foot plate gear set, a rotation shaft and a support frame, and the rotation shaft is arranged on the foot pedal In the middle part below the board, the support frame is arranged at the front and rear ends of the pedal, and the foot rotating motor drives the rotation shaft through the gear set of the foot pedal to drive the pedal to rotate. 4. The foot exercise device according to claim 1, wherein the foot adjusting device comprises a knee strap and a knee strap height adjustable device. 5. The foot exercise device according to claim 4, characterized in that: said knee joint strap height adjustable device comprises a support bar and a support block, the support bar is vertically connected to the support plate, and the support block is connected to the knee joint The straps are connected and worn on the support bar, and the support block can drive the knee joint strap to move up and down along the support bar.