CN210278132U - Leg muscle strength rehabilitation training device - Google Patents
Leg muscle strength rehabilitation training device Download PDFInfo
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- CN210278132U CN210278132U CN201921042407.5U CN201921042407U CN210278132U CN 210278132 U CN210278132 U CN 210278132U CN 201921042407 U CN201921042407 U CN 201921042407U CN 210278132 U CN210278132 U CN 210278132U
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Abstract
The utility model relates to a leg muscle strength rehabilitation training device, belonging to the technical field of leg rehabilitation medical appliances, and solving the technical problems of higher rehabilitation training cost, time-consuming wearing and incapability of monitoring the rehabilitation treatment effect of a patient in real time in the prior art; the utility model comprises a base, a power source and a lead screw sliding table; the utility model discloses can realize that the patient is the training mode of main robot for assisting, through standardized repetitive motion, temper shank muscle, resume low limbs motor function, not only accord with the human body and sit the conversion motion law of standing, but also can steady supplementary patient accomplishes the rehabilitation training of sitting-standing-sitting shank muscle strength.
Description
Technical Field
The utility model belongs to the technical field of shank rehabilitation medical instrument, concretely relates to shank muscle strength rehabilitation training device provides the human conversion from the position of sitting state to standing state of auxiliary force help through mechanical structure to human buttock promptly, realizes the rehabilitation training of low limbs shank muscle strength.
Background
With the aggravation of the aging of China society, patients with lower limb injury and pain caused by accidents such as cerebral apoplexy hemiplegia patients, traffic accidents and the like gradually increase, and the use value of rehabilitation equipment becomes larger and larger. Most domestic rehabilitation hospitals still carry out leg rehabilitation treatment by means of manual traditional rehabilitation methods or simple rehabilitation medical equipment, not only is the rehabilitation efficiency low, but also the labor intensity of therapists is high, the training time of patients is limited, and the rehabilitation training device gradually replaces the therapists to complete some rehabilitation training tasks by virtue of the characteristics of automation, accuracy and intellectualization, and is becoming a new hotspot in the field of research of rehabilitation medical equipment.
However, the prior art has the following technical defects:
(1) the traditional rehabilitation therapy of the patients with limb dysfunction mainly depends on one-to-one bare-handed training of therapists, high-strength, targeted and repetitive rehabilitation training requirements are difficult to realize, the cost of manual training is high, the rehabilitation evaluation is also subjective evaluation, and the rehabilitation therapy effect of the patients cannot be monitored in real time.
(2) The functional electrical stimulation technology is adopted to stimulate the injured muscles of the patients or the relevant parts of the old people, although the patients can be successfully assisted to stand, personalized rehabilitation schemes are required to be formulated by providing different stimulation currents and pulse widths for different patients and the old people.
(3) The lower limb exoskeleton rehabilitation robot can only aim at a specific patient to assist rehabilitation treatment due to the defects of cost, self weight, time consumption for wearing and the like.
(4) The partial auxiliary standing system assists a patient to provide necessary auxiliary force for keeping the body stable and balanced in the sitting-standing-sitting process, and how to coordinate the relation between the auxiliary force provided by the human body and the auxiliary force provided by the robot is not well solved at present.
Disclosure of Invention
The utility model aims at providing a shank muscle strength rehabilitation training device, the rehabilitation training cost that exists among the solution prior art is higher, the wearing takes time, can not the technical problem of real-time supervision patient's rehabilitation effect.
