JP7231750B2 - Rehabilitation exercise device for upper and lower limbs - Google Patents

Description

TECHNICAL FIELD The present invention relates to a rehabilitation exercise apparatus for upper and lower limbs, and more particularly to a rehabilitation exercise apparatus for upper and lower limbs on which upper or lower limbs can be placed for rehabilitation exercise.

In general, each joint part of the human body has a structure in which a part adjacent to the joint part can rotate based on the joint part.

On the other hand, elderly people and rehabilitation patients with weak muscles are unable to exercise themselves and have difficulty in exercising their joints compared to healthy people. It is the reality that it is difficult to exercise in reality.

If muscle strength weakens or damaged joints are left untreated, the muscles and joints gradually harden and become painful when moving. could be.

In addition, in the case of patients who have undergone surgery on joints such as wrists and shoulders, they are unable to exercise themselves, so their muscles are weakened and nourishment is not supplied smoothly to the joints of wrists and shoulders. There is a possibility that it will harden while becoming hard.

Therefore, long-term painful rehabilitation exercises should be performed to prevent joint deformation and return to normal activity.

In order to solve this problem, Korean Patent Publication No. 10-1163903 is a prior art of a rehabilitation exercise device for imparting passive exercise to elderly people and rehabilitation patients with weak muscles to exercise their joints. discloses an exoskeleton robot for upper extremity rehabilitation of stroke patients.

The rehabilitation equipment disclosed in the prior art has an unnecessarily complicated structure, has a high cost burden associated with purchase and installation, and is difficult to provide benefits to more users. In addition, it is not easy to move the rehabilitation exercise device, and most users should move to a place where the rehabilitation exercise device is located to exercise.

Korean Patent Publication No. 10-1163903 (Title of Invention: Exoskeleton Robot for Upper Limb Rehabilitation of Stroke Patients, Registration Date: 2012.07.02.)

The present invention has been devised in consideration of the above points, and the present invention enables rehabilitation exercises to be performed by simply adjusting the placement angle of the upper or lower limbs according to the condition of the rehabilitation patient. , The structure is simplified to minimize the cost of purchase and installation, and it is convenient to move, so that the elderly and rehabilitation patients with weak muscles can easily move it and sit on a desk, chair, mattress, etc. SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a rehabilitation exercise apparatus for upper and lower limbs, on which the upper and lower limbs can be simply placed and the joints of the upper and lower limbs can be exercised in a manner approximating normal exercise.

An object of the present invention is to provide a first support for supporting the hand or foot, a second support for supporting the forearm of the upper leg or the lower leg of the lower leg, and a rotatable connection between the first support and the second support. a pair of first hinges, a third support that supports the upper arm of the upper leg or the thigh of the lower leg, a pair of second hinges that rotatably couple the second support and the third support, a driving module selectively mounted on one of the pair of first hinges and the pair of second hinges to rotate the first support or the second support; This is achieved by a rehabilitation exercise apparatus for upper and lower limbs, comprising a mounting position detection unit for detecting a mounting position of the driving module in the first hinge and the pair of second hinges.

Here, the mounting position detection section includes a module to be detected provided on each of the pair of first hinge sections and the pair of second hinge sections, and a pair of first hinge sections provided on the drive module. a sensor module for recognizing the module to be detected when the driving module is attached to one of the pair of second hinges; The detected modules provided may be distinguishable.

Further, the sensor module includes a Hall sensor, and each of the modules to be detected includes magnet members built in positions corresponding to the first hinge portion and the second hinge portion, respectively, and external magnet members. magnet holes formed in the first hinge part and the second hinge part for exposing to the The mounting position can be discriminated and recognized by the Hall sensor.

The module to be detected includes a short-range communication-based tag provided at the first hinge portion and the second hinge portion and having information about the position thereof embedded therein, and the sensor module, the driving module, the A reader may be included that recognizes information stored on the tag when attached to the first hinge portion or the second hinge portion.

INDUSTRIAL APPLICABILITY According to the present invention, rehabilitation exercise can be performed by simply adjusting the mounting angle of the upper or lower limb according to the condition of the rehabilitation patient, and the structure is simplified to minimize the cost of purchase and installation. It is convenient to move, so that the elderly and rehabilitation patients with weak muscles can easily move and sit on a desk, chair, mattress, etc., and then place the upper or lower limbs easily to keep each joint of the upper or lower limbs normal. Rehabilitation exercise similar to exercise can be performed.

