CN216909026U

CN216909026U - Steering device of upper and lower limb active and passive rehabilitation training system

Info

Publication number: CN216909026U
Application number: CN202123371461.4U
Authority: CN
Inventors: 郑伟; 王琰; 冯雷; 陈赞
Original assignee: Nanjing Vishee Medical Technology Co Ltd
Current assignee: Nanjing Vishee Medical Technology Co Ltd
Priority date: 2021-12-30
Filing date: 2021-12-30
Publication date: 2022-07-08
Anticipated expiration: 2031-12-30

Abstract

The utility model discloses a steering device of an upper and lower limb active and passive rehabilitation training system, which comprises a mounting plate, a bearing mounting seat, a bearing, a rotating shaft, an encoder, a limiting mechanism and a resetting mechanism, wherein the mounting plate is fixedly connected with the upper end of the mounting plate; the bearing mounting seat is fixed on the mounting plate, the bearing mounting seat is fixed with the outer ring of the bearing, and the rotating shaft is fixed with the inner ring of the bearing; the reset mechanism is connected with the rotating shaft and the mounting plate, the encoder is used for detecting the rotating angle of the rotating shaft, and the limiting mechanism is used for limiting the rotating angle of the rotating shaft; connecting columns for connecting a left handle/a right handle/a pedal are arranged on the left side and the right side of the rotating shaft; the limiting mechanism comprises a convex block, the convex block and the rotating shaft are kept fixed, a notch surrounding the rotating direction of the rotating shaft is arranged on the bearing mounting seat, and the convex block faces the notch and extends into the notch. The steering device provided by the utility model has the advantages that the steering function is added in the rehabilitation game training process, the game physical examination feeling of a patient during rehabilitation can be increased, and the treatment on the patient is facilitated.

Description

Steering device of upper and lower limb active and passive rehabilitation training system

Technical Field

The utility model relates to a steering device of an upper and lower limb active and passive rehabilitation training system, belonging to a medical rehabilitation device.

Background

In recent years, the number of patients with upper and lower limb dyskinesia is increasing, and the functional requirements on the upper and lower limb active and passive rehabilitation training systems are also increasing, so that it is very important to produce an upper and lower limb active and passive rehabilitation training system suitable for the requirements of patients. The exercise training plays an important role in the function recovery process of patients with limb movement disorder diseases, and the traditional upper and lower limb active and passive rehabilitation training system carries out game training by gripping a rotating handle by the patients, controls the direction of characters in a game through the handles at two sides, and finally judges the rehabilitation degree of the patients according to the performance of the game, thereby achieving the aim of rehabilitation training. The traditional upper and lower limb active and passive rehabilitation training system can only do repeated circular motion, cannot provide steering motion in the training process, has a single training mode, and is easy to fatigue or lose interest after long-time training.

SUMMERY OF THE UTILITY MODEL

The purpose of the utility model is as follows: in order to overcome the defects in the prior art, the utility model provides the steering device of the upper and lower limb active and passive rehabilitation training system, which not only can provide circular motion exercise of the upper and lower limbs for a patient, but also can provide rotary motion exercise of the upper and lower limbs for the patient.

The technical scheme is as follows: in order to achieve the purpose, the utility model adopts the technical scheme that:

a steering device of an upper and lower limb active and passive rehabilitation training system comprises a mounting plate, a bearing mounting seat, a bearing, a rotating shaft, an encoder, a limiting mechanism and a resetting mechanism;

the bearing mounting seat is fixed on the mounting plate, the bearing mounting seat is fixed with an outer ring of the bearing, and the rotating shaft is fixed with an inner ring of the bearing; the reset mechanism is connected with the rotating shaft and the mounting plate, the encoder is used for detecting the rotating angle of the rotating shaft, and the limiting mechanism is used for limiting the rotating angle of the rotating shaft; connecting columns for connecting a left handle/a right handle/a pedal are arranged on the left side and the right side of the rotating shaft;

the limiting mechanism comprises a convex block, the convex block and the rotating shaft are fixedly kept, a notch surrounding the rotating direction of the rotating shaft is arranged on the bearing mounting seat, and the convex block faces the notch and extends into the notch; the rotation angle of the rotation axis is defined by the size of the cut.

