CN2805737Y - Air-actuated lower limb rehabilitation device - Google Patents
Air-actuated lower limb rehabilitation device Download PDFInfo
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- CN2805737Y CN2805737Y CN 200420103225 CN200420103225U CN2805737Y CN 2805737 Y CN2805737 Y CN 2805737Y CN 200420103225 CN200420103225 CN 200420103225 CN 200420103225 U CN200420103225 U CN 200420103225U CN 2805737 Y CN2805737 Y CN 2805737Y
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- belt
- air
- entablature
- lower limbs
- pneumatic
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Abstract
The utility model discloses a pneumatic lower limb rehabilitation device which comprises a machine base (1), a walking device (2), an upright column (3), a control table (4), an upper cross beam (5), a weight relief sling (6), an articular driving mechanism (7) and a pneumatic system (8), wherein the machine base 1 is a base of the walking device (2) and the upright column (3); the upright column (3) is a bracket of the control table (4) and the upper cross beam (5); the upper cross beam (5) is a bearing beam of the weight relief sling (6), and the machine base (1), the upright column (3) and the upper cross beam (5) are mutually and mechanically connected. The upper end of the weight relief sling (6) is tied to the upper cross beam (5), and the lower end of the weight relief sling (6) is fixed on the upper bodies of people; the length of the weight relief sling (6) can be adjusted. The utility model can be used for carrying out continuous passive movement exercise and walking function training for muscles of knees and hip joints of lower limbs of patients through the coordination control of the pneumatic system, the walking device and the weight relief sling.
Description
Technical field
This utility model belongs to medical instruments field, relates to a kind of pneumatic type lower limb rehabilitation training system, is specifically related to a kind of air-operated recovery set for lower limbs.
Background technology
Along with improving constantly of science and technology development and people quality of life, people are more and more higher to the requirement of health care, and limb motion rehabilitation training apparatus has obtained development rapidly as a kind of apparatus of rehabilitation under such background.
Limb motion rehabilitation training apparatus is to train patient to recover the important apparatus of limb function clinically according to continuous passive motion (CPM Continuous PassiveMotion) theory being used for of making.At present, the form of driving patient joint motions has two kinds: motor driving type and cylinder are driving.As the Kinetec CPM serial equipment of France development, by the various operational factors of regulating motor driver realize pointing, the rehabilitation training of joint injuries such as wrist, elbow, shoulder.The arm exoskeleton rehabilitation system of Hebei University of Technology's development adopts cylinder to drive the motion of arm joint.These two types exist identical shortcoming: 1. poor stability is as being mechanical connection between the motor of driver or cylinder and the joint, is that rigidity drives to the driving in joint, in case patient's limbs are fixing improper, will cause patient's articular sprain even fracture.2. the low speed jerking motion driving mechanism such as exists behind friction, backlash and the electromagnetic hysteresis at characteristic, produces when causing the joint low-speed motion " shake " or " creeps that " phenomenon, the motor control precision is not high.3. high speed impact driving mechanism weight is very big, and high-speed motion because effect of inertia can produce impact, causes patient's limb injury during to end point of travel easily.4. driving model is inaccurate with motor or air cylinder driven joint motions, can't the simulating human limbs joint contractile motion of muscle group and antagonistic muscle group initiatively, do not meet the human physilogical characteristic.Therefore, use this class apparatus to be difficult to obtain good rehabilitation effect.