1 is a perspective view of a rehabilitation exercise device according to an embodiment of the present invention; FIG. 2 is a diagram showing a state in which the base plate in FIG. 1 is tilted from the mounting plate; FIG. FIG. 4 is a diagram showing a state in which upper limb rehabilitation is performed using the rehabilitation exercise apparatus according to one embodiment of the present invention; FIG. 4 is a diagram showing a state in which lower limb rehabilitation is performed using the rehabilitation exercise apparatus according to one embodiment of the present invention; Fig. 2 is a perspective view of the rehabilitation exercise unit in Fig. 1; 6 is a plan view of FIG. 5 for explaining the process of adjusting the length of the second support part according to the present invention; FIG. 7A and 7B are diagrams for explaining an operation mechanism of a second support portion in FIG. 6; FIG. FIG. 7 is an enlarged cross-sectional view of a main part showing a length stopper in FIG. 6; FIG. 8 is a view of another embodiment for explaining the process of adjusting the length of the second support part according to the present invention; FIG. 10 is an enlarged perspective view of a main part of the rotation stopper in FIG. 9; FIG. 11 is a perspective view of the on/off dial in FIG. 10; FIG. 10 is an enlarged cross-sectional view of a main part of FIG. 9; FIG. 2 is an enlarged perspective view of a main part showing a state in which the mounting plate in FIG. 1 is erected at a constant angle with respect to the base plate; FIG. 14 is a diagram for explaining the operating mechanism of the mounting plate in FIG. 13; 14 is an enlarged view of a main part in FIG. 13; FIG. 13 is an enlarged side view of a main part of the mounting plate of FIG. 12; FIG. 13 is an enlarged perspective view of a main part of FIG. 12; FIG. FIG. 10 is an enlarged perspective view of the main part of the mounting plate according to the present invention, viewed from another direction; FIG. 19 is a diagram for explaining the structure of the locking pawl in FIG. 18; FIG. 10 is an enlarged perspective view of the main part of the mounting plate according to the present invention as seen from another direction; 1 is a perspective view of a drive module according to the invention; FIG. 22 is an enlarged perspective view of a rotating shaft fixing member in FIG. 21; FIG. FIG. 4 is a diagram for explaining the mounting principle of the drive module according to the present invention; FIG. 4 is a diagram for explaining the mounting principle of the drive module according to the present invention; It is a figure for demonstrating the rotation interruption|interruption part which concerns on this invention. It is a figure for demonstrating the rotation interruption|interruption part which concerns on this invention. It is a figure for demonstrating the rotation interruption|interruption part which concerns on this invention. It is a figure for demonstrating the mounting position detection part which concerns on this invention. It is a figure for demonstrating the mounting position detection part which concerns on this invention.

The present invention relates to a rehabilitation exercise device for upper and lower limbs, comprising a first support for supporting hands or feet, a second support for supporting the forearm of the upper limb or the lower leg of the lower leg, and the first support. A pair of first hinges rotatably connecting the second support, a third support supporting the upper arm or the thigh of the lower leg, and the second support and the third support being rotatable. a pair of coupled second hinge parts, and selectively mounted on one of the pair of first hinge parts and the pair of second hinge parts to provide the first support part or the second support part. and a mounting position detector for detecting the position at which the driving module is mounted in the pair of first hinges and the pair of second hinges.

Advantages and features of the present invention, as well as the manner in which they are achieved, will become apparent with reference to the embodiments described in detail below in conjunction with the accompanying drawings. This invention, however, should not be limited to the embodiments disclosed below, and may be embodied in many different forms; is provided to fully convey the scope of the invention to those of ordinary skill in the art to which it belongs, the invention being defined only by the scope of the claims.

The terminology used herein is for the purpose of describing embodiments and is not intended to be limiting of the invention. In this specification, singular forms also include plural forms unless the phrase specifically states otherwise. As used herein, the terms "comprises" and/or "comprising" do not exclude the presence or addition of one or more other elements besides the stated element. Like numbers refer to like elements throughout the specification, and "and/or" includes each and every combination of one or more of the referenced elements. Of course, although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish one component from another. Therefore, the first component described below can be the second component within the technical concept of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the meaning commonly understood by one of ordinary skill in the art to which this invention belongs. can be used. Also, terms defined in commonly used dictionaries are not to be ideally or overly interpreted unless explicitly specifically defined.

The present invention will now be described in detail with reference to the accompanying drawings.

1 to 25 show a rehabilitation exercise device 1 according to one embodiment of the present invention.

As shown in these drawings, a rehabilitation exercise device 1 according to an embodiment of the present invention includes a rehabilitation exercise unit 3 and a mounting table 5 that supports the rehabilitation exercise unit 3. FIG.

The rehabilitation exercise unit 3 has a first support 310 that supports the hand or foot, a second support 320 that supports the forearm of the upper leg or the lower leg of the lower leg, and the first support 310 and the second support 320 are rotatable. A pair of first hinge portions 311 and 312 connected to the third support portion 330 that supports the upper arm of the upper limb or the thigh of the lower leg, and a pair of rotatably connecting the second support portion 320 and the third support portion 330 Second hinge portions 331 and 332 may be included.

The mounting table 5 includes a base plate 510 and a mounting plate 520 on which the rehabilitation exercise unit 3 is mounted. A link-mechanism is applied to the base plate 510 and the mounting plate 520 to convert horizontal movement into vertical movement, and one side of the mounting plate 520 is aligned along the surface of the base plate 510 . A middle area of the mounting plate 520 is connected to one side of the link member 530, and the other side of the link member 530 is rotatably provided to the base plate 510, thereby forming a link mechanism. Applies.

According to the above-described configuration, as shown in FIG. 1, with the mounting plate 520 folded on the base plate 510, rehabilitation training for the upper limbs can be performed as shown in FIG. Second, in a state in which the mounting plate 520 is erected at a certain angle from the base plate 510 by the link mechanism, as shown in FIG. 4, rehabilitation training of the lower limbs can be performed.

The adjustment of the angle between the mounting plate 520 and the base plate 510 and the fixing and releasing of the angle will be described later.

The rehabilitation exercise unit 3 according to the present invention adjusts the length of the second support part 320 so that it can be adjusted according to the length of the upper limb or the lower limb of the person to be rehabilitated. A gap adjuster for adjusting the gap between the first support part 310 and the third support part 330 is included.

5 to 8, the interval adjuster of the rehabilitation exercise unit 3 according to the present invention will be described.