In order to achieve the purpose, the utility model adopts the following technical scheme:
the utility model discloses a leg muscle strength rehabilitation training device comprises a base, a power source and a screw rod sliding table mechanism;
the base comprises four foot supports, a metal plate, four film pressure sensors I, an upright post and two handrails; the four foot supports are respectively and fixedly connected to four corners of the bottom of the metal plate, the four film pressure sensors I are all fixedly connected to the front side of the metal plate, the four stand columns are respectively and fixedly connected with the metal plate, and the two handrails are respectively and fixedly connected to the left side and the right side of the metal plate;
the power source comprises a stepping motor II, a worm gear reducer, a right-angle support II, a key, a bearing seat, a ball bearing, a stepped shaft, a flat key, two Z-shaped supports, a coupler II, an angle encoder, a right-angle support IV and a right-angle support V;
the output shaft of a stepping motor II is in key connection with the worm of a worm gear reducer, the base of the stepping motor II is connected with the shell of the worm gear reducer through a bolt and a nut, the worm gear reducer is in key connection with one side of a step shaft, the worm gear reducer is respectively in bolt connection with the outer sides of two left stand columns through a right-angle support II, the other side of the step shaft is connected with an angle encoder through a coupling II, the angle encoder is fixedly connected with a right-angle support IV, the right-angle support IV is fixedly connected with a right-angle support V, the right-angle support V is respectively in bolt connection with the two right-side stand columns, a ball bearing is positioned in the bearing seat, the bearing seat at one end of the step shaft is respectively connected with the two left stand columns through bolts, the bearing seat at the other end of the step shaft is, each Z-shaped bracket is fixedly connected with the stepped shaft, and the cross beam is respectively connected with the two Z-shaped brackets through bolts;
the lead screw sliding table comprises a cushion, a film pressure sensor II, a moving platform, a ball screw, a coupler III, a stepping motor III, a stay wire type displacement sensor, a right-angle bracket VI, two cross beams and a right-angle bracket VII;
base and crossbeam fixed connection of step motor III, step motor III's output shaft passes through shaft coupling III and ball is connected, ball's both sides pass through bolted connection with the crossbeam respectively, screw and moving platform fixed connection, cushion and moving platform fixed connection are equipped with four film pressure sensor II on the cushion, moving platform passes through one side bolted connection of right angle support VII and stay-supported displacement sensor, stay-supported displacement sensor opposite side passes through right angle support VI and crossbeam bolted connection.
Further, the upright post is made of aluminum profiles.
Further, the material of the handrail is an aluminum alloy pipe.
Further, the rotation angle range of the cross beam is 0 ° to 90 °.
Furthermore, the utility model also comprises a backrest rotating mechanism, wherein the backrest rotating mechanism comprises a stepping motor I, a right-angle bracket I, a coupler I, a backrest, a rotating shaft and a right-angle bracket III; the right-angle bracket III and the right-angle bracket IV are in the same structure;
step motor I's output shaft passes through shaft coupling I and is connected with the rotation axis, rotation axis and back fixed connection, step motor I and I fixed connection of right angle support, and right angle support I passes through bolt and nut fastening, right angle support III and crossbeam fixed connection with the right angle support.
Further, the utility model discloses still include the controller, the controller respectively with step motor I, step motor II, angle encoder, film pressure sensor I, film pressure sensor II, step motor III, stay-supported displacement sensor are connected, realize the operation of each electronic parts of controller control through PLC programming or singlechip.
The utility model has the advantages of:
1. a thin film pressure sensor is arranged on a metal plate of the base, and the foot pressure of a patient in the sitting-standing-sitting process is measured; the cushion is provided with a film pressure sensor, the pressure of the buttocks of a patient in the sitting-standing-sitting process is measured, the leg muscle strength which is lacked in the sitting-standing-sitting conversion process of the patient is calculated through a Newton Euler inverse dynamics algorithm, the device is utilized to provide accurate auxiliary force, meanwhile, the base is provided with the handrail, the handrail can prevent the patient from toppling in the sitting-standing-sitting process, meanwhile, the hand can exert force to assist the patient to stand up, and the active force of the patient is exerted to the maximum extent;
2. an angle encoder is arranged on one side of the stepped shaft, so that the rotation angle of the cross beam on a radial plane can be accurately measured, the angle change of the knee joint can be further obtained, a stay wire type displacement sensor is arranged on the outer side of the mobile platform, the displacement of the mobile platform in linear motion can be accurately measured, and the displacement of the hip supported by the cushion in the sitting-standing-sitting process of a patient can be accurately compensated;
3. a backrest rotating mechanism is designed on the basis of the cushion, and the mechanism can stably assist in supporting the back strength of a patient in the sitting-standing-sitting process and plays a role in preventing toppling;
4. according to the principle of combining a rehabilitation medical theory and a rehabilitation robot, under the action of a control system, a proper amount of auxiliary force is provided for a patient through a mechanical structure, so that a beam can rotate in a radial plane, a cushion on a lead screw sliding table can move along the direction of the beam, the patient with lower limb dysfunction can perform sitting-standing-sitting rehabilitation training in an initial sitting posture state within a range of 90 degrees, meanwhile, a backrest also rotates along with the sitting-standing-sitting process of the patient, the function of supporting the back of the patient in an auxiliary mode is achieved, and the function of leg muscle strength rehabilitation training is further achieved;
the utility model can stably provide rehabilitation training with proper strength for a long time, accurately detect and feed back the motion information of the patient for real-time control, and the patient can play the main power of the patient to participate in the sitting-standing-sitting process to the maximum extent, thereby realizing the training mode that the patient is assisted by a main robot; the utility model can exercise the muscles of the legs and recover the motor function of the lower limbs through standardized repetitive motion, not only accords with the law of the human body to sit and stand to convert the motion, but also can stably assist the patients to complete the rehabilitation training of sitting-standing-sitting the muscles of the legs.