It is new in the world development trend that pneumatic muscle is applied to the limb rehabilitating therapeutic device.Pneumatic muscle (PAM Pneumatic Artificial Muscle) is a kind of linear actuator of being made up of rubber tube and overcoat fiber knitted net that can be controlled its contraction by air pressure.Owing to control its contraction with air pressure, with last two kinds of driver ratios, the advantage that many uniquenesses are arranged: 1. safe employing flexible rubber drives limbs joint, fixed less demanding to limbs to neutral (limbs and apparatus align fixed accuracy), even fixedly alignment deviation of limbs occurs, also can have compliance, not cause patient's joint injury, patient's processing safety height because of the motion of flexible rubber.2. motion smoothing it control it with air pressure and shrink and drive joint motions, fricton-tight parts such as do not exist behind friction, backlash and the electromagnetic hysteresis at characteristic, do not produce " creeping " phenomenon, can realize utmost point microinching, its motion more approaches the natural biology motion.3. stability high it form by nonmetallic materials such as rubber, in light weight, do not produce inertia impact, high-speed motion has from buffer capacity during to end point of travel, does not damage patient's limbs.4. the property class of driving model pneumatic muscle true to nature is similar to biological tendon, its pressure control is equivalent to the nerve stimulation of biological tendon, be easy to several or several groups of pneumatic muscle, form the joint that similar human initiatively muscle group and antagonistic muscle group drive, and can be by regulating air pressure, regulate the impedance of joint motions easily, simulate the corner-force characteristic in different patients joint, make rehabilitation therapy apparatus have more individuation.5. in light weight exert oneself big it with the contact surface of whole fibrous layer and interior pipe as its drive surfaces, can produce than with the big 10 times driving force of cylinder diameter cylinder, bigger power/weight ratio makes it be suitable for doing the power-assisted carrying device of people with disability's daily life.Because pneumatic muscle has These characteristics, so it is suitable for the occasion that contacts closely with the person, is particularly suitable for the application on rehabilitation therapy apparatus.
Since the artificial pneumatic tendon that American physician McKibben invention is made up of rubber tube and mesh grid, the applied research achievement of relevant pneumatic muscle is come out one after another.The eighties in 20th century, Japan Bridgestone company has made the pneumatic muscle (they are referred to as elastomeric actuator) based on McKibben tendon structure, and be used in the middle of the soft arm of its exploitation, soft arm is in light weight, safe and reliable, compliance is good, is highly suitable in the rehabilitation appliances and uses.The nineties in 20th century, Japanese Okayama Univ. develops the healing robot of two degree of freedom that drive with pneumatic muscle, and its similar people's of profile arm can help the patient to recover and train the motor function of arm.By the control to pneumatic muscle, it can drive people's arm and realize movement at the uniform velocity, and the patient also can drive its and realize movement at the uniform velocity, and it can also give constant force of patient's arm, thereby tempers the strength of raising arm tendon.Japan is the ROM-100 pneumatic type hand rehabilitation instrument of exploitation in recent years, can be used for the training of hands function, and its pressure, persistent period, parameters such as intermittent time are adjustable.
The research of the rehabilitation therapy apparatus of carrying out in the world in recent years that drives based on pneumatic muscle mainly carry out round arm or hand apparatus, and the lower limb rehabilitation therapeutic device that pneumatic muscle drives is not appeared in the newspapers as yet.Main cause is: 1. still do not have the pneumatic muscle product that is suitable for clinical practice before 2000, the Performance And Reliability of self-control pneumatic muscle is difficult to meet the demands; 2. lower limb are different with the physiology of exercise characteristics of arm, the lower limb quality is big, and center of gravity changes greatly, during joint motions initiatively muscle group and antagonistic muscle group bear than arm bigger non-linear, the time varying load, and this load variations of different human body is different again, and it is bigger therefore to study difficulty.But after releasing the pneumatic muscle product in 2000, the famous pneumatic element manufacturer FESTO company of Germany released the pneumatic muscle product of configuration, coupling arbitrarily in 2003.It has than large driving force and shrinkage factor and higher repeatable accuracy and reliability, can satisfy the demand of many different field, this bright prospect that has been the application start of pneumatic muscle in the lower limb rehabilitation therapy apparatus to pneumatic muscle.At present, lower limb body athletic rehabilitation therapeutic device just develops towards the direction that with the pneumatic muscle is the personalizing of driver, intellectuality and multifunction.
The utility model patent of at present relevant lower limb rehabilitation therapeutic device, on the type of drive of limbs joint, all adopt motor-driven chain or mechanical drive modes such as rack-and-pinion or linkage, as " hemiplegia limb rehabilitating device " (application number: 91219335, Zhang Weili), " portable recovery of paralyzed limbs physiotherapy table " (application number: 99209278, Gao Wei), " multi-functional hemiplegic limb public bus reserved for the disabled " (application number: 99217054, Zhao Shusen), " lower limbs rehabilitation training robot " (application number: 02251613, Zhang Lixun, Zhang Jinyu) etc., they belong to the invention of concrete new structure under the rigid mechanical transmission principle, do not relate to the principle and the new structure of pneumatic muscle soft drive.