In the rehabilitation exercise unit 3 according to the present invention, a stacked slide-crank structure is applied to the second support part 320, and the length of the second support part 320 supporting the forearm of the upper leg or the lower leg of the lower leg is Take for example being adjusted.

The second support part 320 may include a first fixing plate 322 , a second fixing plate 323 , a first moving plate 324 , a second moving plate 325 and a hinge shaft part 321 .

The first fixing plate 322 is connected to the pair of first hinges 311 and 312 and rotatably coupled to the first supporter 310 . The second fixing plate 323 is connected to the pair of second hinge parts 331 and 332 and rotatably coupled to the third support part 330 .

The first moving plate 324 is provided between the first fixing plate 322 and the hinge shaft portion 321 and reciprocates.

The second moving plate 325 is provided between the second fixing plate 323 and the hinge shaft portion 321 and reciprocates.

The hinge shaft portion 321 is provided between the first fixing plate 322 and the second fixing plate 323 .

On the other hand, the gap adjusting part includes a first crank part 326 and a second crank part 327 .

The first crank portion 326 is rotatably connected to the first fixing plate 322 and the hinge shaft portion 321 to convert rotational motion of the hinge shaft portion 321 into linear motion of the first fixing plate 322 .

The first crank portion 326 includes a first adjustment link 326a, a second adjustment link 326b, and a first connecting link 326c.

The first adjustment link 326a is rotatably coupled to the hinge shaft 321. As shown in FIG.

The second adjustment link 326b has one side rotatably coupled to the first adjustment link 326a and the other side rotatably coupled to the first fixing plate 322 .

The first connecting link 326c is rotatably coupled to the intermediate region of the first moving plate 324 and the first adjusting link 326a.

The second crank portion 327 is rotatably connected to the second fixing plate 323 and the hinge shaft portion 321 and converts rotational motion of the hinge shaft portion 321 into linear motion of the second fixing plate 323 .

The second crank portion 327 includes a third adjusting link 327a, a fourth adjusting link 327b and a second connecting link 327c.

The third adjustment link 327a is rotatably coupled to the hinge shaft 321. As shown in FIG. The third adjustment link 327a is arranged to face the first adjustment link 326a at an angle of 180 degrees.

One side of the fourth adjustment link 327b is rotatably coupled to the third adjustment link 327a, and the other side is rotatably coupled to the second fixing plate 323. As shown in FIG. The fourth adjustment link 327b is arranged opposite to the second adjustment link 326b.

The second connecting link 327c is rotatably coupled to an intermediate region between the second moving plate 325 and the third adjusting link 327a. The second connecting link 327c is arranged opposite to the first connecting link 326c.

On the other hand, the first moving plate 324 is guided to reciprocate by a pair of first guide bars 329 a extending from the first fixed plate 322 toward the first moving plate 324 . Further, the first moving plate 324 is guided in reciprocating movement by a pair of third guide bars 329 c extending from the hinge shaft portion 321 toward the first moving plate 324 . Here, in the present embodiment, it is illustrated that the first guide rod 329a and the third guide rod 329c are provided as a pair, respectively. 329c are provided in one or more each.

The second moving plate 325 is guided in reciprocating motion by a pair of second guide rods 329 b extending from the second fixed plate 323 toward the second moving plate 325 . Further, the second moving plate 325 is guided in reciprocating movement by a pair of third guide bars 329 c extending from the hinge shaft portion 321 toward the second moving plate 325 . Here, in the present embodiment, it is illustrated that the second guide rod 329b and the third guide rod 329c are provided as a pair, respectively. 329c are provided in one or more each.

As shown in FIG. 7, the interval adjusting part of the rehabilitation exercise apparatus 1 according to the present invention includes a first fixing plate 322 and a first moving plate 324, a second fixing plate 323 and a second A slide-crank mechanism is implemented so that the two moving plates 325 move toward or away from each other around the hinge shaft 321 to adjust the length of the second support 330. and the distance between the first support part 310 and the third support part 330 can be adjusted.

Hereinafter, adjustment of the length of the second support part 330 will be described in detail with reference to FIG. 7 in order to facilitate understanding of the present invention.

In FIG. 7, when the first adjustment link 326a and the second adjustment link 326b are rotated clockwise around the hinge shaft 321, the angle between the first adjustment link 326a and the second adjustment link 326b is the first As the angle between the adjusting link 326a and the first connecting link 326c increases, the distance between the hinge shaft 321 and the first fixing plate 322 increases. Similarly, the angle between the third adjusting link 327a and the fourth adjusting link 327b and the angle between the third adjusting link 327a and the second connecting link 327c are the angles between the first adjusting link 326a and the second adjusting link 326b. The distance between the hinge shaft portion 321 and the second fixing plate 323 increases by the same amount. As a result, the first fixing plate 322 and the second fixing plate 323 are opened to the same size from the hinge shaft portion 321 .

Conversely, in FIG. 7, when the first adjustment link 326a and the second adjustment link 326b are turned counterclockwise around the hinge shaft 321, the gap between the first adjustment link 326a and the second adjustment link 326b is increased. The angle between the first adjusting link 326a and the first connecting link 326c decreases, and the distance between the hinge shaft 321 and the first fixing plate 322 decreases. Similarly, the angle between the third adjusting link 327a and the fourth adjusting link 327b and the angle between the third adjusting link 327a and the second connecting link 327c are the angles between the first adjusting link 326a and the second adjusting link 326b. The distance between the hinge shaft 321 and the second fixing plate 323 is reduced by the same amount. As a result, the first fixing plate 322 and the second fixing plate 323 are squeezed by the same size from the hinge shaft portion 321 .