Drawings
Fig. 1 is a schematic structural view of the leg muscle strength rehabilitation training device of the present invention;
fig. 2 is an axonometric view of the leg muscle strength rehabilitation training device of the present invention;
fig. 3 is another schematic structural view of the leg muscle strength rehabilitation training device of the present invention;
the device comprises a base, a foot support, a metal plate, a thin film pressure sensor I, a thin film pressure sensor stand column, a thin film pressure sensor handrail, a thin film pressure sensor.
Detailed Description
The present invention will be further explained with reference to the accompanying drawings.
Referring to fig. 1-3, the leg muscle strength rehabilitation training device of the present invention comprises a base, a power source and a screw sliding table mechanism 25;
the base comprises four foot supports 1, a metal plate 2, four film pressure sensors I3, a stand column 4 and two handrails 5; the four foot supports 1 are respectively and fixedly connected to four corners of the bottom of the metal plate 2, the four film pressure sensors I3 are all fixedly connected to the front side of the metal plate 2, the four stand columns 4 are respectively and fixedly connected with the metal plate 2, and the two handrails 5 are respectively and fixedly connected to the left side and the right side of the metal plate 2;
the power source comprises a stepping motor II 11, a worm gear reducer 12, a right-angle support II 13, a key 14, a bearing seat 15, a ball bearing 16, a stepped shaft 17, a flat key 18, two Z-shaped supports 19, a coupler II 20, an angle encoder 22, a right-angle support IV 23 and a right-angle support V24;
an output shaft of a stepping motor II 11 is in key connection with a worm of a worm gear reducer, a base of the stepping motor II is connected with a shell of the worm gear reducer through bolts and nuts, the worm gear reducer 12 is connected with one side of a stepped shaft 17 through a key 14, the worm gear reducer 12 is respectively in bolt connection with the outer sides of two upright posts 4 on the left side through a right-angle support II 13, the other side of the stepped shaft 17 is connected with an angle encoder 22 through a coupling II 20, the angle encoder 22 is fixedly connected with a right-angle support IV 23, the right-angle support IV 23 is fixedly connected with a right-angle support V24, the right-angle support V24 is respectively in bolt connection with the two upright posts 4 on the right side, a ball bearing 16 is positioned inside a bearing seat 15, the bearing seat at one end of the stepped shaft 17 is respectively connected with the two upright posts 4, the two Z-shaped brackets 19 are respectively positioned at two sides of the flat key 18 at the center of the stepped shaft 17, each Z-shaped bracket 19 is fixedly connected with the stepped shaft, and the cross beam 34 is respectively connected with the two Z-shaped brackets through bolts;
the screw rod sliding table 25 comprises a cushion 26, a film pressure sensor II 27, a moving platform 28, a ball screw 29, a coupler III 30, a stepping motor III 31, a stay wire type displacement sensor 32, a right-angle bracket VI 33, two cross beams 34 and a right-angle bracket VII 35;
base and crossbeam 34 fixed connection of step motor III 31, step motor III 31's output shaft passes through shaft coupling III 30 and is connected with ball 29, ball 29's both sides pass through bolted connection with crossbeam 34 respectively, screw and moving platform 28 fixed connection, cushion 26 and moving platform 28 fixed connection, be equipped with four film pressure sensor II 27 on the cushion 26, moving platform 28 passes through one side bolted connection of right angle support VII 35 and stay-supported displacement sensor 32, stay-supported displacement sensor 32 opposite side passes through right angle support VI 33 and crossbeam 34 bolted connection.
