CN2925455Y - Stood rehabilitation exerciser for lower limbs - Google Patents

Stood rehabilitation exerciser for lower limbs Download PDF

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Publication number
CN2925455Y
CN2925455Y CN 200620021269 CN200620021269U CN2925455Y CN 2925455 Y CN2925455 Y CN 2925455Y CN 200620021269 CN200620021269 CN 200620021269 CN 200620021269 U CN200620021269 U CN 200620021269U CN 2925455 Y CN2925455 Y CN 2925455Y
Authority
CN
China
Prior art keywords
cover
rocking bar
crank
packed
rotating shaft
Prior art date
Application number
CN 200620021269
Other languages
Chinese (zh)
Inventor
张立勋
王克义
胡伟佳
Original Assignee
哈尔滨工程大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN 200620021269 priority Critical patent/CN2925455Y/en
Application granted granted Critical
Publication of CN2925455Y publication Critical patent/CN2925455Y/en

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Abstract

A standing lower-limbs recovery training machine is provided for patient suffering from damnification at lower limbs for exercising standing recovery training, which comprises a base, two left and right symmetrically distributed pace mechanisms, two left and right symmetrically distributed anklebone exercising mechanisms. Wherein: a direct current moment generator, a reducer, a chain wheel pair, a rotation shaft positioned at the lower side of the rotation shaft base, together with a brace connection rod, drive the crank rocker attached with a handle to swing at the top end around the column-shaped rocker base so as to drive the central part and the foot-treadle plate hinged with the connection rod, the end part and the gliding block to make level movement. When in use, a control order and a control strategy may be positioned on the keyboard on the single chip machine and choose training intensity. When the patient stands on the foot-treadle pedal and he or she may turn on the power so as to practice pace and anklebone recovery training coordinated with each other after he/she has held the handle. The utility model is applicable to patient with damnification on the lower limps caused by the paralysis due to cardio-cerebral-vascular disease and accidents for practicing recovery training or suits the healthy aged to do sports as well.