Therefore, in the rehabilitation exercise apparatus 1 according to the present invention, the first fixing plate 322 and the first moving plate 324 and the second fixing plate 323 and the second moving plate 325 move toward or away from each other around the hinge shaft 321. are operated in conjunction with each other.

Meanwhile, the first fixing plate 322 and the second fixing plate 323 are connected by a pair of connecting bars 328 .

In the present invention, one side of the connecting bar 328 is fixed to the second fixing plate 323, the first fixing plate 322 is movably coupled to the connecting bar 328, and the first fixing plate 322 approaches the second fixing plate 323. and separate.

The first fixing plate 322 is formed with a through hole 322a (see FIG. 8) through which the connection bar 328 passes, so that the longitudinal movement of the first fixing plate 322 can be guided.

Further, the first fixing plate 322 is provided with a length stopper 340 for intermittently moving the first fixing plate 322 in the longitudinal direction, for example, restricting relative movement between the first fixing plate 322 and the second fixing plate 323. . In the present invention, a pair of length stoppers 340 are installed on each connecting bar 328 as an example.

FIG. 8 shows a cross-section in the area of the length stop 340 according to the invention. Referring to FIG. 8, the length stopper 340 may include an intermittent lever 341 and a pressing member 345 .

The disconnecting lever 341 is rotatably installed on the rotating shaft 322 b coupled to the first fixing plate 322 .

The disconnection lever 341 has a pusher 342 provided at one end for pressing or releasing the pressing member 345 and a pusher 342 provided at the other end for rotating the pusher 342 so as to press or release the pressing member 345 . includes a handle 343 for

The pusher 342 has a semicircular arc shape with a constant radius of curvature, and contacts and separates from the pressing member 345 according to rotation.

Therefore, when the connecting/disconnecting lever 341 is rotated clockwise about the rotating shaft 322b in FIG. 345 presses the connecting bar 328 passing through the through hole 322a to prevent the first fixing plate 322 from moving in the longitudinal direction. On the other hand, when the connecting/disconnecting lever 341 is rotated counterclockwise around the rotating shaft 322b, the pusher separates from the pressing member 345 to release the pressing force of the pressing member 345, thereby moving the connecting bar 328 inside the through hole 322a. , allowing the first fixation plate 322 to move longitudinally along the connecting bar 328 .

Here, in this embodiment, one side of the connecting bar 328 is fixed to the second fixing plate 323, and the first fixing plate 322 is movably coupled to the connecting bar 328, but this Without limitation, one side of the connecting bar 328 may be fixed to the first fixing plate 322 and the second fixing plate 323 may be movably coupled to the connecting bar 328 . In this case, the disconnecting lever 341 is provided on the second fixed plate 323 .

9 to 12 are diagrams showing examples of structures for intermittently moving the second support part 330 in the longitudinal direction according to another embodiment of the present invention. The rehabilitation exercise unit 3 according to another embodiment of the present invention may include a rotation stopper 350 installed on the hinge shaft 321 to limit the relative movement of the first fixation plate 322 and the second fixation plate 323 .

As described above, the second support part 320 according to the present invention has a slide-crank structure for adjusting the length in the longitudinal direction, which includes rotation of the hinge shaft part 321. However, the rotation stopper 350 intermittently rotates the hinge shaft 321 to maintain a constant length.

The rotation stopper 350 includes an intermittent dial 351, a shaft body 353 forming the hinge shaft portion 321, a shaft column portion 354 projecting upward from the shaft body 353, and rotating around the shaft column portion 354 to move the first adjustment link. 326 a and third adjustment link 327 a may include a shaft plate 352 to which the first adjustment link 326 a and the third adjustment link 327 a are connected to rotate relative to the shaft body 353 .

The intermittent dial 351 includes an intermittent pin 351a and a locking groove 351c.

The connection/disconnection pin 351c protrudes from the end of the connection/disconnection dial 351 toward the shaft body 353, and is inserted into and released from any one of a plurality of connection/disconnection holes 352a to be described later.

The locking groove 351c is recessed in a region of the end toward the shaft main body 353 away from the intermittent pin 351a. In this embodiment, a pair of locking grooves 351c are provided facing each other.

A plurality of intermittent holes 352 a are formed in the shaft body 353 at intervals along the circumferential direction of the shaft column portion 354 .

Axial plate 352 has a circular ring shape. A first adjustment link 326a and a third adjustment link 327a are connected to the outer circumference of the shaft plate 352, and an intermittent dial 351 is rotatably provided to the inner circumference. A pair of locking projections 352b are protruded from one region of the inner periphery of the shaft plate 352 and engage with the locking groove 351c of the intermittent dial 351 to connect the intermittent dial 351 to the shaft plate 352. .

Also, the rotation stopper 350 according to the present invention may further include a stopper elastic member 355 .

The stopper elastic member 355 is provided between the shaft portion 354 and the intermittent dial 351, and generates an elastic force to the intermittent dial 351 so that the intermittent pin 351a is inserted into the selected intermittent hole 352a.

When the user adjusts the length of the second support portion 320, the stopper elastic member 355 is adjusted by pulling the intermittent dial 351 to raise the intermittent pin 351a from the intermittent hole 352a. During adjustment, when the second support part 320 is adjusted to the desired length, if the intermittent dial 351 is released, the elastic force of the stopper elastic member 355 causes the intermittent dial 351 to descend toward the shaft body 353, and at the same time the intermittent is intermittent. A pin 351a is inserted into the intermittent hole 352a at that location.