The upright post 4 is made of aluminum profiles.
The material of the handrail 5 is an aluminum alloy pipe.
Further, the rotation angle range of the cross beam 34 is 0-90 °.
Furthermore, the utility model also comprises a backrest rotating mechanism, wherein the backrest rotating mechanism comprises a stepping motor I6, a right-angle bracket I7, a coupler I8, a backrest 9, a rotating shaft 10 and a right-angle bracket III 21; the right-angle support III 21 and the right-angle support IV 23 are of the same structure;
output shaft of step motor I6 passes through shaft coupling I8 and is connected with the rotation axis, rotation axis 10 and 9 fixed connection of back, step motor I6 and I7 fixed connection of right angle support, and right angle support I7 passes through bolt and nut fastening with III 21 of right angle support, and III 21 and crossbeam 34 fixed connection of right angle support.
Further, the utility model discloses still include the controller, the controller respectively with step motor I6, step motor II 11, angle encoder 22, film pressure sensor I3, film pressure sensor II 27, step motor III 31, stay-supported displacement sensor 32 are connected, realize the operation of each electronic parts of controller control through PLC programming or singlechip.
The working process of the utility model is as follows:
in the initial state, the lower limb dysfunction patient stably sits on the cushion 26, the sole of the foot is stepped on the film pressure sensor I3, the stepping motor II 11 is started to work, power is transmitted through the worm gear reducer 12, so that the cross beam 34 makes a rotational movement, the patient stands slowly with the cross beam 34 in the radial plane, meanwhile, the stepping motor III 31 of the screw sliding table 25 on the cross beam 34 drives the moving platform 28 to drive the cushion 26 to do linear motion along the direction of the cross beam 34 to support the buttocks of the patient, and the backrest 9 on the backrest rotating mechanism supports the back of the patient along with the patient in the sitting-standing-sitting process under the driving of the stepping motor I6, therefore, under the coordination control of the three stepping motors, the movement track of the seat cushion 26 is approximately superposed with the movement track of hip joints of buttocks of a patient in the sitting-standing-sitting process, and the aim of assisting the lower limb dysfunction patient to carry out leg muscle strength rehabilitation training is fulfilled; the controller is respectively connected with the stepping motor I6, the stepping motor II 11, the angle encoder 22, the film pressure sensor I3, the film pressure sensor II 27, the stepping motor III 31 and the stay wire type displacement sensor 32, and the controller is used for controlling the operation of each electronic component.
Claims (6)
1. The leg muscle strength rehabilitation training device is characterized by comprising a base, a power source and a screw rod sliding table mechanism (25);
the base comprises four foot supports (1), a metal plate (2), four film pressure sensors I (3), an upright post (4) and two handrails (5); the four foot supports (1) are respectively and fixedly connected to four corners of the bottom of the metal plate (2), the four film pressure sensors I (3) are respectively and fixedly connected to the front side of the metal plate (2), the four stand columns (4) are respectively and fixedly connected with the metal plate (2), and the two handrails (5) are respectively and fixedly connected to the left side and the right side of the metal plate (2);
the power source comprises a stepping motor II (11), a worm gear reducer (12), a right-angle support II (13), a key (14), a bearing seat (15), a ball bearing (16), a stepped shaft (17), a flat key (18), two Z-shaped supports (19), a coupler II (20), an angle encoder (22), a right-angle support IV (23) and a right-angle support V (24);
the output shaft of a stepping motor II (11) is in key connection with the worm of a worm gear reducer, the worm gear reducer (12) is connected with one side of a stepped shaft (17) through a key (14), the worm gear reducer (12) is in bolt connection with the outer sides of two left upright posts (4) through a right-angle support II (13), the other side of the stepped shaft (17) is connected with an angle encoder (22) through a coupler II (20), the angle encoder (22) is fixedly connected with a right-angle support IV (23), the right-angle support IV (23) is fixedly connected with a right-angle support V (24), the right-angle support V (24) is in bolt connection with the two right upright posts (4), a ball bearing (16) is positioned inside a bearing seat (15), the bearing seat at one end of the stepped shaft (17) is respectively connected with the two left upright posts (4) through bolts, the bearing seat at the other end of the stepped shaft (17) is respectively connected with the two, the two Z-shaped brackets (19) are respectively positioned at two sides of a flat key (18) at the center of the stepped shaft (17), each Z-shaped bracket (19) is fixedly connected with the stepped shaft, and the cross beam (34) is respectively connected with the two Z-shaped brackets through bolts;
