CN215350094U - Lower limb rehabilitation device - Google Patents
Lower limb rehabilitation device Download PDFInfo
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- CN215350094U CN215350094U CN202120037977.6U CN202120037977U CN215350094U CN 215350094 U CN215350094 U CN 215350094U CN 202120037977 U CN202120037977 U CN 202120037977U CN 215350094 U CN215350094 U CN 215350094U
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Abstract
The utility model discloses a lower limb rehabilitation device, which comprises: a bed body and a lower limb movement auxiliary device; the exoskeleton robot in the lower limb rehabilitation equipment is combined with the bed body, the upper part of the bed is used for fixing the position of the trunk of a patient, the lower limb supporting plates arranged in sections are used for movably supporting the lower limbs of the patient after the fixing, and the flexibility of the lower limb movable plates for connecting joints is used for moving the joints of the patient; supporting a thigh fixed bed plate, a shank fixed bed plate and a foot fixed plate by using each joint of the exoskeleton robot; the assistant therapist performs the joint movement training of the patient. In the process of joint mobility training assistance, the legs of the patient directly contact the supporting plate, the limbs of the patient do not need to be bound and fixed, and discomfort of the patient caused by binding is avoided.
Description
Technical Field
The utility model belongs to the technical field of medical lower limb rehabilitation equipment, and particularly relates to a lower limb rehabilitation device.
Background
The physiological functions of the elderly gradually decline with the age of the elderly, and particularly, the rate of accidental injury of the lower limbs or the rate of pathological changes of the lower limbs due to the thinning of muscle fibers, the reduction of elasticity, the reduction of contractility in the musculoskeletal motor system of the legs, and the reduction of elasticity and toughness of bones continues to increase. The patients who lose the motor ability of the lower limbs and suffer from stroke, spinal cord injury and the like due to accidents every year are rare, and most of the patients are paralyzed and bedridden for a long time.
The existing lower limb rehabilitation equipment generally adopts an exoskeleton structure, and has the functions of assisting support and assisting movement of a patient, but the equipment needs to be fixed on the legs of the human body through binding bands, the legs of the human body are required to bear certain force, and the patient with the leg position not suitable for binding is not suitable for use. Meanwhile, for a patient in the early stage of rehabilitation, joint movement recovery in a small range is required, and a rehabilitation teacher is required to perform manual auxiliary training, which is inevitable; the manual training aid also needs the aid of equipment. The existing lower limb rehabilitation equipment does not have the function.
Disclosure of Invention
In order to solve the above problems, the present invention provides a lower limb rehabilitation device.
A lower limb rehabilitation apparatus comprising: a bed body and a lower limb movement auxiliary device arranged on the bed body; the bed body comprises a bottom bed frame and an upper bed frame which are provided with an upright supporting device; the lower limb movement auxiliary device is arranged on the bed body; the bed body comprises a bottom bed frame arranged at the bottom, an upper bed frame hinged with the bottom bed frame, a bed board fixing frame arranged on the upper bed frame, and a bed board arranged on the fixing frame; the lower limb movement auxiliary device comprises a joint fixing frame, and a hip joint arm, a hip joint driving device, a thigh joint arm, a knee joint driving device, a shank joint arm, an ankle joint driving device and a foot joint arm which are hinged with the joint fixing frame;
furthermore, the bed frame is in a rectangular frame shape, and the bottom of the bed frame is provided with support legs; the upper bed frame is hinged and arranged at one end part of the bed frame in a rectangular frame shape; the upright supporting device is an electric push rod, one end of the upright supporting device is arranged on the bedstead, and the other end of the upright supporting device is arranged on the upper bedstead;
further, the bed board fixing frame is arranged on the upper bed frame; the bed board fixing frame comprises an upper fixing frame, a thigh fixing frame, a shank fixing frame and a foot fixing frame; the upper fixing frame is fixedly arranged on the upper bedstead, and one end of the upper fixing frame extends out; the thigh fixing frame, the shank fixing frame and the foot fixing frame are arranged on the bed frame in a bilateral symmetry manner; the thigh fixing frames are symmetrically arranged at the left side and the right side of the upper bedstead; one end of the thigh fixing frame is hinged and arranged in the middle of the upper bed frame; the shank fixing frame is hinged at the end part of the thigh fixing frame; the foot fixing frame is hinged to the end part of the shank fixing frame;
furthermore, a support frame is also arranged on the bed board fixing frame; one end of the supporting frame is fixedly arranged with the upper bedstead; the support frame comprises two support rods which are arranged in parallel, and the support frame is arranged at the bottoms of the upper fixing frame, the thigh fixing frame, the shank fixing frame and the foot fixing frame;
further, the bed board comprises a trunk fixed bed board, a thigh fixed bed board, a shank fixed bed board and a foot fixed board; the trunk fixing bed plate, the thigh fixing bed plate, the shank fixing bed plate and the foot fixing plate are respectively fixed on the upper fixing frame, the thigh fixing frame, the shank fixing frame and the foot fixing frame; the trunk fixed bed plate, the thigh fixed bed plate and the shank fixed bed plate are all in a rectangular flat plate shape; the foot fixing frame is in a flat plate shape and is vertical to the shank fixing bed plate;
furthermore, the joint fixing frame is detachably arranged on the supporting frame; the left side and the right side of the joint fixing frame are symmetrically provided with adjusting support arms; two ends of the adjusting support arm are provided with hinged installation parts; the adjusting support arm is hinged on the joint fixing frame through a hinge mounting part; the axis direction of the hinged installation part of the adjusting support arm is the same as the extension direction of the support frame; the hip joint arms are hinged on the left side and the right side of the joint fixing frame through adjusting support arms and are symmetrically arranged; the hip joint driving device is hinged at the end part of the hip joint arm and is symmetrically arranged;
furthermore, one end of the thigh joint arm is fixedly connected with the output end of the hip joint driving device; the knee joint driving device is fixedly arranged at the other end of the thigh joint arm; one end of the crus joint arm is fixedly connected with the output end of the knee joint driving device; the ankle joint driving device is fixedly arranged at one end of the shank joint arm; one end of the foot joint arm is fixedly connected with the output end of the ankle joint driving device;
furthermore, the hip joint driving device, the knee joint driving device and the ankle joint driving device respectively comprise a driving motor and a motor fixing frame; the driving motor is arranged on the motor fixing frame; the hip joint driving device is connected with the hip joint arm through a motor fixing frame; the motor fixing frames of the knee joint driving device and the ankle joint driving device are respectively connected with the thigh joint arm and the shank joint arm;
furthermore, the side surfaces of the thigh joint arm and the shank joint arm are provided with fixed support arms; the fixed support arm is L-shaped, the whole fixed support arm is perpendicular to the thigh joint arm and the crus joint arm, and one end of the fixed support arm is fixed with the thigh joint arm, the crus joint arm and the foot joint arm; one end of the fixed support arm, which is fixed with the thigh joint arm and the shank joint arm, is vertical to the axial direction of a driving motor of the hip joint driving device, and the other end of the fixed support arm is parallel to the axial direction of the driving motor; the fixed support arm is arranged in parallel with the axis direction of the driving motor, and one end of the fixed support arm is arranged at the bottom of the thigh fixed bed plate and the bottom of the shank fixed bed plate.
The utility model provides a lower limb rehabilitation device, which comprises: a bed body and a lower limb movement auxiliary device; the bed body comprises a bottom bed frame and an upper bed frame which are provided with an upright supporting device; the lower limb movement auxiliary device is arranged on the bed body; the bed body comprises a bottom bed frame arranged at the bottom, an upper bed frame hinged with the bottom bed frame, a bed board fixing frame arranged on the upper bed frame, and a bed board arranged on the fixing frame; the lower limb movement auxiliary device comprises a joint fixing frame, and a hip joint arm, a hip joint driving device, a thigh joint arm, a knee joint driving device, a shank joint arm, an ankle joint driving device and a foot joint arm which are hinged with the joint fixing frame; the exoskeleton robot in the lower limb rehabilitation equipment is combined with the bed body, the upper part of the bed is used for fixing the position of the trunk of a patient, the lower limb supporting plates arranged in sections are used for movably supporting the lower limbs of the patient after the fixing, and the flexibility of the lower limb movable plates for connecting joints is used for moving the joints of the patient; supporting a thigh fixed bed plate, a shank fixed bed plate and a foot fixed plate by using each joint of the exoskeleton robot; the assistant therapist performs the joint movement training of the patient. In the process of joint mobility training assistance, the legs of the patient directly contact the supporting plate, the limbs of the patient do not need to be bound and fixed, and discomfort of the patient caused by binding is avoided.
Drawings
FIG. 1 is a front view of a lower limb rehabilitation apparatus of the present invention;
FIG. 2 is a left side view of a lower limb rehabilitation apparatus of the present invention;
FIG. 3 is a perspective view of a lower limb rehabilitation apparatus of the present invention;
FIG. 4 is a perspective view of a lower limb rehabilitation apparatus of the present invention;
fig. 5 is a structural view of a driving device of the lower limb rehabilitation device of the utility model.
Detailed Description
Example (b):
referring to fig. 1-5, a lower limb rehabilitation apparatus comprises: a bed body 1 and a lower limb movement assisting device 2;
the bed body 1 comprises a bottom bed frame 11, an upper bed frame 12, a standing supporting device 13, a bed board fixing frame 14 and a bed board 15;
the bed frame 11 is in a rectangular frame shape, and the bottom of the bed frame is provided with a support leg 111;
the upper bed frame 12 is hinged and installed at one end part of the bed frame 11 in a rectangular frame shape;
the upright supporting device 13 is an electric push rod, one end of the upright supporting device 13 is arranged on the bedstead 11, and the other end is arranged on the upper bedstead 12;
the bed board fixing frame 14 is arranged on the upper bed frame 12;
the bed board fixing frame 14 comprises an upper fixing frame 141, a thigh fixing frame 142, a shank fixing frame 143 and a foot fixing frame 144;
the upper fixing frame 141 is fixedly arranged on the upper bedstead 12, and one end of the upper fixing frame extends out;
the thigh fixing frame 142, the shank fixing frame 143 and the foot fixing frame 144 are arranged on the bed frame 12 in a bilateral symmetry manner;
the thigh fixing frames 142 are symmetrically arranged at the left and right sides of the upper bed frame 12;
one end of the thigh fixing frame 142 is hinged and installed at the middle part of the upper bed frame 12;
the shank fixing frame 143 is hinged at the end of the thigh fixing frame 142;
the foot fixing frame 144 is hinged at the end part of the shank fixing frame 143;
the bed board fixing frame 14 is also provided with a supporting frame 145;
one end of the supporting frame 145 is fixedly arranged with the upper bedstead 12;
the supporting frame 145 comprises two supporting rods which are arranged in parallel, and the supporting frame 145 is arranged at the bottoms of the upper fixing frame 141, the thigh fixing frame 142, the shank fixing frame 143 and the foot fixing frame 144;
the bed plate 15 comprises a trunk fixed bed plate 151, a thigh fixed bed plate 152, a shank fixed bed plate 153 and a foot fixed plate 154;
the trunk fixing bed plate 151, the thigh fixing bed plate 152, the shank fixing bed plate 153 and the foot fixing plate 154 are respectively fixed on the upper fixing frame 141, the thigh fixing frame 142, the shank fixing frame 143 and the foot fixing frame 144;
the trunk fixed bed plate 151, the thigh fixed bed plate 152 and the shank fixed bed plate 153 are all in a rectangular flat plate shape;
the foot fixing frame 144 is in a flat plate shape and is vertical to the shank fixing bed plate 153;
the lower limb movement assisting device 2 comprises a joint fixing frame 20, a hip joint arm 21, a hip joint driving device 22, a thigh joint arm 23, a knee joint driving device 24, a shank joint arm 25, an ankle joint driving device 26 and a foot joint arm 27;
the joint fixing frame 20 is detachably arranged on the supporting frame 145;
the left side and the right side of the joint fixing frame 20 are symmetrically provided with adjusting support arms 213;
two ends of the adjusting support arm 213 are provided with a hinged mounting part 214;
the adjusting arm 213 is hinged on the joint fixing frame 20 through a hinge mounting part 214;
the axial direction of the hinge mounting part 214 of the adjusting arm 213 is the same as the extending direction of the supporting frame 145;
the hip joint arms 21 are hinged on the left side and the right side of the joint fixing frame 20 through adjusting support arms 213 and are symmetrically arranged;
the hip joint driving device 22 is hinged and installed at the end part of the hip joint arm 21 and is symmetrically arranged;
one end of the thigh joint arm 23 is fixedly connected with the output end of the hip joint driving device 22;
the knee joint driving device 24 is fixedly arranged at the other end of the thigh joint arm 23;
one end of the shank joint arm 25 is fixedly connected with the output end of the knee joint driving device 24;
the ankle joint driving device 26 is fixedly arranged at one end of the lower leg joint arm 25;
one end of the foot joint arm 27 is fixedly connected with the output end of the ankle joint driving device 26;
the hip joint driving device 22, the knee joint driving device 24 and the ankle joint driving device 26 all comprise a driving motor 221 and a motor fixing frame 222;
the driving motor 221 is installed on the motor fixing frame 222;
the hip joint driving device 22 is connected with the hip joint arm 21 through a motor fixing frame 222;
the motor fixing frames 222 of the knee joint driving device 24 and the ankle joint driving device 26 are respectively connected with the thigh joint arm 23 and the shank joint arm 25;
the side surfaces of the thigh joint arm 23 and the shank joint arm 25 are provided with fixed support arms 231;
the fixed support arm 231 is L-shaped, is integrally and vertically arranged with the thigh joint arm 23 and the shank joint arm 25, and has one end fixedly arranged with the thigh joint arm 23, the shank joint arm 25 and the foot joint arm 27;
one end of the fixed support arm 231, which is fixed with the thigh joint arm 23 and the shank joint arm 25, is vertical to the axial direction of the driving motor 221 of the hip joint driving device 22, and the other end is parallel to the axial direction of the driving motor 221;
the fixed arm 231 is disposed at one end parallel to the axial direction of the driving motor 221 and is disposed at the bottom of the thigh fixed bed plate 152 and the shank fixed bed plate 153.
When in use, a patient lies on the upper part of the bed body 1; the trunk, the thighs, the calves and the feet of the patient are respectively positioned above the trunk fixed bed plate 151, the thigh fixed bed plate 152, the calves fixed bed plate 153 and the foot fixed plate 154.
Lower limbs activity auxiliary device 2 is located the lower part of the bed body 1, when carrying out earlier stage rehabilitation assistance, fixed support arm 231 is located thigh fixed bed board 152, shank fixed bed board 153, the bottom of foot fixed plate 154, the doctor can use lower limbs activity auxiliary device 2's supplementary training mode, the doctor hand holds in the palm big leg fixed bed board 152 lightly, shank fixed bed board 153, foot fixed plate 154, fixed bed board can drag patient's limbs and move, can hover at the position of formulating as required in the motion process. The adjusting arm 213 can be turned upwards to turn the lower limb movement assisting device 2 to the upper part of the bed body 1; the lower limbs of the patient are fixed to the fixed arms 231 of the thigh joint arm 23, the calf joint arm 25, and the foot joint arm 27. The exoskeleton rehabilitation training is performed by using the lower limb movement assistance device 2.
The exoskeleton robot in the lower limb rehabilitation equipment is combined with the bed body, the upper part of the bed is used for fixing the position of the trunk of a patient, the lower limb supporting plates arranged in sections are used for movably supporting the lower limbs of the patient after the fixing, and the flexibility of the lower limb movable plates for connecting joints is used for moving the joints of the patient; supporting a thigh fixed bed plate 152, a shank fixed bed plate 153 and a foot fixed plate 154 by using each joint of the exoskeleton robot; the assistant therapist performs the joint movement training of the patient. In the process of joint mobility training assistance, the legs of the patient directly contact the supporting plate, the limbs of the patient do not need to be bound and fixed, and discomfort of the patient caused by binding is avoided.
The above-mentioned embodiments, objects, technical solutions and advantages of the present invention are further described in detail, it should be understood that the above-mentioned embodiments are only illustrative of the present invention and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A lower limb rehabilitation device is characterized in that: it includes: a bed body (1) and a lower limb movement auxiliary device (2) arranged on the bed body (1); the bed body (1) comprises a bottom bed frame (11) with an upright supporting device (13) and an upper bed frame (12); the lower limb movement auxiliary device (2) is arranged on the bed body (1); the bed body (1) comprises a bottom bed frame (11) arranged at the bottom, an upper bed frame (12) hinged with the bottom bed frame (11), a bed board fixing frame (14) arranged on the upper bed frame (12), and a bed board (15) arranged on the fixing frame (14); the lower limb movement assisting device (2) comprises a joint fixing frame (20), and a hip joint arm (21), a hip joint driving device (22), a thigh joint arm (23), a knee joint driving device (24), a shank joint arm (25), an ankle joint driving device (26) and a foot joint arm (27) which are hinged with the joint fixing frame (20).
2. The lower limb rehabilitation device according to claim 1, wherein: the bed frame (11) is in a rectangular frame shape, and the bottom of the bed frame is provided with a support leg (111); the upper bedstead (12) is hinged and arranged at one end part of the bedstead (11) in a rectangular frame shape; the upright supporting device (13) is an electric push rod, one end of the upright supporting device (13) is arranged on the bedstead (11), and the other end is arranged on the upper bedstead (12).
3. The lower limb rehabilitation device according to claim 2, wherein: the bed board fixing frame (14) is arranged on the upper bed frame (12); the bed board fixing frame (14) comprises an upper fixing frame (141), a thigh fixing frame (142), a shank fixing frame (143) and a foot fixing frame (144); the upper fixing frame (141) is fixedly arranged on the upper bedstead (12), and one end of the upper fixing frame extends out; the thigh fixing frame (142), the shank fixing frame (143) and the foot fixing frame (144) are arranged on the bed frame (12) in a left-right symmetrical manner; the thigh fixing frames (142) are symmetrically arranged at the left side and the right side of the upper bed frame (12); one end of the thigh fixing frame (142) is hinged and arranged in the middle of the upper bed frame (12); the lower leg fixing frame (143) is hinged at the end part of the thigh fixing frame (142); the foot fixing frame (144) is hinged at the end part of the lower leg fixing frame (143).
4. The lower limb rehabilitation device according to claim 3, wherein: the bed board fixing frame (14) is also provided with a supporting frame (145); one end of the supporting frame (145) is fixedly arranged with the upper bedstead (12); the support frame (145) comprises two support rods which are arranged in parallel, and the support frame (145) is arranged at the bottoms of the upper fixing frame (141), the thigh fixing frame (142), the shank fixing frame (143) and the foot fixing frame (144).
5. The lower limb rehabilitation device according to claim 4, wherein: the bed plate (15) comprises a trunk fixed bed plate (151), a thigh fixed bed plate (152), a shank fixed bed plate (153) and a foot fixed plate (154); the trunk fixing bed plate (151), the thigh fixing bed plate (152), the shank fixing bed plate (153) and the foot fixing plate (154) are respectively fixed on the upper fixing frame (141), the thigh fixing frame (142), the shank fixing frame (143) and the foot fixing frame (144); the trunk fixed bed plate (151), the thigh fixed bed plate (152) and the shank fixed bed plate (153) are all in a rectangular flat plate shape; the foot fixing frame (144) is in a flat plate shape and is vertical to the shank fixing bed plate (153).
6. The lower limb rehabilitation device according to claim 5, wherein: the joint fixing frame (20) is detachably arranged on the supporting frame (145); the left side and the right side of the joint fixing frame (20) are symmetrically provided with adjusting support arms (213); two ends of the adjusting support arm (213) are provided with hinged installation parts (214); the adjusting support arm (213) is hinged on the joint fixing frame (20) through a hinged mounting part (214); the axial direction of the hinged installation part (214) of the adjusting support arm (213) is the same as the extension direction of the support frame (145); the hip joint arms (21) are hinged and arranged at the left side and the right side of the joint fixing frame (20) through adjusting support arms (213) and are symmetrically arranged; the hip joint driving device (22) is hinged and installed at the end part of the hip joint arm (21) and is symmetrically arranged.
7. The lower limb rehabilitation device according to claim 6, wherein: one end of the thigh joint arm (23) is fixedly connected with the output end of the hip joint driving device (22); the knee joint driving device (24) is fixedly arranged at the other end of the thigh joint arm (23); one end of the crus joint arm (25) is fixedly connected with the output end of the knee joint driving device (24); the ankle joint driving device (26) is fixedly arranged at one end of the shank joint arm (25); one end of the foot joint arm (27) is fixedly connected with the output end of the ankle joint driving device (26).
8. The lower limb rehabilitation device according to claim 7, wherein: the hip joint driving device (22), the knee joint driving device (24) and the ankle joint driving device (26) respectively comprise a driving motor (221) and a motor fixing frame (222); the driving motor (221) is arranged on the motor fixing frame (222); the hip joint driving device (22) is connected with the hip joint arm (21) through a motor fixing frame (222); the motor fixing frames (222) of the knee joint driving device (24) and the ankle joint driving device (26) are respectively connected with the thigh joint arm (23) and the shank joint arm (25).
9. The lower limb rehabilitation device according to claim 8, wherein: the side surfaces of the thigh joint arm (23) and the shank joint arm (25) are provided with fixed support arms (231); the fixed support arm (231) is L-shaped, is integrally and vertically arranged with the thigh joint arm (23) and the crus joint arm (25), and one end of the fixed support arm is mutually fixed with the thigh joint arm (23), the crus joint arm (25) and the foot joint arm (27); one end of the fixed support arm (231) which is fixed with the thigh joint arm (23) and the shank joint arm (25) is vertical to the axial direction of a driving motor (221) of the hip joint driving device (22), and the other end of the fixed support arm is parallel to the axial direction of the driving motor (221); the fixed support arm (231) and the axis direction of the driving motor (221) are arranged in parallel, and one end of the fixed support arm is arranged at the bottom of the thigh fixed bed board (152) and the bottom of the shank fixed bed board (153).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120037977.6U CN215350094U (en) | 2021-01-08 | 2021-01-08 | Lower limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120037977.6U CN215350094U (en) | 2021-01-08 | 2021-01-08 | Lower limb rehabilitation device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215350094U true CN215350094U (en) | 2021-12-31 |
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ID=79620686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120037977.6U Active CN215350094U (en) | 2021-01-08 | 2021-01-08 | Lower limb rehabilitation device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215350094U (en) |
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2021
- 2021-01-08 CN CN202120037977.6U patent/CN215350094U/en active Active
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