With this configuration, the rotation stopper 350 according to the present invention prevents the shaft plate 352 from rotating with respect to the shaft main body 353 when the connection pin 351a is inserted into the connection hole 352a. Length is not adjusted. At the same time, the engaging projection 352b of the shaft plate 352 is engaged with the engaging groove 351c of the intermittent dial 351, and the intermittent dial is prevented from rotating around the shaft portion 354. FIG.

On the other hand, in the rotation stopper 350 according to the present invention, when the intermittent pin 351a is released from the intermittent hole 352a, the shaft plate 352 rotates with respect to the shaft body 353 so that the length of the second support portion 320 is increased. becomes adjustable. At this time, the locking protrusion 352b of the shaft plate 352 retains the locked state in the locking groove 351c of the intermittent dial 351, and the intermittent dial 351 maintains the state of being connected with the shaft plate 352. As a result, the intermittent dial 351 can rotate forward and backward around the shaft 354, and the first fixing plate 322 and the second fixing plate 323 move toward or away from each other around the shaft main body 353 to provide a second support. The length of portion 320 is adjustable.

An unexplained reference numeral 351b in FIG. 11 is a pin insertion portion into which the intermittent pin 351a is inserted and fixed, and reference numeral 351d is a shaft passage hole which is fixed after the shaft column portion 354 has passed therethrough. For convenience of explanation, FIG. 10 shows a state in which the intermittent pin 351a is removed from the intermittent dial 351 and inserted into the intermittent hole 352a.

In this way, the first fixing plate 322 and the first moving plate 324 and the second fixing plate 323 and the second moving plate 325 are interlocked to move toward or away from each other around the hinge shaft 321. By implementing a sliding-crank mechanism, the length of the second support 320 can be adjusted to accommodate different forearm or lower leg lengths of the user, and the first support 310 and the third support part 330, the rehabilitation exercise can be performed.

The configuration of the mounting table 5 according to the present invention will be described in detail below with reference to FIGS. 13 to 20. FIG.

As described above, mounting table 5 can include base plate 510 , mounting plate 520 , and link member 530 . Depending on such a configuration, a link-mechanism is implemented as shown in FIG.

As described above, both sides of the link member 530 are rotatably coupled to the base plate 510 and the mounting plate 520 . Here, one side of the mounting plate 520, i.e., the side of the base plate 510 is horizontally movable toward the first support part 510, and one side of the link member 530 is rotatable in the middle region. combined. In addition, the other side of the mounting plate 520 is vertically moved toward and away from the base plate 510 by a link-mechanism, so that the angle can be adjusted as shown in FIGS.

The other side of the link member 530 is rotatably coupled to a fixed shaft portion 531 provided on the base plate 510, so that when one side of the mounting plate 520 moves horizontally, both sides of the link member 530 are rotated for mounting. Angular adjustment of the plate 520 becomes possible.

Meanwhile, on both sides of the mounting plate 520 , a pair of extension brackets 521 are installed to extend side by side toward the third support part 330 . One end of the pair of extension brackets 521 , for example, one end facing the first support part 310 is rotatably coupled to the mounting plate 520 . The other ends of the pair of extension brackets 521 , for example, the other ends facing the third support portion 330 are connected by a connecting rod 522 .

Inside the base plate 510 , a locking plate 511 is formed along the longitudinal direction with a plurality of locking claws 512 to which the connecting rods 522 are locked depending on the angle between the mounting plate 520 and the base plate 510 . is provided. A plurality of locking claws 512 are formed at intervals along the longitudinal direction of the pair of extension brackets 521, and the connecting rods 522 are selectively locked. As a result, the connecting rod 522 can be locked to one of the locking claws 512 corresponding to the inclination angle between the mounting plate 520 and the base plate 510 and can be held at a constant angle. become.

In addition, the mounting table 5 according to the present invention may include a fixing unit 540 that fixes the connecting rod 522 so that the connecting rod 522 is kept in a locked state with one of the locking claws 512 .

In an embodiment of the present invention, the base plate 510 includes a plurality of intermittent grooves 513a and moving holes 513b, as shown in FIGS. 15 and 16, for example.

A plurality of intermittent grooves 513 a are recessed into one side surface of the base plate 510 at positions corresponding to the respective locking claws 512 . That is, the plurality of intermittent grooves 513a are arranged at regular intervals along the longitudinal direction on one side surface of the base plate 510 corresponding to the locking claws 512 arranged along the longitudinal direction of the extension bracket 521. formed by

The moving holes 513b are formed in the intermittent grooves 513a and are formed to penetrate toward the locking claws 512. As shown in FIG. That is, the moving hole 513b is formed such that the plate surface of the base plate 510 penetrates inside and outside at the position where the intermittent groove 513a is formed.

Here, as shown in FIG. 16, the moving hole 513b is opened diagonally upward, so that an extension unit 542 of the fixing unit 510, which will be described later, can be inserted into the moving hole 513b. becomes possible to leave.

A fixing unit 540 according to an embodiment of the present invention can include an extension unit 542 and a unit body 541, as shown in FIG.

The extension unit 542 has one side connected to the connecting rod 522 and the other side extending to the outside of the base plate 510 through the movement hole 513b. In the present invention, one side of the extension unit 542 is connected to the connecting rod 522 via the intermediate plate 543 as shown in FIG. Alternatively, it can be connected to the connecting rod 522 by being fastened to the extension bracket 521 connected to the connecting rod 522 .

The unit body 541 is coupled to the other side of the extension unit 542 . In the present invention, an insertion hole (not shown) into which the extension unit 542 is inserted is formed in the unit body 541, and the extension unit 542 is inserted into the insertion hole and coupled to each other.

In an embodiment of the present invention, the unit main body 541 is coupled to the extension unit 542 so as to be movable between a fixed position inserted into the intermittent groove 513a and a detached position separated from the intermittent groove 513a. For this reason, as shown in FIG. 17, the extension unit 542 is provided with a pair of movement grooves 542b at regular intervals along the longitudinal direction. Further, the unit main body 541 is provided with operating claws 541c that engage with the operating grooves 542b at the fixed position and the detached position of the unit main body 541, respectively.

In the present invention, the operation claw 541c is provided in a form that is elastically inserted in the direction of the operation groove 542b. The pawl 541c is unlocked and can be configured to lock into the outer actuation groove 542b. Similarly, when the user pushes the unit main body 541 in the fixing direction, the operation claw 541c locked in the outer operation groove 542b is unlocked and can be locked in the outer operation groove 542b.

In addition, the unit body 541 is composed of an insertion portion 541b inserted into the intermittent groove 513a at the fixed position and the detached position, and a grip portion that the user grips to move the unit body 541 between the fixed position and the detached position. can be Here, it is preferable that the insertion part 541b has a size that allows it to be inserted into the intermittent groove 513a and a size that allows it to be locked without moving inside the moving hole 513b.

According to the above configuration, when the user wants to adjust the angle between the base plate 510 and the mounting plate 520, the unit main body 541 is moved to the detached position by pulling the handle part 541a while the unit body 541 is in the fixed position. Then, the insertion portion 541b of the unit main body 541 is pulled out of the intermittent groove 513a.

In this state, when the handle portion 541a is moved in the upper diagonal direction, the connecting rod 522 connected to the extension unit 542 is separated from the locking claw 512, and at the same time the extension unit 542 is moved along the movement hole 513b. It will come out of the hole 513b.

While adjusting the angle of the mounting plate 520 in this state, when the handle portion 541a is moved so that the extension unit 542 is inserted into the movement hole 513b corresponding to the angle, simultaneously with the insertion of the extension unit 542, The engaging claw 512 is inserted into the connecting rod 522 to be engaged.

When the angle adjustment is completed as described above, the unit main body 541 is pushed in again, and when the insertion portion 541b is inserted into the intermittent groove 513a, the insertion portion 541b is locked to the moving hole 513b side, and the connecting rod 522 can be fixed to the locking claw 512 .

On the other hand, as shown in FIG. 18, each locking claw 512 according to the embodiment of the present invention is arranged in a direction intersecting the longitudinal direction of the extension bracket 521 corresponding to the length of the connecting rod 522, that is, the connecting rod 522. can be formed to extend in the longitudinal direction of the

18 and 19, the locking claw 512 according to the embodiment of the present invention is engaged in the direction in which the fixing unit 540 is provided, that is, in the D1 direction in FIG. It is provided so as to protrude relatively further in the direction in which the stop is released.

As described above, in the embodiment of the present invention, the fixing unit 540 is provided only on one side of the base plate 510 as an example. As a result, when the user moves the fixing unit 540 to release the connecting rod 522 from the locking claw 512, the fixing unit 540 side is already lifted in the releasing direction according to the length of the connecting rod 522, and in the opposite direction. is lifted relatively little.

Therefore, as shown in FIG. 19, the length of the locking claw 512 is formed so that the opposite direction of the fixing unit 540 relatively protrudes, so that the connecting rod 522 can be moved through the operation of the fixing unit 540. When releasing from the locking claw 512 , if the locking is released in the direction in which the fixing unit 540 is provided, the entire connecting rod 522 can be configured to be unlocked from the locking claw 512 . .

Meanwhile, the rehabilitation exercise device 1 for upper and lower limbs according to an embodiment of the present invention may further include an elastic unit 522f, as shown in FIG.

The elastic unit 522f provides elasticity in a direction in which the connecting rod 522 is locked with the locking claw 512, thereby preventing the connecting rod 522 from being separated from the locking claw 512 without user's operation. For example, when the unit body 541 of the fixing unit 540 is in the detached position due to the user's operation or other causes, if the connecting rod 522 detaches from the locking claw 512 due to an external impact or the like, There is a risk that the mounting plate 520 will rapidly bend toward the base plate 510 . Therefore, unsafe accidents can be prevented by preventing the connecting rod 522 from being detached even when a certain amount of impact is applied.

Also, in the process of operating the fixing unit 540, since the connecting rod 522 is pressed in the direction in which it is inserted into the locking claw 512, a force is generated to move the connecting rod 522 in the insertion direction at the insertion position. The connecting rod 522 can be easily inserted into the locking claw 512 .

More specifically, referring to FIG. 20, the mounting plate 520 according to an embodiment of the present invention may include a moving bracket 526 and a pair of mounting brackets 525 and a mounting portion 527 .

A moving bracket 526 is provided on the base plate 510 so as to be horizontally movable along the base plate 510 . A pair of mounting brackets 525 are rotatably coupled to both sides of the moving bracket 526 . Here, a pair of link members 530 can be rotatably coupled to the intermediate region of the mounting bracket 525 respectively. The mounting part 527 has a plate shape supported by the moving bracket 526 and the mounting bracket 525, forms the upper plate of the mounting plate 520, and mounts the rehabilitation exercise unit.

Here, the extension bracket 521 is rotatably coupled to both sides of the moving bracket 526 and synchronized with the movement of the extension bracket 521 to move the moving bracket 526 . At this time, the elastic unit 522f presses downward at least one of the pair of extension brackets 521 while being installed on the moving bracket 526 to engage the connecting rod 522 coupled to the extension bracket 521 with the locking claw 512. Press in the direction to stop.

In the present invention, as shown in FIG. 20, the elastic unit 522f is provided in the form of a leaf spring. Further, the extension bracket 521 is provided with a skirt portion 522d extending inward, and the elastic unit 522f presses the skirt portion to press the extension bracket 521, for example.

Meanwhile, in the rehabilitation apparatus 1 according to the present invention, the driving module 7 can be selectively coupled to one of the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332 . can. Taking the upper limb as an example, when the driving module 7 is attached to either one of the first hinges 311 and 312, rehabilitation exercise of the wrist becomes possible. If the driving module 7 is installed on one side, the rehabilitation exercise of the elbow joint becomes possible.

At this time, in the case of the pair of first hinges 311 and 312, the mounting position of the driving module 7 can be determined according to the rehabilitation of the left upper limb or the right upper limb. , 332, it is likewise possible to select the drive module 7 depending on the rehabilitation of the right or left upper extremity.

The drive module 7 according to the present invention will now be described in detail with reference to FIGS. 21 to 24. FIG.

As described above, the driving module 7 is selectively attached to one of the pair of first hinges 311 and 312 and the pair of second hinges 331 and 332 so that the first support 310 Alternatively, the second support part 320 is rotated.

The driving module 7 includes a main body housing 710 in which components such as a driving motor and a printed circuit board are housed, a driving shaft member 720 to which the rotating shaft of the driving motor is connected, first hinges 311 and 312 or a second hinge 720 . A ring member 730 may be included for mounting and securing to the two hinges 331,332.

A ring coupling portion 751 is formed on the first hinge portions 311 and 312 or the second hinge portions 331 and 332 .

On the other hand, in this embodiment, the drive module 7 is attached to the second hinge portion 332 located on the right side when viewed from the first support portion 310 to the third support portion 330 in FIG. For convenience of explanation, the second hinge portion located on the right side will be referred to as a right second hinge portion 332 and will be described.

Here, inside the ring member 730, a plurality of mounting protrusions 731 are formed along the circumferential direction of the ring member 730 at regular intervals. A ring coupling portion 751 is provided to which the ring member 730 of the driving module 7 is coupled. A plurality of locking portions 753 may be formed in the ring coupling portion 751 corresponding to the mounting protrusions 731 .

As a result, when the ring member 730 is rotated after the driving module 7 is inserted into the light second hinge portion 332, the mounting projection 731 is rotated and locked to the locking portion 753, thereby disengaging the driving module 7. can be prevented.

In addition, the body housing 710 is formed with a locking lever 740 that is inserted into the ring member 730 to interrupt the rotation of the ring member 730. After the ring member 730 is rotated, the locking lever 740 is pushed to lock the ring member 730. Rotation of the ring member 730 can be prevented by inserting it.

Meanwhile, as shown in FIG. 24 , the right second hinge part 332 according to an embodiment of the present invention may be formed with a rotation shaft hole 3322a passing through along the rotation shaft of the driving module 7 . Here, the driving shaft member 720 of the driving module 7 is coupled to the right second hinge portion 332 through the rotating shaft hole 3322 a when it is attached to the right second hinge portion 332 . Accordingly, when the drive shaft member 720 rotates according to the operation of the drive module 7, the second support portion 320 turns.

More specifically, in an embodiment of the present invention, the second support part 320 includes a shaft coupling bracket 3231 and a drive shaft fixing member 360 as shown in FIG.

The axle coupling bracket 3231 can extend towards the axis of rotation of the drive module 7 . In the embodiment of the present invention, as shown in FIG. 21, a shaft coupling bracket 3231 extends from the second fixing plate 323 of the second support part 320 toward the rotating shaft of the driving motor.

The driving shaft fixing member 360 fixes the driving shaft member 720 inserted through the rotation shaft hole 3322 a to the shaft coupling bracket 3231 when the driving module 7 is fastened to the right second hinge portion 332 . As a result, when the drive shaft member 720 rotates according to the drive of the drive module 7 , the shaft coupling bracket 3231 turns according to the rotation of the drive shaft member 720 , and the second support portion 320 as a whole moves to the third support portion 330 . turn against.

In the present invention, the cross-sectional shape of the drive shaft member 720 is exemplified as having a polygonal cross-sectional shape. 21 and 23 exemplify that the cross-sectional shape of the drive shaft member 720 has a hexagonal cross-sectional shape, but the technical idea of the present invention is not limited to this.

Corresponding to the cross-sectional shape of the drive shaft member 720, the drive shaft fixing member 360 according to the embodiment of the present invention includes a polygonal fixing hole 364 whose inner diameter has a polygonal cross-sectional shape, as shown in FIG. be able to. As described above, the inner diameter of the polygonal fixing hole 364 may also have a hexagonal cross-sectional shape corresponding to the drive shaft member 720 having a hexagonal cross-sectional shape.