Summary of the invention
The purpose of this utility model provides a kind of air-operated recovery set for lower limbs, this device has overcome in the existing lower limb rehabilitation therapeutic device to have adopted motor-driven chain or mechanical drive modes such as rack-and-pinion or linkage on the type of drive of limbs joint, and a kind of air-operated recovery set for lower limbs of pneumatic muscle soft drive is provided.
The air-operated recovery set for lower limbs that this utility model provides comprises support 1, walker 2, column 3, control station 4, entablature 5, loss of weight suspender belt 6, joint driving mechanism 7, pneumatic system 8; Above-mentioned support 1 is the base of walker 2, column 3; Column 3 is the support of control station 4 and entablature 5; Entablature 5 is the spandrel girder of loss of weight suspender belt 6, support 1, column 3 and entablature 5 mutual mechanical connections; The upper end of loss of weight suspender belt 6 lies in entablature 5, and the people upper body is fixed in the lower end, the adjustable length of loss of weight suspender belt 6.
Above-mentioned joint driving mechanism 7 comprises pneumatic muscle driver, locating clip taut band; The locating clip taut band is fixed on the human body lower limbs knee joint appropriate location up and down, and the two ends of pneumatic muscle driver are fixed on the locating clip taut band.
Above-mentioned walker 2 comprises motor, decelerator, belt wheel, synchronous cog belt and crawler belt; Wherein the motor-driven decelerator rotates, and belt wheel is arranged on the decelerator, and belt wheel connects synchronous cog belt drive crawler belt and moves.
Above-mentioned control station 4 is interconnected by industrial control computer, data collecting card, programmable controller, display screen, keyboard and button to be formed.
Above-mentioned pneumatic system 8 comprises source of the gas, electric proportional pressure-reducing valve, and it drives the stretching motion of the pneumatic muscle driver of joint driving mechanism 7.
This utility model uses the recovery set for lower limbs of pneumatic muscle soft drive structure as the lower limb rehabilitation treatment, has intellectuality and multi-functional, and this device is safe, motion smoothing, and stability is high, and lower limb rehabilitation is had better therapeutic effect.
Description of drawings
Fig. 1 is this utility model system and device sketch map.
Fig. 2 is this utility model joint driving mechanism sketch map.
Respectively number implication among the figure
1. support 2. walkers 3. columns 4. control stations 5. entablatures
6. loss of weight suspender belt 7. joint driving mechanisms 8. pneumatic systems 9. locating clip taut bands
10. pneumatic muscle driver
The specific embodiment
As the utility model system and device sketch map of Fig. 1, the utility model joint driving mechanism sketch map of Fig. 2
This utility model provides a kind of air-operated recovery set for lower limbs; This device comprises support 1, walker 2, column 3, control station 4, entablature 5, loss of weight suspender belt 6, joint driving mechanism 7, pneumatic system 8; Above-mentioned support 1 is the base of walker 2, column 3; Column 3 is the support of control station 4 and entablature 5; Entablature 5 is the spandrel girder of loss of weight suspender belt 6, support 1, column 3 and entablature 5 mutual mechanical connections; The upper end of loss of weight suspender belt 6 lies in entablature 5, and the people upper body is fixed in the lower end, the adjustable length of loss of weight suspender belt 6.
Above-mentioned joint driving mechanism 7 comprises pneumatic muscle driver, locating clip taut band; The locating clip taut band is fixed on the human body lower limbs knee joint appropriate location up and down, and the two ends of pneumatic muscle driver are fixed on the locating clip taut band.
Above-mentioned walker 2 comprises motor, decelerator, belt wheel, synchronous cog belt and crawler belt; Wherein the motor-driven decelerator rotates, and belt wheel is arranged on the decelerator, and belt wheel connects synchronous cog belt drive crawler belt and moves.