the screw rod sliding table mechanism (25) comprises a cushion (26), a film pressure sensor II (27), a moving platform (28), a ball screw (29), a coupler III (30), a stepping motor III (31), a stay wire type displacement sensor (32), a right-angle bracket VI (33), two cross beams (34) and a right-angle bracket VII (35);
base and crossbeam (34) fixed connection of step motor III (31), the output shaft of step motor III (31) passes through shaft coupling III (30) and is connected with ball (29), ball (29) both sides pass through bolted connection with crossbeam (34) respectively, screw and moving platform (28) fixed connection, cushion (26) and moving platform (28) fixed connection, be equipped with four film pressure sensor II (27) on cushion (26), moving platform (28) pass through one side bolted connection of right angle support VII (35) and stay-supported displacement sensor (32), stay-supported displacement sensor (32) opposite side passes through right angle support VI (33) and crossbeam (34) bolted connection.
2. The leg muscular strength rehabilitation training device according to claim 1, wherein the material of the column (4) is an aluminum profile.
3. The leg muscular strength rehabilitation training device according to claim 1, wherein the material of the armrest (5) is an aluminum alloy tube.
4. The leg muscular strength rehabilitation training device according to claim 1, characterized in that further, the rotation angle of the cross beam (34) ranges from 0 ° to 90 °.
5. The leg muscle strength rehabilitation training device as claimed in claim 1, further comprising a backrest rotating mechanism, wherein the backrest rotating mechanism comprises a stepping motor I (6), a right-angle bracket I (7), a coupler I (8), a backrest (9), a rotating shaft (10) and a right-angle bracket III (21); the right-angle support III (21) and the right-angle support IV (23) are of the same structure;
the output shaft of step motor I (6) passes through shaft coupling I (8) and is connected with the rotation axis, rotation axis (10) and back (9) fixed connection, step motor I (6) and I (7) fixed connection of right angle support, and bolt and nut fastening is passed through with right angle support III (21) in right angle support I (7), and right angle support III (21) and crossbeam (34) fixed connection.
6. The leg muscle strength rehabilitation training device as claimed in claim 1, further comprising a controller, wherein the controller is respectively connected with the stepping motor I (6), the stepping motor II (11), the angle encoder (22), the film pressure sensor I (3), the film pressure sensor II (27), the stepping motor III (31) and the stay wire type displacement sensor (32), and the controller is used for controlling the operation of each electronic component through PLC programming or a single chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921042407.5U CN210278132U (en) | 2019-07-05 | 2019-07-05 | Leg muscle strength rehabilitation training device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921042407.5U CN210278132U (en) | 2019-07-05 | 2019-07-05 | Leg muscle strength rehabilitation training device |
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| CN210278132U true CN210278132U (en) | 2020-04-10 |
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| CN201921042407.5U Active - Reinstated CN210278132U (en) | 2019-07-05 | 2019-07-05 | Leg muscle strength rehabilitation training device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114404894A (en) * | 2021-12-16 | 2022-04-29 | 西安大兴医院 | Neurosurgery hemiplegia patient suffers from limb rehabilitation and tempers device |
-
2019
- 2019-07-05 CN CN201921042407.5U patent/CN210278132U/en active Active - Reinstated
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114404894A (en) * | 2021-12-16 | 2022-04-29 | 西安大兴医院 | Neurosurgery hemiplegia patient suffers from limb rehabilitation and tempers device |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200410 Termination date: 20210705 |
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| RR01 | Reinstatement of patent right |
Former decision: Termination of patent right without annual fee Former decision publication date: 20220614 |
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| RR01 | Reinstatement of patent right |