CN220025510U - Height-adjustable lower limb rehabilitation mechanical leg - Google Patents

Abstract

A height-adjustable mechanical leg for lower limb rehabilitation, including a base, with two support platforms fixedly installed above the base; a crossbeam and an armrest are provided above the support platform, where the handrail is located directly in front of the crossbeam; inside the support platform It is provided with a lifting mechanism and a mechanical leg, wherein the lifting mechanism is fixedly connected to the mechanical leg. The utility model drives the mechanical leg to rise and fall along the threaded rod by setting a lifting mechanism, thereby adjusting the overall height of the rehabilitation mechanical leg to adapt to patients with different heights. By setting the thigh telescopic mechanism and the calf telescopic mechanism, the lengths of the thigh and calf can be adjusted respectively. Adjust the length of the joint axis of the mechanical leg according to the length of different human leg joints. The length of the joint axis of the mechanical leg is consistent with the length of the joint axis of the human leg. It can adapt to patients of different heights and achieve the optimal training effect. During rehabilitation training, always work with the patient. The hip joint can achieve synchronous movement, so that the patient can feel more comfortable and safe during rehabilitation training.

Description

A height-adjustable mechanical leg for lower limb rehabilitation

Technical field

The utility model relates to the technical field of medical equipment, in particular to a height-adjustable lower limb rehabilitation mechanical leg.

Background technique

With the development of the times, my country's population is aging more and more seriously, and the occurrence of diseases such as cerebral infarction and paraplegia will lead to a large number of physically disabled people. In addition, the number of patients with lower limb motor dysfunction caused by accidents such as traffic accidents and sports disabilities is increasing year by year. In addition to affecting their daily lives, patients also endure great psychological trauma and seriously affect their physical and mental health. In the rehabilitation of these patients, in addition to surgical and drug treatments, scientific rehabilitation training is also extremely important. According to statistics, there are currently about 24.07 million people with physical disabilities in my country. Relying solely on manual training by rehabilitation physicians is far from meeting the needs of patients.

There are still obvious shortcomings in the currently commonly used rehabilitation equipment: many rehabilitation equipment require the cooperation of multiple caregivers during rehabilitation training, and manually help patients swing their limbs, which is time-consuming, labor-intensive, inefficient, and highly functional rehabilitation equipment is very expensive. It is expensive and has poor adaptability to patients of different heights and body types.

Contents of the invention

In order to solve the problems existing in the above background technology, the present utility model provides a height-adjustable lower limb rehabilitation mechanical leg.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A height-adjustable mechanical leg for lower limb rehabilitation, including a base. Two support platforms are fixedly installed above the base, and the two support platforms have the same structure and are arranged symmetrically. There are beams and handrails above the support platform. The handrail is arranged directly in front of the crossbeam; a receiving cavity is provided inside the support platform, and a lifting mechanism and a mechanical leg are provided in the receiving cavity; the lifting mechanism is fixedly connected to the mechanical leg; the lifting mechanism includes a movable seat, a thread Rod, servo motor, telescopic rod, wherein the telescopic rod is arranged below the movable seat, the servo motor is arranged on the side of the movable seat, the threaded rod penetrates the movable seat and is threadedly connected with the movable seat; the mechanical leg includes a hip joint mechanism, a thigh Telescopic mechanism, knee joint flexion and extension mechanism, calf telescopic mechanism, bare joint flexion and extension mechanism and foot pedal, wherein the thigh telescopic mechanism is connected to the calf telescopic mechanism through the knee joint flexion and extension mechanism, and the foot pedal is connected to the calf telescopic mechanism through the bare joint flexion and extension mechanism.

Preferably, four telescopic rods are provided below the movable seat, wherein the four telescopic rods are distributed in a matrix below the movable seat; a threaded hole is provided at one end of the movable seat, and the threaded rod is arranged in the threaded hole. The threaded rod is threadedly connected to the threaded hole; a first bearing is installed at the upper end of the threaded rod, and a second bearing is installed at the lower end of the threaded rod. The first bearing is embedded at the top of the inner cavity of the support platform, and the second bearing is embedded at the upper part of the base. .

Preferably, the servo motor is arranged on the side of the lower end of the threaded rod, and a driving bevel gear is fixedly connected to the rotating shaft of the servo motor, wherein the lower end of the threaded rod is provided with a driven bevel gear meshing with the driving bevel gear.