Above-mentioned control station 4 is interconnected by industrial control computer, data collecting card, programmable controller, display screen, keyboard and button to be formed.
Above-mentioned pneumatic system 8 comprises source of the gas, electric proportional pressure-reducing valve, and it drives the stretching motion of the pneumatic muscle driver of joint driving mechanism 7.
This utility model can pass through the coordination control of pneumatic system, walker and loss of weight suspender belt, and patient's lower limb knee joint, hip joint muscle are carried out continuous passive motion exercise and walking function training.Patient can adjust optimal movement speed and intensive parameter by handling keyboard and button according to ill weight and physical ability, independently carries out rehabilitation training.This utility model drives the limbs joint muscular movement with the flexible pneumatic tendon, and patient's limbs not damaged, nothing are impacted, and is convenient to carry out according to limb motion rehabilitation theory contractile motions such as uniform velocity, isostension or the equal length training of lower limb muscles.This utility model is applicable to that people with disability, cardiovascular and cerebrovascular disease cause patients such as paralysis or lower limb accidental injury and do the lower limb body rehabilitation training, also can be used for the physical training of healthy elderly.
Claims (5)
1. air-operated recovery set for lower limbs, it is characterized in that: this device comprises support (1), walker (2), column (3), control station (4), entablature (5), loss of weight suspender belt (6), joint driving mechanism (7), pneumatic system (8); Above-mentioned support (1) is the base of walker (2), column (3); Column (3) is the support of control station (4) and entablature (5); Entablature (5) is the spandrel girder of loss of weight suspender belt (6), and support (1), column (3) and entablature (5) be mechanical connection mutually; The upper end of loss of weight suspender belt (6) lies in entablature (5), and the people upper body is fixed in the lower end, the adjustable length of loss of weight suspender belt (6).
2. air-operated recovery set for lower limbs according to claim 1 is characterized in that: above-mentioned joint driving mechanism (7) comprises pneumatic muscle driver (10), locating clip taut band (9); Locating clip taut band (9) is fixed on the human body lower limbs knee joint appropriate location up and down, and the two ends of pneumatic muscle driver (10) are fixed on the locating clip taut band (9).
3. air-operated recovery set for lower limbs according to claim 1 is characterized in that: above-mentioned walker (2) comprises motor, decelerator, belt wheel, synchronous cog belt and crawler belt; Wherein the motor-driven decelerator rotates, and belt wheel is arranged on the decelerator, and belt wheel connects synchronous cog belt drive crawler belt and moves.
4. air-operated recovery set for lower limbs according to claim 1 is characterized in that: above-mentioned control station (4) is interconnected by industrial control computer, data collecting card, programmable controller, display screen, keyboard and button to be formed.
5. air-operated recovery set for lower limbs according to claim 1 is characterized in that: above-mentioned pneumatic system (8) comprises source of the gas, electric proportional pressure-reducing valve, and it drives the stretching motion of the pneumatic muscle driver (10) of joint driving mechanism (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420103225 CN2805737Y (en) | 2004-12-29 | 2004-12-29 | Air-actuated lower limb rehabilitation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200420103225 CN2805737Y (en) | 2004-12-29 | 2004-12-29 | Air-actuated lower limb rehabilitation device |
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| CN2805737Y true CN2805737Y (en) | 2006-08-16 |
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| CN 200420103225 Expired - Fee Related CN2805737Y (en) | 2004-12-29 | 2004-12-29 | Air-actuated lower limb rehabilitation device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102526947A (en) * | 2012-03-01 | 2012-07-04 | 上海大学 | Mass balancing device and method for lower limb rehabilitation training patient |
| CN104905940A (en) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof |
-
2004
- 2004-12-29 CN CN 200420103225 patent/CN2805737Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102526947A (en) * | 2012-03-01 | 2012-07-04 | 上海大学 | Mass balancing device and method for lower limb rehabilitation training patient |
| CN104905940A (en) * | 2015-06-08 | 2015-09-16 | 江苏龙昌智能科技有限公司 | Multifunctional limb intelligent rehabilitation machine and computer auxiliary control method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |