CN208693673U - The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved - Google Patents
The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved Download PDFInfo
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- CN208693673U CN208693673U CN201820559783.0U CN201820559783U CN208693673U CN 208693673 U CN208693673 U CN 208693673U CN 201820559783 U CN201820559783 U CN 201820559783U CN 208693673 U CN208693673 U CN 208693673U
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- hospital bed
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- pedal
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Abstract
The utility model relates to medical recovery training equipment technical field, in particular to the hospital bed rehabilitation of anklebone systems of a kind of achievable multi-locomotion mode.Including bracket, drive shaft, asessory shaft, the first L-type adjusting rod, the second L-type adjusting rod, pedal and driving mechanism, wherein drive shaft and asessory shaft are coaxially mounted in two groups of bearing blocks on bracket, one end of first L-type adjusting rod and the second L-type adjusting rod respectively with drive shaft and auxiliary axis connection, the other end is connect with the two sides of pedal respectively, driving mechanism and driving axis connection, for driving drive shaft turns, to realize pedal swinging.The utility model is suitable for the patient of the impaired simultaneously long-term bed of ankle-joint, its is compact-sized, compact, it conveniently moving and can be adjusted according to the force information in rehabilitation training with power output and movement angle range of the movement angle information to rehabilitation system, a variety of different rehabilitation training modes are provided, to meet the rehabilitation demands of different rehabilitation state patients.
Description
Technical field
The utility model relates to medical recoveries to train equipment technical field, in particular to a kind of achievable multi-locomotion mode
Hospital bed rehabilitation of anklebone system.
Background technique
Rehabilitation training is carried out to the patient of ankle moving loss function, the muscular strength of patient and the movement in joint can be increased
Flexibility, so that it be made to restore the locomitivity of ankle-joint and the control ability to joint.It is wherein serious for some damages,
The patient of long-term bed, rehabilitation maneuver is still based on the expert along training of rehabilitation therapist at present.And it is directed to the rehabilitation of ankle-joint
Training equipment can carry out prolonged repeatable motion, reduce the artificial running cost of rehabilitation therapist, rehabilitation can be improved
Trained efficiency.
Existing ankle joint rehabilitation training equipment can be divided into two types, and one of huge structure, dynamical system is complicated,
Equipment is whole heavy, is not easy to adjust, and expensive, but function is more comprehensively, it can be achieved that plurality of operating modes.Another kind knot
Structure is fairly simple, but has a single function, and is unable to satisfy further rehabilitation training demand.The ankle-joint for being directed to long-term bed is impaired
Patient needs one kind that can be placed on hospital bed, portable construction, compact, conveniently moving and have a variety of training modes
The rehabilitation training equipment resumed training in all directions, and current rehabilitation of anklebone equipment is unable to satisfy this demand.
Utility model content
In view of the above-mentioned problems, the purpose of this utility model is to provide a kind of hospital beds of achievable multi-locomotion mode to be closed with ankle
Save rehabilitation system, with meet can be placed on hospital bed, portable construction, compact, conveniently moving and have a variety of training
Mode is resumed training the requirement of rehabilitation in all directions.
To achieve the goals above, the utility model uses following technical scheme:
A kind of hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode, including bracket, drive shaft, asessory shaft,
One L-type adjusting rod, the second L-type adjusting rod, pedal and driving mechanism, wherein drive shaft and asessory shaft are coaxially mounted to bracket
On two groups of bearing blocks in, one end of the first L-type adjusting rod and the second L-type adjusting rod respectively with the drive shaft and auxiliary
Axis connection, the other end are connect with the two sides of pedal respectively, the driving mechanism and the driving axis connection, for driving the drive
Moving axis rotation, to realize the pedal swinging.
The drive shaft includes axis and output shaft, and rotationally coaxial line is mounted on the top of support for the axis and output shaft
It in the bearing block in portion, is connected between the axis and output shaft by torque sensor, the tip of the axis and the driving mechanism
Connection, the output the tip of the axis are connect with the first L-type adjusting rod.
Angular transducer is connected on the asessory shaft.
The upper limit column for limiting the pedal swinging stroke is equipped on bearing block described in two groups on the bracket
And lower limit column.
It is identical that the first L-type adjusting rod and second L-type adjust rod structure, include horizon bar, horizontal slip ring,
Vertical bar and vertical sliding ring, wherein one end of horizon bar and the driving axis connection, the other end are equipped with the water to slide axially
Smooth rotating ring, the lower end of the vertical bar are connect with the horizontal slip ring, and upper end is equipped with the vertical sliding that can be slid axially
Ring, the vertical sliding ring are connect with the pedal.
The horizontal slip ring is identical with the vertical sliding ring structure, includes opening ring body and is set to the opening
The locking member of ring body opening.
The driving mechanism includes motor, retarder and gear wheel reversing mechanism, and the output shaft and retarder of the motor connect
It connects, the retarder passes through the gear wheel reversing mechanism and the driving axis connection.
The gear wheel reversing mechanism includes vertical direction arrangement and intermeshing two bevel gears.
The motor is connect by electric machine support with the bracket, and the motor is Disc brushless DC motor, described straight
It flows brushless disk motor and is equipped with incremental encoder.
The bracket is to be arranged symmetrically structure, is built by aluminum profile, and be fixed and fastened by section jointing part.
The advantages of the utility model and good effect are as follows:
1. the disc type DC brushless motor in the utility model is small in size, noise is low, reduces integrally-built volume,
Meet requirement of the rehabilitation training to low noise environment.It can detect current motor rotor-position by incremental encoder, with
The surveyed asessory shaft angle of angle at the end sensor can realize the control to articulation angle jointly, guarantee movement angle control
The accurate safety that can guarantee rehabilitation training and high-precision.
2. the torque sensor of the utility model can measure the force information in motion process, and realize ankle-joint health using it
The various modes power of complex system controls and shield of trying hard to keep.
3. the gear wheel reversing mechanism of the utility model changes drive path vertically, to make entire rehabilitation system
Structure it is more compact, portability is improved.
4. the pedal position of the utility model can be adjusted according to the use demand of different patients by L-type structure adjusting rod
Section, improves its applicability and comfort.
5. the utility model overall structure is small and exquisite, flexibly portable, it can be placed on hospital bed and be used for sickbed patients.It is logical
Motion information acquired in torque sensor and angular transducer is crossed, can be handled by corresponding control system, and to
It realizes a variety of different rehabilitation training modes, can satisfy the rehabilitation demands of different patients.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the torque sensor installation diagram of the utility model；
Fig. 3 is the structural schematic diagram of the L-type structure adjusting rod of the utility model；
Fig. 4 is the angle sensor mounting structure figure of the utility model；
Fig. 5 is the position limiting structure schematic diagram of the utility model；
Fig. 6 is the Control system architecture block diagram of the utility model.
In figure: 1 is bracket, and 2 be motor, and 3 be motor support base, and 4 be gear wheel reversing mechanism, and 51,52,53,54 be respectively the
One, two, three, four bearing block, 61 be the first L-type adjusting rod, and 62 be the second L-type adjusting rod, and 611 be horizon bar, and 612 be horizontal sliding
Rotating ring, 613 be vertical bar, and 614 be vertical sliding ring, and 7 be pedal, and 8 be angular transducer, and 9 be torque sensor, and 10 be shaft end
Baffle, 11 be washer, and 12 be first bearing, and 13 be drive shaft, and 14 be output shaft, and 15 be pin, and 16 be second bearing, and 17 be auxiliary
Axis, 18 be upper limit column, and 19 be lower limit column.
Specific embodiment
In order to keep the purpose of this utility model, technical solution and advantage clearer, with reference to the accompanying drawing and it is embodied
The utility model is described in detail in example.
As shown in Figure 1, Figure 2, Figure 4 shows, the hospital bed ankle-joint of a kind of achievable multi-locomotion mode provided by the utility model
Rehabilitation system, including bracket 1, drive shaft, asessory shaft 17, the first L-type adjusting rod 61, the second L-type adjusting rod 62, pedal 7 and drive
Motivation structure, wherein drive shaft and asessory shaft 17 are coaxially mounted in two groups of bearing blocks on bracket 1, the first L-type adjusting rod
61 and second one end of L-type adjusting rod 62 connect respectively with drive shaft and asessory shaft 17, the other end connects with the two sides of pedal 7 respectively
It connects, driving mechanism and driving axis connection, for driving drive shaft turns, to realize that pedal 7 is swung.
As shown in Fig. 2, drive shaft includes axis 13 and output shaft 14, rotationally coaxial line is mounted on for axis 13 and output shaft 14
In the first bearing seat 51 and second bearing seat 52 at 1 top of bracket, connected between axis 13 and output shaft 14 by torque sensor 9
It connects, the end of axis 13 is connect with driving mechanism, and the end of output shaft 14 is connect with the first L-type adjusting rod 61.
Driving mechanism includes motor 2, retarder and gear wheel reversing mechanism 4, and motor 2 is connected by electric machine support 3 and bracket 1
It connects, the output shaft of motor 2 is connect with retarder, and retarder is connect by gear wheel reversing mechanism 4 with the axis 13 in drive shaft.
Gear wheel reversing mechanism 4 includes vertical direction arrangement and intermeshing two bevel gears.Motor 2 is brush DC disk
Formula motor, Disc brushless DC motor are equipped with incremental encoder, can detect current motor rotor by incremental encoder
Position.
Based on bracket 1, Disc brushless DC motor and reducer group are connected the utility model by motor support base 3
To bracket 1, power is transferred to along vertical by a bevel gear in retarder output end connection gear reversing mechanism 4 by commutation
Another bevel gear of directional spreding, the gear are connected to axis 13, are positioned on axis 13 by washer 11 and shaft end baffle 10, axis 13
It is connect with 9 one end of torque sensor, 9 other end of torque sensor is connected to output shaft 14, and torque information output by the motor is just
It can be obtained by torque sensor 9.
As shown in figure 4, angular transducer 8 is connected on asessory shaft 17, to realize the acquisition to movement angle information.
Output shaft 17 is supported by the second bearing seat 53 and fourth bearing seat 54 for being mounted on 1 top of bracket, and angular transducer 8 passes through pin
15 connect with the end of output shaft 17.
Bracket 1 is to be arranged symmetrically structure, is built by aluminum profile, and be fixed and fastened by section jointing part.
In order to guarantee the human-computer interaction security in rehabilitation training, position limitation need to be carried out to movement angle.Bracket 1
On two groups of bearing blocks on be equipped with upper limit column 18 and lower limit column 19 for limiting 7 oscillating stroke of pedal, the present embodiment
In, it is equipped with upper limit column 18 and lower limit column 19 in the inside of fourth bearing seat 54 and second bearing seat 52, the first L-type is adjusted
Bar 61 and the second L-type adjusting rod 62 are swung between upper limit column 18 and lower limit column 19, upper limit column 18 and lower limit column 19
The dorsiflex flex angle in motion process is limited respectively.
As shown in figure 3, the first L-type adjusting rod 61 and the second L-type adjusting rod 62 are symmetrical arranged and structure is identical, include
Horizon bar 611, horizontal slip ring 612, vertical bar 613 and vertical sliding ring 614, wherein one end of horizon bar 611 and drive shaft
Connection, the other end are equipped with the horizontal slip ring 612 to slide axially, and horizontal slip ring 612 can slide on horizon bar 611；It is perpendicular
The lower end of straight-bar 613 is connect with horizontal slip ring 612, and upper end is equipped with the vertical sliding ring 614 that can be slid axially, vertical sliding
Ring 614 can slide in vertical bar 613.Pedal 7 is connect with vertical sliding ring 614, and the horizontal position of pedal 7 and vertical height are logical
It crosses horizontal slip ring 612 and vertical sliding ring 614 is adjusted.
Horizontal slip ring 612 is identical with 614 structure of vertical sliding ring, include opening ring body and be set to opening ring body open
Locking member at mouthful, after pedal 7 is adjusted to suitable position, can lock its position by locking member.This implementation
In example, locking member is clamping screw.
Fig. 6 is the Control system architecture block diagram of the utility model, as shown in fig. 6, host computer is PC machine, is sent to slave computer
Motor control instruction, while obtaining angular transducer 8, the feedback data of torque sensor 9 and slave computer electric machine controller
Feedback data, and human-computer interaction is realized by user interface.By the way that the parameter information of power and angle is arranged, a variety of masters may be implemented
Passive exercise mode.Slave computer uses PC104, the instruction that motor 2 issues.User is issued by human-computer interaction interface and is instructed, and
The operating status of real-time monitoring and control rehabilitation system, guarantees the validity of rehabilitation training.
Using the utility model when carrying out rehabilitation training, patient lies supine need to be made in hospital bed, and the utility model is laid flat
In patient's ankle position, adjusting the first L-type adjusting rod 61 and the second L-type adjusting rod 62 keeps 7 position of pedal consistent with patient's sole；
It is issued and is instructed by host computer, controlled Disc brushless DC motor via controller and retarder group provides power output and movement,
Power is transferred to pedal 7 with movement by transmission system and the realization of patient's sole is driven to move synchronously.Power in motion process
Information is obtained by torque sensor 9 and angular transducer 8 respectively with movement angle information, and is transferred to host computer, via control
After system processing, can according to the rehabilitation state and rehabilitation demands of patient, power output and movement angle range to rehabilitation system into
Row is adjusted, to provide a variety of different rehabilitation training modes.Therapist manipulates system by host computer, sets for patient
Corresponding rehabilitation training mode, and according to the rehabilitation state of patient, rehabilitation training mode is adjusted in real time.
The utility model is suitable for the patient of the impaired simultaneously long-term bed of ankle-joint, compact-sized, compact, movement side
Just and to the power output of rehabilitation system and angle can be moved with movement angle information according to the force information in rehabilitation training
Degree range is adjusted, and a variety of different rehabilitation training modes is provided, to meet the rehabilitation demands of different rehabilitation state patients.
The foregoing is merely the embodiments of the present invention, are not intended to limit the protection scope of the utility model.It is all
Any modification, equivalent substitution and improvement made within spirit of the present utility model and principle, extension etc., are all contained in this reality
With in novel protection scope.
Claims (10)
1. a kind of hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode, which is characterized in that including bracket (1), driving
Axis, asessory shaft (17), the first L-type adjusting rod (61), the second L-type adjusting rod (62), pedal (7) and driving mechanism, wherein driving
Axis and asessory shaft (17) are coaxially mounted in two groups of bearing blocks on bracket (1), the first L-type adjusting rod (61) and
One end of two L-type adjusting rods (62) is connect with the drive shaft and asessory shaft (17) respectively, the other end respectively with pedal (7) two
Side connection, the driving mechanism and the driving axis connection, for driving the drive shaft turns, to realize the pedal
(7) it swings.
2. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1, which is characterized in that institute
Stating drive shaft includes axis (13) and output shaft (14), the axis (13) and output shaft (14) rotationally coaxial line be mounted on it is described
In bearing block at the top of bracket (1), connected between the axis (13) and output shaft (14) by torque sensor (9), the axis
(13) end is connect with the driving mechanism, and the end of the output shaft (14) is connect with the first L-type adjusting rod (61).
3. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1 or 2, feature exist
In being connected with angular transducer (8) on the asessory shaft (17).
4. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1, which is characterized in that institute
The upper limit column (18) for limiting the pedal (7) oscillating stroke is equipped on bearing block described in stating two groups on bracket (1)
With lower limit column (19).
5. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1, which is characterized in that institute
It is identical with the second L-type adjusting rod (62) structure to state the first L-type adjusting rod (61), includes horizon bar (611), horizontal sliding
Ring (612), vertical bar (613) and vertical sliding ring (614), wherein one end of horizon bar (611) and the driving axis connection, separately
One end is equipped with the horizontal slip ring (612) to slide axially, the lower end of the vertical bar (613) and the horizontal slip ring
(612) it connects, upper end is equipped with the vertical sliding ring (614) that can be slid axially, the vertical sliding ring (614) and the pedal
(7) it connects.
6. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 5, which is characterized in that institute
It is identical with vertical sliding ring (614) structure to state horizontal slip ring (612), includes opening ring body and is set to the opening
The locking member of ring body opening.
7. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1, which is characterized in that institute
Stating driving mechanism includes motor (2), retarder and gear wheel reversing mechanism (4), and the output shaft and retarder of the motor (2) connect
It connects, the retarder passes through the gear wheel reversing mechanism (4) and the driving axis connection.
8. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 7, which is characterized in that institute
Stating gear wheel reversing mechanism (4) includes vertical direction arrangement and intermeshing two bevel gears.
9. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 7, which is characterized in that institute
It states motor (2) to connect by electric machine support (3) with the bracket (1), the motor (2) is Disc brushless DC motor, described
Disc brushless DC motor is equipped with incremental encoder.
10. the hospital bed rehabilitation of anklebone system of achievable multi-locomotion mode according to claim 1, which is characterized in that
The bracket (1) is to be arranged symmetrically structure, is built by aluminum profile, and be fixed and fastened by section jointing part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820559783.0U CN208693673U (en) | 2018-04-19 | 2018-04-19 | The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820559783.0U CN208693673U (en) | 2018-04-19 | 2018-04-19 | The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved |
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| Publication Number | Publication Date |
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| CN208693673U true CN208693673U (en) | 2019-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820559783.0U Active CN208693673U (en) | 2018-04-19 | 2018-04-19 | The hospital bed rehabilitation of anklebone system of multi-locomotion mode can be achieved |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433912A (en) * | 2018-04-19 | 2018-08-24 | 中国科学院沈阳自动化研究所 | A kind of sick bed rehabilitation of anklebone system of achievable multi-locomotion mode |
-
2018
- 2018-04-19 CN CN201820559783.0U patent/CN208693673U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433912A (en) * | 2018-04-19 | 2018-08-24 | 中国科学院沈阳自动化研究所 | A kind of sick bed rehabilitation of anklebone system of achievable multi-locomotion mode |
| CN108433912B (en) * | 2018-04-19 | 2023-11-21 | 中国科学院沈阳自动化研究所 | Ankle joint rehabilitation system capable of realizing multi-movement mode for sickbed |
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