When the device is in the initial state, the left and right handles/pedals are in a non-deflection state due to the existence of the reset mechanism; taking the handle as an example, when the left handle and the right handle are respectively held by the two hands of a patient, the two hands can respectively carry out circular motion, if the forces in the opposite directions provided by the two hands are unbalanced, the rotating shaft connected with the left handle and the right handle can be rotated, and a turning effect can be displayed in effect; in order to avoid the unbalance of the patient caused by the overlarge rotation, the maximum angle of the rotation shaft capable of rotating is limited, namely a limiting mechanism is used; in order to avoid that the rotating shaft can rotate due to too small force imbalance, a reset mechanism is designed, namely, an initial impedance is provided, and the rotating shaft can be caused to rotate after the left-right force balance difference reaches an impedance value; meanwhile, the design of the encoder can detect the rotation angle of the rotating shaft, the force difference of the left side and the right side is convenient to calculate in the later stage, or a corresponding driving motor is designed, and the exercise of the rotation direction movement of the rotating shaft can be realized.

Preferably, the return mechanism includes a return spring (linear compression spring) and an elastic plunger; one end of the reset spring is connected with the mounting plate, and the other end of the reset spring is connected with the rotating shaft; the elastic plunger is arranged on the inner side of the bearing mounting seat and faces the rotating shaft, and a ball groove is formed in the corresponding position of the rotating shaft; under the natural state of the return spring, the ball head of the elastic plunger is pressed against the ball groove, and the left and right handles/pedals have no deflection. The design scheme of the reset mechanism provided by the scheme considers the problems of reset and positioning at the same time, and also considers the problem of initial impedance for forcing the rotating shaft to rotate; simple structure, low cost and easy realization. The reset mechanism can also be specifically designed based on the disc spring and the torsion spring, and the positions of the mounting columns of the disc spring and the torsion spring and the connection of the end pins need to be considered when the product is designed; the linear compression spring is considered to be simpler to select and more convenient to maintain and overhaul.

Preferably, one end of the rotating shaft is connected with the bearing, the other end of the rotating shaft is fixedly provided with a connecting plate, the bearing mounting seat is positioned between the mounting plate and the connecting plate, and the bump is arranged on the connecting plate; the handle/pedal is arranged on the driving motor, and an output shaft of the driving motor is connected with the connecting column; and a motor mounting seat for driving a motor is arranged on the connecting plate. The design of the scheme takes the environment of the steering device into consideration, and takes the installation of the driving motors used by the left and right handles/pedals into consideration, so that the structure is integrally designed, and the structure of the whole vehicle is prevented from being too complex; the interesting of the patient in the exercise process is improved on the premise that the whole vehicle is not greatly changed when the design of the device is initially considered. The steering device of the scheme is used as an independent structure, is connected with the whole vehicle through the mounting plate, and is connected with the left and right handles/pedals through the connecting plate without greatly changing the whole vehicle.

When a patient grips the handles on the two sides to start training, the handles on the two sides can rotate on the rotating shaft in the middle together with the driving motor in the middle, the rotating shaft can rotate at a certain angle due to different force applied by the handles on the left side and the right side, the upper encoder collects the rotation angle and feeds the rotation angle back to the active and passive rehabilitation training system for the lower limbs, and meanwhile, characters in a game can be matched with the corresponding rotation angle of the handles to achieve the purpose of steering, so that the steering of the patient in reality is unified with the steering in the game.

Preferably, the bearing is a pair of tapered roller bearings, angular contact bearings, deep groove ball bearings or flat bearings. The scheme preferably adopts a pair of tapered roller bearings, and the use environment of the scheme shows that the bearings used in the scheme need to bear certain axial force, and if the bearings cannot meet the requirement of the axial force, the slipping of left and right handles/pedals can be caused, and the injury to patients is unacceptable.

Preferably, the rotating shaft is mounted on a driving motor. The existing upper and lower limb active and passive rehabilitation training system mainly aims at the exercise of circular motion, and the rotation exercise of the confrontation of the left and right limbs is relatively invisible. The design idea requires that on one hand, the rotation angle of the rotating shaft can be monitored, and feedback control data of the driving motor is provided; on the other hand, the driving motor is required to provide an auxiliary driving force, so that the patient can complete the design task within the capability range, and the exercise achievement feeling and the exercise continuing enthusiasm of the patient are improved.

Has the advantages that: compared with the prior art, the steering device of the upper and lower limb active and passive rehabilitation training system provided by the utility model has the advantages that the steering function is added in the rehabilitation game training process, the steering of the handles is controlled by utilizing different forces applied to the handles at two sides during game training of a patient, the steering angle is recognized by the upper encoder, the steering intention of the patient can be accurately recognized, and the training is completed by matching with a game. The physical examination feeling of the game is increased, and the treatment to the patient is facilitated.

Drawings

FIG. 1 is a perspective view of the connection handle of the present invention;

FIG. 2 is a schematic view of the enlarged partial structure of FIG. 1;

FIG. 3 is a schematic view of the entire structure of the upper limb rehabilitation training vehicle adopting the utility model;

the drawing comprises the following steps: 1-mounting a plate; 2-bearing mounting seats; 3-a bearing; 4-a rotating shaft; 5-an encoder; 6-incision; 7-a bump; 8-connecting plates; 9-a return spring; 10-a resilient plunger; 11-an encoder mounting plate; 12-a drive motor; 13-a support column; 14-a handle; 15-connecting blocks; 16-a motor mount; 17-vehicle body.

Detailed Description

The utility model is described in detail below with reference to the figures and the embodiments.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings, which are based on the orientations and positional relationships indicated in the drawings, and are used for convenience in describing the present invention and for simplicity in description, but do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 2, the steering device of the upper and lower limb active and passive rehabilitation training system comprises a mounting plate 1, a bearing mounting base 2, a bearing 3, a rotating shaft 4, an encoder 5, a limiting mechanism and a reset mechanism; the bearing mounting seat 2 is fixed on the mounting plate 1, the bearing mounting seat 2 is fixed with an outer ring of the bearing 3, and the rotating shaft 4 is fixed with an inner ring of the bearing 3; the bearing 3 adopts a pair of tapered roller bearings.

One end of the rotating shaft 4 is connected with the bearing 3, the other end of the rotating shaft 4 is fixedly provided with a connecting plate 8, and the bearing mounting seat 2 is positioned between the mounting plate 1 and the connecting plate 8. The limiting mechanism comprises a bump 7, and the bump 7 is arranged on a connecting plate 8; a notch 6 surrounding the rotation direction of the rotating shaft 4 is arranged on the bearing mounting seat 2, and a lug 7 faces the notch 6 and extends into the notch 6; the rotation angle of the rotating shaft 4 is limited by a limiting mechanism.

The reset mechanism comprises a reset spring 9 and an elastic plunger 10; one end of the return spring 9 is connected with the mounting plate 1, and the other end is connected with the rotating shaft 4; the elastic plunger 10 is mounted on the inner side of the bearing mounting seat 2 and faces the rotating shaft 4, and a ball groove is arranged at a corresponding position of the rotating shaft 4.

Be provided with support column 13 on the mounting panel 1, encoder mounting panel 11 is installed on support column 13, and encoder 5 is installed on encoder mounting panel 11, detects the turned angle of rotation axis 4 through encoder 5.

The handle 14/pedal is installed on the driving motor 12 through a connecting block 15, connecting columns are arranged on the left side and the right side of the rotating shaft 4, and an output shaft of the driving motor 12 is connected with the connecting columns; and a motor mounting seat for driving a motor 12 is arranged on the connecting plate 8.