Preferably, the hip joint mechanism includes a hip joint motor, a hip reducer, a hip transmission shaft and a hip rotation plate; wherein the hip joint motor is arranged in the accommodation cavity of the support platform, and the hip joint motor is fixed on the movable seat. Above; a "U"-shaped movable groove is provided on the side wall of the support platform, in which the output shaft of the hip joint motor penetrates the "U"-shaped movable groove and extends outward; the output shaft of the hip joint motor is fixed to one end of the hip reducer connection, wherein the other end of the hip reducer is fixedly connected to the hip transmission shaft, and the hip transmission shaft is connected to the hip rotation plate.

Preferably, the thigh telescopic mechanism includes a thigh bracket and a thigh telescopic rod, wherein the thigh bracket is fixedly connected to the hip rotation plate, and the thigh telescopic rod is provided in the thigh bracket; a first telescopic motor is provided in the thigh bracket, wherein a third telescopic motor is provided in the thigh bracket. A telescopic motor is connected with the thigh telescopic rod.

Preferably, the knee joint flexion and extension mechanism is disposed at the end of the thigh telescopic rod. The knee joint flexion and extension mechanism includes a knee reducer, a knee drive shaft and a knee torque sensor, wherein the knee torque sensor is disposed between the reducer and the knee drive shaft.

Preferably, the calf telescopic mechanism includes a calf bracket and a calf telescopic rod, wherein one end of the calf bracket is movably connected to the thigh telescopic rod through a knee joint flexion and extension mechanism; a second telescopic motor is provided in the calf bracket, wherein the second telescopic motor Connected with calf telescopic rod.

Preferably, the bare joint flexion and extension mechanism is provided at the end of the calf telescopic rod, wherein the bare joint flexion and extension mechanism includes a bare reducer, a bare drive shaft, a bare torque sensor and a bare joint base plate, wherein the bare torque sensor is provided on the bare reducer and the bare joint base plate. Between the transmission shafts; the bare transmission shaft is connected with a bare joint base plate, and a foot pedal is fixed on the bare joint base plate.

Preferably, a waist restraint groove is provided in the middle of the beam, and a waist fixing belt is provided at the front opening of the waist restraint groove; a back frame is provided above the waist restraint groove, and two shoulder straps are provided above the back frame. ;

Preferably, the thigh telescopic mechanism is provided with a thigh binding belt, the calf telescopic mechanism is provided with a calf binding belt, and the foot pedal is provided with a footrest fixing belt.

Beneficial effects of the utility model: This utility model drives the mechanical leg to rise and fall along the threaded rod by setting a lifting mechanism, thereby adjusting the overall height of the rehabilitation mechanical leg and adapting to patients with different heights. The thigh can be adjusted separately by setting a thigh telescopic mechanism and a calf telescopic mechanism. The length of the joint axis of the mechanical leg is consistent with the length of the joint axis of the human leg. It can adapt to the needs of patients of different heights, different leg lengths and different posture training. , to achieve the optimal training effect. During rehabilitation training, the mechanism operates stably, flexibly and reliably, and always moves synchronously with the patient's hip joint, thus making the patient feel more comfortable and safe during the rehabilitation training process.

Description of the drawings

Figure 1 is a schematic structural diagram of the utility model;

Figure 2 is a schematic diagram of the internal structure of the support platform of the present invention;

Figure 3 is a schematic diagram of the connection between the lifting mechanism of the utility model and the mechanical leg;

Figure 4 is an enlarged schematic diagram of the structure at point A shown in Figure 3.

Among them: 1-base; 2-support platform; 3-beam; 4-handrail; 5-accommodation cavity; 6-lifting mechanism; 601-movable seat; 602-threaded rod; 603-servo motor; 604-telescopic rod; 7-Mechanical leg; 701-Hip joint mechanism; 7011-Hip joint motor; 7012-Hip reducer; 7013-Hip drive shaft; 7014-Hip rotation plate; 702-Thigh telescopic mechanism; 7021-Thigh bracket; 7022-Thigh telescopic Rod; 703-knee joint flexion and extension mechanism; 704-calf telescopic mechanism; 7041-calf bracket; 7042-calf telescopic rod; 705-bare joint flexion and extension mechanism; 706-foot pedal; 8-threaded hole; 9-first bearing; 10-Second bearing; 11-Driving bevel gear; 12-Driven bevel gear; 13-"U" shaped movable groove; 14-Waist restraint groove; 15-Waist fixed belt; 16-Back frame; 17-Shoulder straps Straps; 18-thigh straps; 19-calf straps; 20-foot straps.