Description

Stand-type lower limb rehabilitation training machine
Technical field
A kind of stand-type lower limb rehabilitation training machine is used for the lower extremity injury patient and adopts stance to carry out rehabilitation training.Belong to patient's rehabilitation training apparatus.
Background technology
Theory of medicine and practice are verified, and the limb injury patient that cerebral palsy sequela or contingency cause must carry out the limbs training, so that recover limb function, prevent muscle " the useless property used " atrophy and ankylosis.But Most patients can not independently be finished the limbs training owing to aspect reasons such as dysfunction or muscle power, need be helped to implement by the nurse with certain nursing knowledge and muscle power or other people, has increased rehabilitation difficulty and nurse fees for this reason and has used.
At present, mostly the sports apparatus of some treadmills of selling on the market or imitative bicycle and so on is to be used for healthy people's fitness training, is not suitable for above-mentioned patient's functional training; Mostly part can be at a certain individual event for the recovery training appliance for recovery (CPM) of lower extremity injury patient use, still the motor type medical apparatus and instruments of gait motion and joint motions not being coordinated.
Summary of the invention
The purpose of this utility model is to disclose a kind of stand-type lower limb rehabilitation training machine, is used for lower extremity injury patient's muscle and function of joint training, and its speed and intensity can independently be adjusted according to ill weight and patient's physical ability; And can accomplish gait and ankle joint coordination exercise, thereby obtain better rehabilitation efficacy.
The primary structure of stand-type lower limb rehabilitation training machine comprise base, about 2 the cover symmetric arrangement gait mechanism, about 2 the cover symmetric arrangement ankle motion mechanism.Wherein base is a plane framework formula structure, and an end has the column rocking bar core, and the other end has trapezoidal shaft seat, and the middle part has the slide way inclined seat.Gait mechanism by the direct current torque motor that has pick off, rotating shaft, bearing block, chain wheel pair, about two cover crank linkages, crooked rocking bar and two pedals form.Every cover ankle motion mechanism by a cover slide rail and about two slide blocks form.
The gait mechanism subsidiary driven sprocket of middle sprocket is packed in the rotating shaft middle part, one end of the crank in the 2 cover crank linkages is packed in the two ends of rotating shaft respectively (for anthropomorphic dummy's gait motion, and 2 bearing blocks of supporting revolving shaft are packed in the upside of shaft seat respectively 180 ° of two crank axis angles); The direct current torque motor that has pick off is packed in the outside of shaft seat, and the drive sprocket in the chain wheel pair that is connected with it drives described driven sprocket and rotating shaft rotation through chain.The upper end of crooked rocking bar and column rocking bar core upper end are hinged, and the lower end of crooked rocking bar is hinged by the other end of connecting rod in the toggle and described crank.The middle part of connecting rod and the middle part of pedal are hinged.
Slide rail in the ankle motion mechanism is connected on the slide way inclined seat, and each side is equipped with one and can slides and the slide block hinged with the pedal end along slide rail.
Behind the controlled signal of direct current torque motor, drive chain wheel pair and rotate, drive crooked rocking bar by rotating shaft, toggle again and swing around pin joint; But about two pedals gait motion of anthropomorphic dummy then, do one in front and one in back, plane motion one on the other.
During use, the patient stand on the pedal, and two hold on handle.The original state of reconciling training airplane makes the patient obtain best stance.The patient can independently set control instruction on the keyboard of single-chip microcomputer, select control model and training strength, starts direct current torque motor then; Single-chip microcomputer is accepted power, corner and the tach signal from pick off, the work of control direct current torque motor, and then realize patient's gait and the motion that ankle joint is coordinated mutually.
This utility model can be realized the forms of motion of different mode (comprising active and passive) by choosing the different control strategies that set in advance, and makes the rehabilitation training variation.This rehabilitation training machine can be used for that cardiovascular and cerebrovascular disease causes paralysis and the lower limb body damage patient that causes because of contingency etc. does rehabilitation training, also can be used for the physical training of healthy old men.
Description of drawings
The stand-type lower limb rehabilitation training machine of Fig. 1 structural representation (front view)
The stand-type lower limb rehabilitation training machine of Fig. 2 structural representation (vertical view)
The specific embodiment
Provide preferred implementation of the present utility model below, and be illustrated in conjunction with the accompanying drawings.
As shown in Figure 1, 2, the primary structure of stand-type lower limb rehabilitation training machine comprise base, about 2 the cover symmetric arrangement gait mechanism, about 2 the cover symmetric arrangement ankle motion mechanism.Wherein base 11 is a plane framework formula structure, and an end has column rocking bar core 12, and the other end has trapezoidal shaft seat 14, and the middle part has slide way inclined seat 13.Gait mechanism by the direct current torque motor 27 that has pick off, rotating shaft 26, bearing block 15, chain wheel pair 25, about two cover crank linkages 21,24, crooked rocking bar 22 and two pedals 23 form.Every cover ankle motion mechanism by a cover slide rail 31 and about two slide blocks 32 form.
The driven sprocket of gait mechanism medium chain wheel set 25 is packed in rotating shaft 26 middle parts, one end of the crank 24 in the 2 cover crank linkages is packed in the two ends of rotating shaft 26 respectively (for anthropomorphic dummy's gait motion, and two bearing blocks 15 of supporting revolving shaft 26 are packed in the upside of shaft seat 14 respectively 180 ° of the angles of two crank 24 axis); The direct current torque motor 27 that pick off is housed on the axle is packed in the outside of shaft seat 14, and the drive sprocket in the chain wheel pair 25 that is connected with direct current torque motor 27 spindle noses drives described driven sprocket and rotating shaft 26 is rotated through chain.The upper end and column rocking bar core 12 upper ends of crooked rocking bar 22 are hinged, and the lower end of crooked rocking bar 22 is hinged with the other end of described crank 24 by the connecting rod in the toggle 21.The middle part of the middle part of connecting rod 21 and pedal 23 is hinged.
Slide rail 31 in the ankle motion mechanism is connected on the slide way inclined seat 13, and each side is equipped with one and can slides and the slide blocks 32 hinged with pedal 23 ends along slide rail 31.
Behind direct current torque motor 27 controlled signals, drive chain wheel pair 25 and rotate, drive crooked rocking bar 22 by rotating shaft 26, toggle again and swing around the upper end pin joint; But about two pedals 23 gait motion of anthropomorphic dummy then, do one in front and one in back, plane motion one on the other.
During use, the patient stand on the pedal 23, and two hold on handle (not drawing among the figure).The original state of reconciling training airplane makes the patient obtain best stance.The patient can go up the autonomous control instruction of setting at the keyboard (not drawing among the figure) of single-chip microcomputer, selects training mode and intensity, starts direct current torque motor 27 then; Single-chip microcomputer is accepted power, corner and the tach signal from pick off, 27 work of control direct current torque motor, and then realize patient's gait and the motion that ankle joint is coordinated mutually.
This utility model can be realized the forms of motion of different mode by choosing the different control strategies that set in advance, and makes the rehabilitation training variation.This rehabilitation training machine can be used for that cardiovascular and cerebrovascular disease causes paralysis and the lower limb body damage patient that causes because of contingency etc. does rehabilitation training, also can be used for the physical training of healthy old men.

Claims (1)

1. stand-type lower limb rehabilitation training machine, it is characterized in that it comprise base, about 2 cover symmetric arrangement gait mechanism, about the ankle motion mechanism of 2 cover symmetric arrangement; Wherein, base (11) is a plane framework formula structure, and an end has column rocking bar core (12), and the other end has trapezoidal shaft seat (14), and the middle part has slide way inclined seat (13); Gait mechanism by the direct current torque motor that has pick off (27), rotating shaft (26), bearing block (15), chain wheel pair (25), about two cover crank linkages (21,24), crooked rocking bar (22) and two pedals (23) form; Every cover ankle motion mechanism by a cover slide rail (31) and about two slide blocks (32) form; The driven sprocket of gait mechanism medium chain wheel set (25) is packed in rotating shaft (26) middle part, and an end of the crank (24) in the 2 cover crank linkages is packed in the two ends of rotating shaft (26) respectively, and the angle of crank (24) axis is 180 °; Two bearing blocks (15) of supporting revolving shaft (14) are packed in the upside of shaft seat (14) respectively; The direct current torque motor (27) that has pick off is packed in the downside of shaft seat (14), and the drive sprocket in the coupled chain wheel pair (25) also drives described driven sprocket and rotating shaft (26) through chain and rotates; Crooked rocking bar (22) middle part is hinged with column rocking bar core (12) upper end, and the lower end of crooked rocking bar (22) is connected by the other end of the connecting rod in the toggle (21) with described crank (24); The middle part of the middle part of connecting rod (21) and pedal (23) is hinged; Slide rail in the ankle motion mechanism (31) is connected on the slide way inclined seat (13), and each side is equipped with one and can slides and the slide block (32) hinged with pedal (23) end along slide rail (31).
CN 200620021269 2006-07-21 2006-07-21 Stood rehabilitation exerciser for lower limbs CN2925455Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN 200620021269 CN2925455Y (en) 2006-07-21 2006-07-21 Stood rehabilitation exerciser for lower limbs

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN 200620021269 CN2925455Y (en) 2006-07-21 2006-07-21 Stood rehabilitation exerciser for lower limbs

Publications (1)

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CN2925455Y true CN2925455Y (en) 2007-07-25

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CN (1) CN2925455Y (en)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102218005A (en) * 2011-06-15 2011-10-19 哈尔滨工程大学 Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer
CN102049131B (en) * 2009-10-27 2014-04-02 董金奎 Positive step kicking trainer
CN103845185A (en) * 2014-02-28 2014-06-11 天津大学 Household small-size lower limb rehabilitation training robot
CN104510590A (en) * 2015-01-09 2015-04-15 哈尔滨工程大学 Electric stand walking aid with restoration function
CN104784007A (en) * 2015-04-17 2015-07-22 广西大学 Physical therapy device used for relaxing tendons and activating collaterals of legs
CN104801011A (en) * 2013-04-03 2015-07-29 芜湖天人智能机械有限公司 Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding
CN106420258A (en) * 2016-09-26 2017-02-22 昆明理工大学 Disabled-person-standing helping recovery frame
CN106473897A (en) * 2016-11-09 2017-03-08 天津大学 The four limbs linkage recovery exercising robot of achievable normal gait track
CN109833184A (en) * 2017-11-29 2019-06-04 上海理工大学 A kind of compound crank link mechanism and lower limb rehabilitation training device

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102049131B (en) * 2009-10-27 2014-04-02 董金奎 Positive step kicking trainer
CN102218005A (en) * 2011-06-15 2011-10-19 哈尔滨工程大学 Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer
CN102218005B (en) * 2011-06-15 2013-02-06 哈尔滨工程大学 Phalanx joint rehabilitation mechanism of pedal gait rehabilitation trainer
CN104801011A (en) * 2013-04-03 2015-07-29 芜湖天人智能机械有限公司 Upper and lower limb coordinated exercise training mechanism capable of changing rails and folding
CN103845185A (en) * 2014-02-28 2014-06-11 天津大学 Household small-size lower limb rehabilitation training robot
CN104510590A (en) * 2015-01-09 2015-04-15 哈尔滨工程大学 Electric stand walking aid with restoration function
CN104784007A (en) * 2015-04-17 2015-07-22 广西大学 Physical therapy device used for relaxing tendons and activating collaterals of legs
CN106420258A (en) * 2016-09-26 2017-02-22 昆明理工大学 Disabled-person-standing helping recovery frame
CN106420258B (en) * 2016-09-26 2018-08-31 昆明理工大学 One kind is help the disabled standing rehabilitation frame
CN106473897A (en) * 2016-11-09 2017-03-08 天津大学 The four limbs linkage recovery exercising robot of achievable normal gait track
CN109833184A (en) * 2017-11-29 2019-06-04 上海理工大学 A kind of compound crank link mechanism and lower limb rehabilitation training device
CN109833184B (en) * 2017-11-29 2021-05-04 上海理工大学 Compound crank-link mechanism and lower limb rehabilitation training device

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CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20070725

Termination date: 20110721

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