In the natural state of the return spring 9, the ball head of the elastic plunger 10 is pressed against the ball groove, and the left and right handles 14/pedals do not deflect. As shown in fig. 3, the upper limb rehabilitation training vehicle using the steering device is completed, and the steering device is mounted on the vehicle body 17. When a patient grips the handles 14 on the two sides to start training, the handles 14 on the two sides and the driving motor 12 in the middle rotate on the rotating shaft 4 in the middle, the rotating shaft 4 rotates at a certain angle due to different force applied by the handles 14 on the left side and the right side, the upper encoder 5 collects the rotation angle and feeds the rotation angle back to the lower limb active and passive rehabilitation training system, meanwhile, a character in a game is matched with the corresponding rotation angle of the handles, and therefore the purpose of steering is achieved, and the real steering of the patient is unified with the steering in the game. After the training is finished, the rotating shaft 4 automatically returns to the original position by means of the pulling force of the rear return spring 9 and the resilience force of the elastic plunger 10.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description of the specification, reference to the description of "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by using equivalent alternatives or equivalent variations fall within the scope of the present invention.

Claims

1. The utility model provides a go up passive rehabilitation training system's of limbs device that turns to which characterized in that: the device comprises a mounting plate (1), a bearing mounting seat (2), a bearing (3), a rotating shaft (4), an encoder (5), a limiting mechanism and a reset mechanism;

the bearing mounting seat (2) is fixed on the mounting plate (1), the bearing mounting seat (2) is fixed with the outer ring of the bearing (3), and the rotating shaft (4) is fixed with the inner ring of the bearing (3); the rotating shaft (4) and the mounting plate (1) are connected through a reset mechanism, the rotating angle of the rotating shaft (4) is detected through an encoder (5), and the rotating angle of the rotating shaft (4) is limited through a limiting mechanism; connecting columns for connecting a left handle (14) and a right handle (14)/a pedal are arranged on the left side and the right side of the rotating shaft (4);

the limiting mechanism comprises a convex block (7), the convex block (7) and the rotating shaft (4) are kept fixed, a notch (6) surrounding the rotating direction of the rotating shaft (4) is formed in the bearing mounting seat (2), and the convex block (7) faces the notch (6) and extends into the notch (6).

2. The steering device of the active and passive rehabilitation training system for upper and lower limbs according to claim 1, wherein: the reset mechanism comprises a reset spring (9) and an elastic plunger (10); one end of the reset spring (9) is connected with the mounting plate (1), and the other end of the reset spring is connected with the rotating shaft (4); the elastic plunger (10) is arranged on the inner side of the bearing mounting seat (2) and faces the rotating shaft (4), and a ball groove is formed in the corresponding position of the rotating shaft (4); under the natural state of the return spring (9), the ball head of the elastic plunger (10) is pressed against the ball groove, and the left and right side handles (14)/pedals do not deflect.

3. The steering device of the active and passive rehabilitation training system for upper and lower limbs according to claim 1, wherein: one end of the rotating shaft (4) is connected with the bearing (3), the other end of the rotating shaft (4) is fixedly provided with a connecting plate (8), the bearing mounting seat (2) is positioned between the mounting plate (1) and the connecting plate (8), and the bump (7) is arranged on the connecting plate (8); the handle (14)/the pedal are arranged on the driving motor (12), and the output shaft of the driving motor (12) is connected with the connecting column; and a motor mounting seat for driving a motor (12) is arranged on the connecting plate (8).

4. The steering device of the active and passive rehabilitation training system for upper and lower limbs according to claim 1, wherein: the bearing (3) is a pair of tapered roller bearings, angular contact bearings, deep groove ball bearings or plane bearings.

5. The steering device of the active and passive rehabilitation training system for upper and lower limbs according to claim 1, wherein: the reset mechanism comprises a disc spring or a torsion spring.

6. The steering device of the active and passive rehabilitation training system for upper and lower limbs according to claim 1, wherein: the rotating shaft (4) is arranged on a driving motor (12).