Detailed ways

The utility model will be further described in detail below in conjunction with the accompanying drawings.

Please refer to Figures 1 to 4 in combination. A height-adjustable mechanical leg for lower limb rehabilitation includes a base 1. Two support platforms 2 are fixedly installed above the base 1. The two support platforms 2 have the same and symmetrical structure. Setting; The support platform 2 is provided with a beam 3 and an armrest 4 above the support platform 2. The armrest 4 is located directly in front of the beam 3. The function of the armrest 4 is to hold it with hands during the rehabilitation process to prevent loss of balance; the support platform 2 There is an accommodation cavity 5 inside, and the accommodation cavity 5 is provided with a lifting mechanism 6 and a mechanical leg 7, wherein the lifting mechanism 6 is fixedly connected to the mechanical leg 7; the lifting mechanism 6 includes a movable seat 601, a threaded rod 602, Servo motor 603 and telescopic rod 604, wherein the telescopic rod 604 is arranged below the movable seat 601, the servo motor 603 is arranged on the side of the movable seat 601, the threaded rod 602 penetrates the movable seat 601 and is threadedly connected with the movable seat 601; the mechanical leg 7 It includes a hip joint mechanism 701, a thigh telescopic mechanism 702, a knee joint flexion and extension mechanism 703, a calf telescopic mechanism 704, a bare joint flexion and extension mechanism 705 and a foot pedal 706. The thigh telescopic mechanism 702 is connected to the calf telescopic mechanism 704 through a knee joint flexion and extension mechanism 703. , the foot pedal 706 is connected to the calf telescopic mechanism 704 through the bare joint flexion and extension mechanism 705 .

Specifically, four telescopic rods 604 are provided below the movable seat 601, and the four telescopic rods 604 are distributed in a matrix below the movable seat 601; a threaded hole 8 is provided at one end of the movable seat 601, and the threaded rod 602 is provided on In the threaded hole 8, the threaded rod 602 is threadedly connected to the threaded hole 8; the upper end of the threaded rod 602 is installed with a first bearing 9, and the lower end of the threaded rod 602 is installed with a second bearing 10, wherein the first bearing 9 is embedded in the support On the top of the inner cavity of the table 2, the second bearing 10 is embedded in the upper part of the base 1. By arranging the first bearing 9 and the second bearing 10, the threaded rod 602 can rotate between the first bearing 9 and the second bearing 10, thereby driving the movable seat. 601 is raised and lowered on the threaded rod 602.

Specifically, the servo motor 603 is disposed on the side of the lower end of the threaded rod 602. The driving bevel gear 11 is fixedly connected to the rotating shaft of the servo motor 603. The lower end of the threaded rod 602 is provided with a driven bevel gear 12 meshing with the driving bevel gear 11. The servo motor 603 drives the driving bevel gear 11 to rotate, so that the driving bevel gear 11 drives the driven bevel gear 12 to rotate, thereby driving the threaded rod 602 to rotate. The rotation of the threaded rod 602 drives the movable seat 601 to move up and down along the threaded rod 602 to achieve height Adjustment.

Specifically, the hip joint mechanism 701 includes a hip joint motor 7011, a hip reducer 7012, a hip transmission shaft 7013, and a hip rotation plate 7014; wherein the hip joint motor 7011 is arranged in the accommodation cavity 5 of the support platform 2, and the hip joint motor 7011 is fixed above the movable seat 601; the side wall of the support platform 2 is provided with a "U"-shaped movable groove 13, in which the output shaft of the hip joint motor 7011 penetrates the "U"-shaped movable groove 13 and extends outward; the hip joint The output shaft of the motor 7011 is fixedly connected to one end of the hip reducer 7012, and the other end of the hip reducer 7012 is fixedly connected to the hip drive shaft 7013. The hip drive shaft 7013 is connected to the hip rotation plate 7014, and drives the hip through the rotation of the hip joint motor 7011. The reducer 7012 and the hip transmission shaft 7013 rotate, thereby causing the hip rotation plate 7014 to rotate, thereby realizing forward and backward flexion and extension movements of the hip.

Specifically, the thigh telescopic mechanism 702 includes a thigh bracket 7021 and a thigh telescopic rod 7022, wherein the thigh bracket 7021 is fixedly connected to the hip rotation plate 7014, and the thigh telescopic rod 7022 is provided in the thigh bracket 7021; the thigh bracket 7021 is provided with a third A telescopic motor (not shown) is connected to the thigh telescopic rod 7022; by controlling the length of the thigh telescopic rod 7022 through the first telescopic motor, the length of the joint axis of the mechanical leg can be adjusted according to the length of different human leg joints. The length of the joint axis is consistent, adapting to the training needs of patients of different heights, different leg lengths and different postures.

Specifically, the knee joint flexion and extension mechanism 703 is provided at the end of the thigh telescopic rod 7022, and the knee joint flexion and extension mechanism 703 is movably connected with the calf telescopic mechanism 704; the knee joint flexion and extension mechanism 703 has a built-in knee reducer, a knee transmission shaft and a knee torque sensor, wherein the knee joint flexion and extension mechanism 703 has a built-in knee reducer, a knee transmission shaft and a knee torque sensor. The torque sensor is arranged between the reducer and the knee drive shaft, and the flexion and extension movement between the thigh and the calf is realized through the control of the knee reducer, the knee drive shaft and the knee torque sensor.

Specifically, the calf telescopic mechanism 704 includes a calf bracket 7041 and a calf telescopic rod 7042, wherein one end of the calf bracket 7041 is movably connected to the thigh telescopic rod 7022 through the knee joint flexion and extension mechanism 703; the calf bracket 7041 is provided with a second telescopic motor and a The calf telescopic rod 7042 is connected; the length of the calf telescopic rod 7042 is controlled by the second telescopic motor, and the length of the joint axis of the mechanical leg can be adjusted according to the length of different human leg joints. The length of the joint axis of the mechanical leg is consistent with the length of the joint axis of the human leg, adapting to different conditions. Patients with different heights have different leg lengths and different posture training needs.

Specifically, the bare joint flexion and extension mechanism 705 is provided at the end of the calf telescopic rod 7042, and is provided with a rotational degree of freedom to achieve flexion and extension movements. The bare joint flexion and extension mechanism 705 has a built-in bare reducer, a bare drive shaft, and a bare torque sensor. The bare torque sensor is provided Between the bare reducer and the bare drive shaft; a foot pedal 706 is fixed on the bare drive shaft.

Specifically, a waist restraint groove 14 is provided in the middle of the beam 3, and a waist fixing belt 15 is provided at the front opening of the waist restraint groove 14; a back frame 16 is provided above the waist restraint groove 14, and two back frames 16 are provided above it. Shoulder binding belt 17; the waist restraint groove 14 cooperates with the waist fixing belt 15 to fix the waist of the human body, and the upper body of the human body is further fixed through the shoulder binding belt 17, and the thigh telescopic mechanism 702 is provided with a thigh binding Belt 18, in which the calf telescopic mechanism 704 is provided with a calf binding belt 19, and the foot pedal 706 is provided with a foot pedal fixing belt 20. Through the thigh binding belt 18, the calf binding belt 19 and the foot pedal fixing belt 20, the human body is The lower body is fixed so that the lower body of the human body is in a stable state, thereby achieving the purpose of keeping the entire human body in a stable state.

To sum up: this utility model sets the lifting mechanism 6 to drive the mechanical leg 7 to rise and fall along the threaded rod 602 in the accommodation cavity 5, thereby adjusting the overall height of the rehabilitation mechanical leg and adapting to patients with different heights. By setting the thigh telescopic The mechanism 702 and the calf telescopic mechanism 704 can respectively adjust the length of the thigh and calf, and can adjust the length of the joint axis of the mechanical leg according to the length of different human leg joints to be consistent with the length of the joint axis of the human leg, and can adapt to people of different heights. Patients with different leg lengths and different posture training needs to achieve the optimal training effect. During rehabilitation training, the mechanism operates stably, flexibly and reliably, and always moves synchronously with the patient's hip joint, so that the patient can achieve optimal training results during rehabilitation training. It feels relatively comfortable and safe.

In the description of the present utility model, it should be noted that, unless otherwise clearly stated and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. Detachable connection, or integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be an internal connection between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

The preferred embodiments of the present utility model have been described in detail above, but the present utility model is not limited to the above-mentioned embodiments. Within the scope of knowledge possessed by those of ordinary skill in the art, other embodiments can be implemented without departing from the purpose of the present utility model. Make various changes below.

