CN215193471U - Lower limb rehabilitation training device - Google Patents
Lower limb rehabilitation training device Download PDFInfo
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- CN215193471U CN215193471U CN202121489248.0U CN202121489248U CN215193471U CN 215193471 U CN215193471 U CN 215193471U CN 202121489248 U CN202121489248 U CN 202121489248U CN 215193471 U CN215193471 U CN 215193471U
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- ankle joint
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Abstract
The utility model relates to the technical field of exoskeleton, in particular to a device for passive rehabilitation training of human limbs, which comprises a foot plate, wherein the foot plate is connected with an ankle joint mechanism, the ankle joint mechanism is arranged at a lower limb movable assembly, the ankle joint mechanism is provided with a rotating shaft, the rotating shaft is matched with a bearing arranged at the tail end of the lower limb movable assembly and is driven by a motor, and an angle sensor is arranged on the rotating shaft; the motor and the angle sensor are both connected with the main controller. The foot plates can move relatively independently, and the foot training effect is more obvious for patients who can not move the feet independently. Set up torque sensor at ankle joint mechanism, detect the moment of torsion of ankle joint position, can judge whether the sole atress is suitable, set up pressure sensor at the sole, judge the atress of human foot, judge whether low limbs movable assembly length is suitable, be favorable to adjusting more suitable position with ankle joint mechanism.
Description
Technical Field
The utility model relates to an outer skeleton technical field particularly is the passive rehabilitation training that exoskeleton technology is applied to human limbs, more specifically is a low limbs rehabilitation training device.
Background
The primary rehabilitation devices for rehabilitation of limbs are similar to fitness equipment, and exercise equipment such as finger rehabilitation training devices for hands and ankle rehabilitation training belts are used by human bodies. Later, more and more people focused on convenience and some situations that people could not actively move their limbs, in order to adapt to this reality, the movement of human limbs by devices, called passive training devices, can also have the effect of rehabilitation training.
For the lower limb rehabilitation training device, as most patients lie in bed or sit beside the bed for training, the passive training device is more convenient to exercise. The existing lower limb rehabilitation training device is generally fixed by a foot plate and a movable arm simulating the lower limb and moves around a knee joint. The mode has obvious training effect on the ankle of the lower limb, has the conditions of incapability of autonomous movement such as foot drop, foot eversion and foot hyperextension on the foot, has unobvious training effect on the ankle and the foot, and simultaneously can not well control the training force.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a low limbs rehabilitation training device solves current rehabilitation training device, to the foot exist can not be from the problem that the training effect of ankle part and foot is obscure under the condition of activity to be favorable to controlling the dynamics of training.
The utility model provides a lower limb rehabilitation training device, which comprises a foot plate, wherein the foot plate is connected with an ankle joint mechanism, the ankle joint mechanism is arranged on a lower limb movable component, the ankle joint mechanism is provided with a rotating shaft, and the rotating shaft is matched with a bearing arranged at the tail end of the lower limb movable component and is driven by a motor; the rotating shaft is provided with an angle sensor; the motor and the angle sensor are both connected with the main controller. The arrangement of the structures enables the foot plate to move independently relative to the leg bones, and the foot training effect is more obvious for a patient who cannot move the feet independently. Whether the rotation angle of the foot plate is suitable or not is monitored by arranging the angle sensor, so that the rotation angle of the ankle joint is adjusted, and the risk of ankle sprain in training is reduced.
Further improvement, the length of the lower limb movable assembly is adjustable; the surface of the foot plate facing the feet is provided with a pressure sensor, and the pressure sensor is connected with the main controller. The lower limb moving assembly is divided into two sections, namely a first section of the lower limb moving assembly and a second section of the lower limb moving assembly, and the second section of the lower limb moving assembly is connected with the foot plate base; the second section of the lower limb movable assembly is sleeved in the first section of the lower limb movable assembly at the joint of the first section of the lower limb movable assembly and is provided with scales; and a positioning screw is arranged at the joint of the second section of the lower limb moving assembly and the first section of the lower limb moving assembly. Because set up pressure sensor at the sole, cooperation low limbs movable part length is adjustable, is favorable to adjusting the proper position with the sole, reduces the risk of limb damage in the training. The ankle joint mechanism is provided with a torque sensor, and the torque sensor is connected with the main controller.
Because set up torque sensor at ankle joint mechanism, detect the moment of torsion of ankle joint position, can judge whether the sole atress is suitable, cooperation low limbs movable assembly length is adjustable, can adjust the sole to the position that is favorable to recovering the training, reduces the limbs damage risk that the low limbs movable assembly length is improper to cause. Set up pressure sensor at the sole, judge the atress of human foot, the supplementary lower limbs movable assembly length of judging is suitable, is favorable to adjusting more suitable position with ankle joint mechanism.
In a further improvement, the motor is arranged on a motor base, the motor base is arranged on a support of the lower limb movable assembly, and the output end of the motor is connected with and drives the rotating shaft. When the lower limb movable assembly is in a fixed state, the rehabilitation training of the foot can be independently carried out. When the lower limb movable assembly moves to train the knee joint, the driving motor 4 is arranged on the lower limb movable assembly, so that the condition that the foot training can be performed while the knee joint training is performed is met.
In a further improvement, the motor is arranged on the rack and is connected with the rotating shaft through worm and gear transmission. The worm is connected with the low-speed section of the motor, and the worm wheel is connected with the rotating shaft. The influence of the driving motor arranged on the lower limb movable assembly on the strength of the connecting structure of the lower limb movable assembly is avoided. Meanwhile, the worm gear has self-locking capacity, inertia generated in the swinging process can be overcome, and the swinging amplitude is more stable.
Preferably, the motor is a stepping motor or a servo motor, and the angle sensor is a potentiometer type angle sensor or an encoder, so that the system control is facilitated.
Compared with the prior art, the beneficial effects of the utility model reside in that:
(1) through setting up the sole, make the sole can independently move for the shank, to the patient that the foot can not independently move about, the training effect of foot is more obvious.
(2) Because set up torque sensor at ankle joint mechanism, detect the moment of torsion of ankle joint position, can judge whether the sole atress is suitable, cooperation low limbs movable assembly length is adjustable, can adjust the sole to the position that is favorable to recovering the training, reduces the limbs damage risk that the low limbs movable assembly length is improper to cause. Set up pressure sensor at the sole, judge the atress of human foot, the supplementary lower limbs movable assembly length of judging is suitable, is favorable to adjusting more suitable position with ankle joint mechanism.
(3) Whether the rotation angle of the foot plate is suitable or not is detected by arranging the angle sensor, so that the rotation angle of the ankle joint is adjusted, and the risk of ankle sprain in training is reduced.
(4) The driving motor is arranged on the frame, so that the influence of the driving motor on the strength of the connecting structure of the lower limb movable assembly is avoided. Meanwhile, the worm gear has self-locking capacity, inertia generated in the swinging process can be overcome, and the swinging amplitude is more stable.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application, and in which:
FIG. 1 is a schematic view of the structure of the foot plate and the foot plate base of the present invention;
fig. 2 is a schematic view of a transmission structure of a motor in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of the connection of the control module of the present invention.
Fig. 4 is a schematic view of the transmission structure of the motor in embodiment 2 of the present invention.
In the figure, the position of the upper end of the main shaft,
1. a foot plate;
2. an ankle joint mechanism;
3. a rotating shaft;
4. a drive motor;
5. a worm gear;
6. a worm;
7. a lower limb movement assembly;
8. an angle sensor;
9. a pressure sensor.
Detailed Description
Embodiments of the present application will be described in detail with reference to the drawings and examples, so that how to implement technical means to solve technical problems and achieve technical effects of the present application can be fully understood and implemented.
As described in the background art, the current practice of the lower limb rehabilitation training device is significant for training the ankle and the upper part of the lower limb, and the foot is under the conditions of foot drop, foot eversion, foot hyperextension and the like which cannot move independently, so that the training effect of the ankle and the foot is not significant, and the training force cannot be well controlled. The present invention specifically describes a solution to the above problems by the following examples.
Example 1
A lower limb rehabilitation training device provided by a first embodiment of the application is shown in fig. 1-3 and comprises a foot plate 1, wherein the foot plate 1 is fixedly arranged on a foot plate base, the foot plate base is arranged on a lower limb movable assembly 7, the foot plate base is provided with a rotating shaft 3, and the rotating shaft 3 is matched with a bearing arranged at the tail end of the lower limb movable assembly and is driven by a driving motor 4; the foot plate seat is connected with the tail end of the lower limb movable assembly in a matched mode to form an ankle joint mechanism 2 for simulating rotation of an ankle joint.
The rotating shaft 3 is provided with an angle sensor 8 for measuring the rotating angle of the rotating shaft relative to the foot plate base, and the rotating angle is the rotating angle of the ankle joint of the human body during rehabilitation training.
The driving motor 4 and the angle sensor are both connected with the main controller. The controller controls the driving motor to rotate, so that the foot plate can swing at a certain angle relative to the lower limb movable assembly 7, and the foot plate drives the instep of the human body to swing to perform passive rehabilitation training.
Wherein, the outer side of the foot plate is additionally provided with an upper or is made into a structure with a binding belt, thereby fixing the feet of the human body. The motor can adopt a stepping motor or a servo motor, thereby being beneficial to controlling the rotation form of the rotating shaft and realizing the swinging action of the foot plate. The angle sensor can adopt a potentiometer sensor or an encoder, and the encoder can further adopt a single-turn absolute value encoder. Whether the rotation angle of the foot plate is suitable or not is monitored by arranging the angle sensor, so that the rotation angle of the ankle joint is adjusted, and the risk of ankle sprain in training is reduced.
The surface of the foot plate 1 facing the feet is provided with a pressure sensor which is connected with a main controller. Meanwhile, the lower limb moving assembly 7 is divided into two sections, namely a first section of the lower limb moving assembly, a second section of the lower limb moving assembly and a second section of the lower limb moving assembly which is connected with the foot plate base; the second section of the lower limb movable assembly is sleeved in the first section of the lower limb movable assembly at the joint of the first section of the lower limb movable assembly and is provided with scales; and a positioning screw is arranged at the joint of the second section of the lower limb moving assembly and the first section of the lower limb moving assembly. Through the improvement of setting up above structure, make the sole can independently move for the shank, to the patient that the foot can not independently move about, the training effect of foot is more obvious.
Because the length of the skeleton of the human body is fixed and the length of the ligament is limited. For a patient with a conscious foot, adjustments may be made depending on whether the patient's perception is appropriate. However, for patients with unconscious partial feet, if the length of the lower limb moving component is too short or too long, the risk of injury to the limbs, such as ligament strain, can occur during training.
Set up torque sensor at ankle joint mechanism, detect the moment of torsion of ankle joint position, can judge whether the sole atress is suitable, cooperation low limbs movable assembly length is adjustable, can adjust the sole to the position that is favorable to recovering the training, reduces the limb damage risk that the low limbs movable assembly length is improper to be caused. Set up pressure sensor 9 at the sole, judge the atress of human foot, the supplementary lower limbs movable assembly length of judging is suitable, is favorable to adjusting more suitable position with ankle joint mechanism.
The driving motor is mounted on a motor base (the motor base is not shown in the figure), the motor base is mounted on a support arranged on the lower limb movable assembly, and the output end of the motor is connected with the driving rotating shaft.
When the lower limb moving assembly 7 is in a fixed state, the rehabilitation training of the foot can be independently carried out. When the lower limb moving assembly 7 moves to train the knee joint, the driving motor 4 is arranged on the lower limb moving assembly 7, so that the condition that the foot training can be performed while the knee joint training is performed is provided.
The following generally describes the motion process of the rehabilitation training device provided by the embodiment: the driving motor is rotated by the controller of the main control board to drive the back-and-forth rotating shaft to rotate by a set angle, and the rotating shaft drives the foot plate seat and the foot plate to swing to drive the foot to train. The angle sensor detects the rotation angle of the rotating shaft and feeds back the rotation angle to the controller, reference is provided for adjusting the rotation of the driving motor, and ankle sprain is avoided. Torque sensor detects ankle joint mechanism's moment of torsion, and pressure sensor detects foot pressure, and whether suggestion pressure is too big or the undersize, and then adjusts the length of low limbs movable assembly, reduces the limbs damage risk in the training.
Example 2
The second embodiment of the present application is an improvement over embodiment 1. In example 1, in order to enable a foot training simultaneously with a knee joint training, the drive motor 4 is provided in the lower limb moving assembly 7, and thus the structural strength of the lower limb moving assembly 7 is required to be high.
For this reason, this application embodiment 2 changes the motor into and installs in the frame, and driving motor 4 passes through worm gear transmission and is connected with the pivot.
As shown in fig. 4, the worm 6 is connected to the low speed section of the driving motor, and the worm wheel 5 is connected to the rotary shaft 3. The rotating shaft 3 is matched with a bearing arranged at the tail end of the lower limb movable assembly and is fixed with the foot plate mounting seat to form an ankle joint mechanism 2 which can simulate the rotation of an ankle joint.
Although the selection of the arrangement position of the driving motor and the transmission mechanism of the embodiment limits the training to the foot training, the influence of the arrangement of the driving motor on the lower limb moving assembly on the strength of the structure is avoided. Meanwhile, the worm gear has self-locking capacity, inertia generated in the swinging process can be overcome, and the swinging amplitude is more stable.
While the foregoing description shows and describes several preferred embodiments of the invention, it is to be understood, as noted above, that the invention is not limited to the forms disclosed herein, but is not intended to be exhaustive or to exclude other embodiments and may be used in various other combinations, modifications, and environments and is capable of changes within the scope of the inventive concept as expressed herein, commensurate with the above teachings, or the skill or knowledge of the relevant art. But that modifications and variations may be effected by those skilled in the art without departing from the spirit and scope of the invention, which is to be limited only by the claims appended hereto.
Claims (8)
1. A lower limb rehabilitation training device comprises a foot plate, the foot plate is connected with an ankle joint mechanism, the ankle joint mechanism is arranged on a lower limb movable component, and is characterized in that,
the ankle joint mechanism is provided with a rotating shaft, and the rotating shaft is matched with a bearing arranged at the tail end of the lower limb movable assembly and is driven by a motor;
the rotating shaft is provided with an angle sensor;
the motor and the angle sensor are both connected with the main controller.
2. The lower limb rehabilitation training device of claim 1, wherein the lower limb moving assembly is adjustable in length;
the surface of the foot plate facing the feet is provided with a pressure sensor, and the pressure sensor is connected with the main controller;
and the ankle joint mechanism is provided with a torque sensor which is connected with the main controller.
3. The lower limb rehabilitation training device of claim 2, wherein the lower limb moving assembly is divided into two sections, namely a first section of the lower limb moving assembly, a second section of the lower limb moving assembly, and the second section of the lower limb moving assembly is connected with the foot plate base;
the second section of the lower limb movable assembly is sleeved in the first section of the lower limb movable assembly at the joint of the first section of the lower limb movable assembly and is provided with scales;
and a positioning screw is arranged at the joint of the second section of the lower limb moving assembly and the first section of the lower limb moving assembly.
4. The lower limb rehabilitation training device of claim 3, wherein: the motor is installed in the motor cabinet, the motor cabinet is installed in the setting and is in the support of low limbs movable assembly, the drive is connected to the motor output the pivot.
5. The lower limb rehabilitation training device of claim 3, wherein: the motor is arranged on the rack and is connected with the rotating shaft through worm and gear transmission.
6. The lower limb rehabilitation training device of claim 5, wherein: the worm is connected with the low-speed section of the motor, and the worm wheel is connected with the rotating shaft.
7. The lower limb rehabilitation training device of any one of claims 3-6, wherein the motor is a stepper motor or a servo motor.
8. The lower limb rehabilitation training device of any of claims 3-6, wherein the angle sensor is a potentiometer-type angle sensor or an encoder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121489248.0U CN215193471U (en) | 2021-06-30 | 2021-06-30 | Lower limb rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121489248.0U CN215193471U (en) | 2021-06-30 | 2021-06-30 | Lower limb rehabilitation training device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215193471U true CN215193471U (en) | 2021-12-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202121489248.0U Active CN215193471U (en) | 2021-06-30 | 2021-06-30 | Lower limb rehabilitation training device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215193471U (en) |
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2021
- 2021-06-30 CN CN202121489248.0U patent/CN215193471U/en active Active
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