CN208405275U - A kind of more training mode convalescence devices of foot-operated lower limb - Google Patents

Abstract

The utility model provides a kind of more training mode convalescence devices of foot-operated lower limb, including pedal rotating mechanism, acquisition of information mechanism, control indication mechanism and supporting mechanism, the pedal rotating mechanism includes pedal, crank, planetary reduction box and servo step motor, the acquisition of information mechanism includes pressure sensor and photoelectric encoder, the control indication mechanism includes control panel and display, the planetary reduction box, servo step motor, photoelectric encoder, control panel and display are arranged on supporting mechanism, the pedal is connect with crank, the crank connects a first gear, the planetary reduction box connects a second gear, the second gear is engaged with first gear, the servo step motor is connect with planetary reduction box, the pressure sensor is arranged on pedal, the photoelectric encoder connects a third gear, The third gear is engaged with first gear, and the control panel is connect with display.The utility model is easy to operate, meets ergonomics.

Description

A kind of more training mode convalescence devices of foot-operated lower limb

Technical field

The utility model relates to rehabilitation medical instrument field more particularly to a kind of more training mode rehabilitation dresses of foot-operated lower limb It sets.

Background technique

In recent years, with the rising of aging of population trend, the disease of the balance coordination dysfunction as caused by apoplexy, hemiplegia etc. Ascendant trend is presented in example.

Modern medical theory thinks, the balance coordination function of human body and the vision of ontology and spatial perception ability, maincenter mind The factors such as the coordination ability, muscular strength and endurance through system function, agonistic muscle and Opposing muscle are closely related.A large amount of case statistics table Bright, the patient of balance coordination dysfunction generally can not realize spatial position and the posture of body, and thus lose reasonable dynamic Phenomena such as reacting, for example movement decomposition, contraction of muscle and relaxation occur not in time.Modern physics acology is it was verified that logical Repressed nerve pathway can be restarted by crossing physics training, gradually restore or improve the balance coordination function of patient.Physics Training can be divided into unarmed training and by two kinds of training of instrument, wherein would generally compare empty-handed training by the training of instrument With faster and better therapeutic effect.

Many research institutions have developed various forms of sitting and lying formula lower limb rehabilitation robots, scientific research successively at present It proves, continual limbs training is very effective the physically fit and quality of life for maintaining the elderly, most old thus People playground both provides some limb-training devices.However, traditional limb-training device all uses counterweight load control Mode, generally existing following problems: most of training devices are designed for physically fit person, both uncomfortable or uncomfortable to patient With；Load control is difficult and discontinuous；The Training Capability that safety protection function judges old man is not provided.

Summary of the invention

Can to continuously adjust load, the foot-operated lower limb of safety and comfort more in view of this, the present invention provides a kind of Training mode convalescence device.

The utility model provides a kind of more training mode convalescence devices of foot-operated lower limb, including two groups of pedal rotating mechanisms, Two group informations obtain mechanism, control indication mechanism and supporting mechanism, and the pedal rotating mechanism includes that pedal, crank, planet subtract Fast case and servo step motor, the acquisition of information mechanism include pressure sensor and photoelectric encoder, the control display machine Structure includes control panel and display, and the planetary reduction box, servo step motor, photoelectric encoder, control panel and display are equal Be arranged on supporting mechanism, the supporting mechanism it is height-adjustable, the pedal is connect with crank, and the crank connects one the One gear, the planetary reduction box connect a second gear, and the second gear is engaged with first gear, the servo stepping electricity Machine is connect with planetary reduction box, and the pressure sensor is arranged on pedal, and the photoelectric encoder connects a third gear, institute Third gear is stated to engage with first gear, the control panel is connect with display, the pressure sensor to acquire pedal by The pressure arrived, and pressure value is passed into control indication mechanism, rotation information of the photoelectric encoder to acquire pedal, and The rotation information of collected pedal is passed into control indication mechanism, the control panel to receive pedal rotation information and The pressure that pedal is subject to, and control servo step motor output torque size, the display to show pedal by Pressure and pedal rotational angle.

Further, the pedal rotating mechanism is distributed along the central symmetry of supporting mechanism.

Further, the supporting mechanism includes upper backup pad and lower supporting plate, and the lower supporting plate is placed on the ground, Motor base is fixedly installed in the intermediate of the upper backup pad, and planetary reduction box and servo stepping electricity are placed on the motor base Bracket is fixedly installed on the upper backup pad for machine, and the bracket is to fixed photoelectric encoder, the upper backup pad and lower support By several height-adjustable support rod connections between plate, the support rod includes the post upper and branch for being arranged connection Strut lower end, the support rod lower end are equipped with lock, connection of the lock to fixed post upper and support rod lower end Place.

Further, the control indication mechanism further includes the support column that can be stretched, one end of the support column with it is upper Support plate connection, the other end of the support column are connect with control panel.

Further, the crank include crank upper end and with crank lower end, the crank upper end is connect with pedal, described Bearing block is equipped between crank and first gear, the bearing block includes bearing block upper end and bearing block lower end, the bearing block Lower end is fixedly connected with upper backup pad, and the bearing block upper end is between crank lower end and first gear, the crank lower end Across bearing block upper end circular hole and with the center of first gear be cooperatively connected.

Further, the pedal includes upper flat plate and lower plate, and the pressure sensor is located at upper flat plate and lower plate Between, the upper flat plate and lower plate are made by poly-lactic acid material, can generate deformation after the upper flat plate and lower plate stress.

Further, the reduction ratio of the planetary reduction box is 1:36.

Further, the transmission ratio of the second gear and first gear is 1:1, the third gear and first gear Transmission ratio is 1:2.

Further, the control panel control servo step motor exports the power identical or opposite with patient motion direction Square.

Further, the control panel receives pressure that pedal is subject to when being 0, the control panel control servo stepping electricity Machine is out of service.

Technical solution provided by the utility model has the benefit that

1. a variety of training modes can be arranged according to the physical condition of patient in convalescence device provided by the utility model, more preferably Ground assists patient to complete rehabilitation training plans；Convalescence device safety coefficient provided by the utility model is high；

2. convalescence device provided by the utility model is easy to operate, there is the visual interface of preferable hommization, no matter suffering from Person is in seat state still sleeping state, can complete rehabilitation training plans with effectively guaranteeing patient safety；

3. convalescence device provided by the utility model meets ergonomic designs, and can be adjusted by support rod high Degree, meets patient demand；

4. convalescence device provided by the utility model improves the output torque of servo step motor by planetary reduction box, Better usage experience is provided for patient, meanwhile, the burden of servo step motor is also reduced, servo step motor is reduced A possibility that damage, improves the service life of servo step motor；The servo step motor of the utility model passes through control panel Control, can be realized and continuously reasonably adjust load, provide better rehabilitation training effect for patient.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of the foot-operated more training mode convalescence devices of lower limb of the utility model.

Specific embodiment

It is practical new to this below in conjunction with attached drawing to keep the purpose of this utility model, technical solution and advantage clearer Type embodiment is further described.

Referring to FIG. 1, the embodiments of the present invention provide a kind of more training mode convalescence devices of foot-operated lower limb, packet Include two groups of pedal rotating mechanisms, two group informations obtain mechanism, control indication mechanism 7 and supporting mechanism, pedal rotating mechanism edge prop up The central symmetry of support mechanism is distributed, pedal rotating mechanism include pedal 1, the crank being connect with pedal 2, connect with crank 2 the One gear 23, planetary reduction box 3, the second gear 31 being connect with planetary reduction box 3 and servo step motor 4, first gear 23 Engaged with second gear 31, planetary reduction box 3 and servo step motor 4 are arranged on supporting mechanism, servo step motor 4 with Planetary reduction box 3 connects, and planetary reduction box 3 is to improve the torque of servo step motor 4 and reduce turning for servo step motor 4 Speed, to mitigate the burden of servo step motor 4, after servo step motor 4 starts, torque is improved by planetary reduction box 3, Under the action of torque, second gear 31 is rotated, and the rotation of second gear 31 drives first gear 23 to rotate, after first gear 23 rotates Pedal 1 can be driven to rotate；In one embodiment, the reduction ratio of planetary reduction box 3 is 1:36, second gear 31 and first gear 23 Transmission ratio is 1:1.

Crank 2 includes crank upper end 21 and crank lower end 22, and crank upper end 21 connect with pedal 1, crank lower end 22 and the The center of one gear 23 is cooperatively connected.

Pedal 1 includes upper flat plate 11 and lower plate 12, and upper flat plate 11 and lower plate 12 are made by poly-lactic acid material, upper flat plate 11, deformation can be generated after lower 12 stress of plate.

Acquisition of information mechanism includes pressure sensor 5, photoelectric encoder 6 and the third gear connecting with photoelectric encoder 6 61, third gear 61 is engaged with first gear 23, and the rotation of first gear 23 can drive third gear 61 to rotate, photoelectric encoder 6 On supporting mechanism, photoelectric encoder 6 acquires the rotation information of pedal 1 according to the rotation information of third gear 61, and will adopt The rotation information of the pedal 1 collected is transmitted to control indication mechanism 7, pressure sensor 5 be located at upper flat plate 11 and lower plate 12 it Between, the pressure that pressure sensor 5 is subject to acquire pedal 1, and pressure value is passed into control indication mechanism 7；One embodiment In, the transmission ratio of third gear 61 and first gear 23 is 1:2.

Supporting mechanism includes upper backup pad 8 and lower supporting plate 9, and lower supporting plate 9 is placed on the ground, and upper backup pad 8 is under It is connected between support plate 9 by several height-adjustable support rods 83, the height of supporting mechanism can be adjusted by support rod 83 Section, the intermediate of upper backup pad 8 are fixedly installed motor base 81, planetary reduction box 3 and servo stepping electricity are placed on motor base 81 Bracket 82 is fixedly installed on upper backup pad 8 for machine 4, and for bracket 82 to fixed photoelectric encoder 6, support rod 83 includes being arranged connection Post upper 831 and support rod lower end 832, support rod lower end 832 be equipped with lock 84, lock 84 is on fixed support rod The junction at end 831 and support rod lower end 832.

It controls indication mechanism 7 and includes control panel 71, display 72 and the support column 73 that can be stretched, display 72 and control Plate 71 connects, and one end of support column 73 is connected on upper backup pad 8, and the other end of support column 73 is connect with control panel 71, is passed through The height of the adjustable display 72 of support column 73 and control panel 71, control panel 71 is to receive stepping on for the transmitting of photoelectric encoder 6 The rotation information and the collected pressure value of pressure sensor 5 of plate 1, and rotation information to pedal 1 and the pressure value being subject into Row Data Fusion, to obtain the speed and torque of two servo step motors 4, and according to obtained speed and Torque Control The torque that servo step motor 4 exports；Rotational angle of the display 72 to show pressure and pedal 1 that pedal 1 is subject to；One is real It applies in example, display 72 selects liquid crystal display.

Bearing block 24 is equipped between crank 2 and first gear 23, bearing block 24 includes under bearing block upper end 241 and bearing block End 242, bearing block lower end 242 is fixedly connected with upper backup pad 8, and bearing block upper end 241 is located at crank lower end 22 and first gear Between 23, crank lower end 22 passes through the circular hole of bearing block upper end 241 and connect with first gear 23.

The present embodiment is sitting on wheelchair or hospital bed with patient, for both feet are placed on pedal 1, illustrates that foot-operated lower limb are more Training mode convalescence device realizes patient's passive exercise, actively auxiliary and three kinds of training modes of active damping.

(1) passive exercise mode

The threshold value that pedal 1 is under pressure is set on control panel 71 according to the physical condition of patient, when control panel 71 receives To the pressure value that is subject to of pedal 1 be less than threshold value when, the torque that servo step motor 4 exports a certain size is controlled by control panel 71 Second gear 31 is driven to rotate, the rotation of second gear 31 drives first gear 23 to rotate, and the rotation of first gear 23, which then drives, to be located at The both feet of patient on pedal 1 complete trample action, and the speed of trampling of patient's both feet is controlled by control panel 71 at this time, and patient can be with Recovery and the balance coordination energy for being conducive to patient's strength close to the experience for normally trampling process are obtained by passive exercise mode The exercise of power.

(2) active auxiliary mode

When patient two sides lower limbs strength is different, the both feet of patient apply different size of active force to pedal 1, and pressure passes Sensor 5 acquires the pressure value that is subject to of pedal 1, and collected pressure value is transmitted on control panel 71, and the rotation of pedal 1 drives the The rotation of one gear 23, the rotation of first gear 23 drive third gear 61 to rotate, and photoelectric encoder 6 is according to the rotation of third gear 61 The rotation information of information collection pedal 1, and the rotation information is transmitted on control panel 71, control panel 71 is according to the pressure received Force value and rotation information carry out Data Fusion, obtain the speed and torque of two servo step motors 4 rotation, then basis The speed and 1 pressure value of Torque Control pedal that servo step motor 4 rotates are smaller, rotate the servo step motor 4 of slower side It exports torque identical with patient motion direction and passes to the pedal 1, so that the pressure value that two pedals 1 are subject to is consistent, The weaker lower limb of patient's strength are subjected to compensation for the effect of power at this time, to help patient to normally complete trample action, under realization The rehabilitation training of limb, during two pedals 1 rotate, the crank 2 of two sides is always maintained in parallel.

(3) active damping mode

When patient carries out reinforcing training, pressure sensor 5 acquires the pressure value that pedal 1 is subject to, and will collect Pressure value be transmitted on control panel 71, pedal 1 rotation drive first gear 23 rotate, first gear 23 rotation drive third tooth 61 rotation of wheel, photoelectric encoder 6 acquires the rotation information of pedal 1 according to the rotation information of third gear 61, and the rotation is believed Breath is transmitted on control panel 71, and control panel 71 carries out Data Fusion according to the pressure value and rotation information received, is obtained The speed and torque of two servo step motors 4 rotation, the speed and Torque Control then rotated according to servo step motor 4 are watched It takes the output of stepper motor 4 torque contrary with patient motion and passes to pedal 1, so that pedal 1 is forced patient by resistance Trample action is completed using bigger strength, realizes and reinforces training, helps patient exercise's lower limbs strength, patient is normal not influencing Taken exercise patient's strength in the case where physical function.

In the passive exercise of patient, active auxiliary and three kinds of training modes of active damping, stepped on when control panel 71 detects When the pressure being subject on plate 1 is 0, illustrate patient have deconditioning be intended to or because caused by other reasons leg cannot bend and stretch, then Keep servo step motor 4 out of service by control panel 71, and then guarantees patient safety.

A variety of training modes can be arranged according to the physical condition of patient in convalescence device provided by the utility model, preferably Patient is assisted to complete rehabilitation training plans；Convalescence device safety coefficient provided by the utility model is high；It is provided by the utility model Convalescence device is easy to operate, has the visual interface of preferable hommization, no matter patient is in seat state or sleeping state, To complete rehabilitation training plans with effectively guaranteeing patient safety；Convalescence device provided by the utility model meets ergonomics Design, and height can be adjusted by support rod 83, meet patient demand；Convalescence device provided by the utility model passes through planet Reduction gearbox 3 improves the output torque of servo step motor 4, provides better usage experience for patient, meanwhile, it also reduces The burden of servo step motor 4 reduces a possibility that servo step motor 4 damages, improves the use of servo step motor 4 Service life；The servo step motor 4 of the utility model is controlled by control panel 71, be can be realized and is continuously reasonably adjusted load, is Patient provides better rehabilitation training effect.

Herein, the nouns of locality such as related front, rear, top, and bottom are to be located in figure with components in attached drawing and zero Part mutual position defines, only for the purpose of expressing the technical solution clearly and conveniently.It should be appreciated that the noun of locality Use should not limit the claimed range of the application.

In the absence of conflict, the feature in embodiment and embodiment herein-above set forth can be combined with each other.

The above is only the preferred embodiment of the present invention, is not intended to limit the utility model, all practical at this Within novel spirit and principle, any modification, equivalent replacement, improvement and so on should be included in the guarantor of the utility model Within the scope of shield.

Claims (10)

1. a kind of more training mode convalescence devices of foot-operated lower limb, which is characterized in that including two groups of pedal rotating mechanisms, two groups of letters Breath obtains mechanism, control indication mechanism and supporting mechanism, the pedal rotating mechanism include pedal, crank, planetary reduction box and Servo step motor, the acquisition of information mechanism include pressure sensor and photoelectric encoder, and the control indication mechanism includes Control panel and display, the planetary reduction box, servo step motor, photoelectric encoder, control panel and display are arranged at On supporting mechanism, the supporting mechanism it is height-adjustable, the pedal is connect with crank, and the crank connects one first tooth Wheel, the planetary reduction box connect a second gear, and the second gear is engaged with first gear, the servo step motor and Planetary reduction box connection, the pressure sensor are arranged on pedal, and the photoelectric encoder connects a third gear, and described the Three gears are engaged with first gear, and the control panel is connect with display, what the pressure sensor was subject to acquire pedal Pressure, and pressure value is passed into control indication mechanism, rotation information of the photoelectric encoder to acquire pedal, and will adopt The rotation information of the pedal collected passes to control indication mechanism, rotation information and pedal of the control panel to receive pedal The pressure being subject to, and control the size of the torque of servo step motor output, the pressure that the display is subject to show pedal The rotational angle of power and pedal.

2. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the pedal rotating machine Structure is distributed along the central symmetry of supporting mechanism.

3. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the supporting mechanism packet Upper backup pad and lower supporting plate are included, the lower supporting plate is placed on the ground, and motor is fixedly installed in the intermediate of the upper backup pad Pedestal places planetary reduction box and servo step motor on the motor base, bracket is fixedly installed on the upper backup pad, institute Bracket is stated to fixed photoelectric encoder, passes through several height-adjustable supports between the upper backup pad and lower supporting plate Bar connection, the support rod include post upper and the support rod lower end for being arranged connection, and the support rod lower end is equipped with lock, Junction of the lock to fixed post upper and support rod lower end.

4. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 3, which is characterized in that the control display machine Structure further includes the support column that can be stretched, and one end of the support column is connect with upper backup pad, the other end of the support column with Control panel connection.

5. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 3, which is characterized in that the crank includes song Handle upper end and with crank lower end, the crank upper end connect with pedal, and bearing block, institute are equipped between the crank and first gear Stating bearing block includes bearing block upper end and bearing block lower end, and the bearing block lower end is fixedly connected with upper backup pad, the bearing Seat upper end positioned at crank lower end and first gear between, the crank lower end across bearing block upper end circular hole and and first gear Center be cooperatively connected.

6. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the pedal includes upper Plate and lower plate, the pressure sensor are located between upper flat plate and lower plate, and the upper flat plate and lower plate are by polylactic acid Material is made, and can generate deformation after the upper flat plate and lower plate stress.

7. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the planetary reduction box Reduction ratio be 1:36.

8. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the second gear with The transmission ratio of first gear is 1:1, and the transmission ratio of the third gear and first gear is 1:2.

9. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the control panel control Servo step motor exports the torque identical or opposite with patient motion direction.

10. the foot-operated more training mode convalescence devices of lower limb as described in claim 1, which is characterized in that the control panel connects When to receive pressure that pedal is subject to be 0, the control panel control servo step motor is out of service.