Claims (10)

1. The utility model provides a recovered mechanical leg of high adjustable low limbs, includes base, its characterized in that: two supporting tables are fixedly arranged above the base, wherein the two supporting tables have the same structure and are symmetrically arranged; a cross beam and an armrest are arranged above the supporting table, wherein the armrest is arranged right in front of the cross beam; the supporting table is internally provided with a containing cavity, and a lifting mechanism and mechanical legs are arranged in the containing cavity, wherein the lifting mechanism is fixedly connected with the mechanical legs;

the lifting mechanism comprises a movable seat, a threaded rod, a servo motor and a telescopic rod, wherein the telescopic rod is arranged below the movable seat, the servo motor is arranged on the side part of the movable seat, and the threaded rod penetrates through the movable seat and is in threaded connection with the movable seat; the mechanical leg comprises a hip joint mechanism, a thigh telescopic mechanism, a knee joint bending and stretching mechanism, a shank telescopic mechanism, a bare joint bending and stretching mechanism and a pedal, wherein the thigh telescopic mechanism is connected with the shank telescopic mechanism through the knee joint bending and stretching mechanism, and the pedal is connected with the shank telescopic mechanism through the bare joint bending and stretching mechanism.

2. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: four telescopic rods are arranged below the movable seat, and the four telescopic rods are distributed in a matrix below the movable seat; one end of the movable seat is provided with a threaded hole, wherein a threaded rod is arranged in the threaded hole and is in threaded connection with the threaded hole; the first bearing is installed to the threaded rod upper end, and the second bearing is installed to this threaded rod lower extreme, and wherein first bearing inlays and locates supporting bench inner chamber top, and the second bearing inlays and locates base upper portion.

3. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the servo motor is arranged on the side part of the lower end of the threaded rod, and a driving bevel gear is fixedly connected to the rotating shaft of the servo motor, wherein a driven bevel gear meshed with the driving bevel gear is arranged at the lower end of the threaded rod.

4. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the hip joint mechanism comprises a hip joint motor, a hip reducer, a hip transmission shaft and a hip rotating plate; wherein the hip joint motor is arranged in the accommodating cavity of the supporting table and is fixed above the movable seat; the side wall of the supporting table is provided with a U-shaped movable groove, wherein an output shaft of the hip joint motor penetrates through the U-shaped movable groove and extends outwards; the output shaft of the hip joint motor is fixedly connected with one end of the hip reducer, the other end of the hip reducer is fixedly connected with the hip transmission shaft, and the hip transmission shaft is connected with the hip rotating plate.

5. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the thigh telescopic mechanism comprises a thigh support and a thigh telescopic rod, wherein the thigh support is fixedly connected with the hip rotating plate, and the thigh telescopic rod is arranged on the thigh

The bracket is arranged in the bracket; a first telescopic motor is arranged in the thigh support, and is connected with the thigh telescopic rod.

6. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the knee joint bending and stretching mechanism is arranged at the tail end of the thigh telescopic rod and comprises a knee speed reducer, a knee transmission shaft and a knee torque sensor, wherein the knee torque sensor is arranged between the speed reducer and the knee transmission shaft.

7. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the lower leg telescopic mechanism comprises a lower leg support and a lower leg telescopic rod, wherein one end of the lower leg support moves with the thigh telescopic rod through the knee joint flexion and extension mechanism

Connecting; a second telescopic motor is arranged in the lower leg support, and is connected with the lower leg telescopic rod.

8. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the bare joint bending and stretching mechanism is arranged at the tail end of the lower leg telescopic rod and comprises a bare speed reducer, a bare transmission shaft and a bare torque sensing device

The bare joint bottom plate is arranged between the bare speed reducer and the bare transmission shaft; the bare transmission shaft is connected with a bare joint bottom plate, and a foot pedal is fixed on the bare joint bottom plate.

9. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: a waist restraint groove is formed in the middle of the cross beam, and a waist fixing belt is arranged at the front end opening of the waist restraint groove; a back frame is arranged above the waist restraint groove, and two shoulder binding belts are arranged above the back frame.

10. A height adjustable lower extremity rehabilitation machine leg according to claim 1, wherein: the thigh telescopic mechanism is provided with a thigh binding belt, wherein the shank telescopic mechanism is provided with a shank binding belt, and the pedal plate is provided with a pedal fixing belt.