More specifically, with reference to FIG. 22, the drive shaft fixing member 360 can include a bracket fastening portion 361 and a pair of aperture members 362 and 363 .

The bracket fastening part 361 is provided on one side of the polygonal fixing hole 364 and fastened to the shaft coupling bracket 3231 to fix the driving shaft fixing member 360 to the shaft coupling bracket 3231 .

A pair of diaphragm members 362 and 363 are provided on the other side of a polygonal fixing hole 364, and a space 365 is formed that is separated from each other. As shown in FIG. 22, a polygonal fixing hole 364 is formed between a pair of throttle members 362 and 363, and the drive shaft member 720 is inserted into the polygonal fixing hole 364. , 363 are narrowed, and the driving shaft member 720 inserted into the polygonal fixing hole 364 is squeezed and fixed.

In the embodiment shown in FIG. 22, a pair of throttle members 362 and 363 are branched from the bracket fastening portion 361, but one side of the two symmetrical members is coupled. A pair of diaphragm members 362 and 363 can be configured by forming a bracket fastening portion 361 on one side and holding the other side in a separated state.

In an embodiment of the present invention, the bracket fastening part 361 is fastened to the shaft coupling bracket 3231 through fastening using bolts. For this reason, although a plurality of bolt fastening holes 366c and 366d are formed in the bracket fastening portion 361, fastening using bolts in two axial directions is taken as an example in the present invention. That is, a pair of bolt fastening holes 366c fastened to coupling holes 3231a formed in the plate surface of the shaft coupling bracket 3231, and a pair of extensions 3234 extending from the plate surface of the shaft coupling bracket 3231 in a substantially “gate” shape. For example, it includes a pair of bolt fastening holes 366b that are fastened to the formed coupling holes 3234a.

One of the pair of throttle members 362 and 363 is formed with a first throttle hole 366a penetrating toward the other side, and the other one of the pair of throttle members 362 and 363 is A throttle bolt (not shown) passed through the first throttle hole 366a is fastened to form a second throttle hole (not shown) in which the distance between the throttle members 362 and 363 is adjusted. .

Meanwhile, the light second hinge part 332 may include a first rotating part 3322 and a second rotating part 3321 .

The first rotating part 3322 rotates in synchronization with the light second supporting part 320 according to the rotation of the drive shaft member 720 . The second rotating part 3321 is freely rotatable with respect to the first rotating part 3322 and is connected to the third supporting part 330 to rotate together with the third supporting part 330 . Here, for example, the first rotating part 3322 and the second rotating part 3321 are coaxially coupled around the rotating shaft hole 3322a.

In an embodiment of the present invention, the first rotating part 3322 is axially coupled with the shaft coupling bracket 3231 to synchronize with the rotation of the driving shaft member 720 and rotate relative to the second rotating part 3321 as an example.

FIG. 23 shows a state in which the drive shaft fixing member 360 is removed, and FIG. 24 shows a state in which the shaft coupling bracket 3231 is removed.

23 and 24, the pivot coupling bracket 3231 may further include a bracket coupling hole 3232 and a plurality of rotation synchronization holes 3233. As shown in FIG.

Bracket connection hole 3232 is formed corresponding to rotation shaft hole 3322a, and drive shaft member 720 passes through rotation shaft hole 3322a. Drive shaft member 720 passing through bracket coupling hole 3232 is fixed by drive shaft fixing member 360 as described above.

The rotation synchronization hole 3233 is formed along the outside of the bracket coupling hole 3232 so that the plate surface penetrates. Here, as shown in FIG. 24, the first rotating part 3322 may include a plurality of rotation synchronization protrusions 3322b. Accordingly, when the shaft coupling bracket 3231 is fastened to the first rotating portion 3322, the rotation synchronization protrusions 3322b are inserted into the respective rotation synchronization holes 3233, and the driving shaft member 720 is rotated according to the rotation of the driving module 7. When it rotates, it is synchronized with the rotation of the shaft coupling bracket 3231, and the first rotating part 3322 becomes rotatable.

The configuration of the light second hinge part 332 that is coupled to and driven by the driving module 7 described with reference to FIGS. Similarly, the same mechanism can be applied to each of the first hinge parts 311, 312, except that the first support part and the second support part 320 are applied and the first support part is the drive module 7. It has a configuration that turns according to rotation.

Hereinafter, the rotation interrupter 770 according to the embodiment of the present invention will be described in detail with reference to FIGS. 25 to 28. FIG.

As shown in FIGS. 1, 2 and 25, a hinge cover is provided where the driving module is not provided in the pair of first hinge portions 311 and 312 and the pair of second hinge portions 331 and 332 . 25 to 28 show the first hinge portions 311 and 312 of the first hinge portions 311 and 312 in the right direction.

The rotation interrupting part 770 is provided on the first rotating part 3322 , that is, the rotating gear plate 776 rotating together with the first rotating part 3322 rotating together with the first supporting part 310 or the second supporting part 320 , and the second rotating part 3321 . A gear interrupt member 771 may be included.

A gear may be formed at a circumferential end of the rotary gear plate 776 , and a gear inserting portion 772 may be formed at the end of the gear connecting/disconnecting member 771 so as to be inserted into the gear. Accordingly, when the gear inserting portion 772 is inserted into the gear of the rotating gear plate 776 by sliding the gear connecting/disconnecting member 771, the rotation of the first rotating portion 3322 can be interrupted.

Here, the rotation interrupting part 770 may include a pair of interrupting claws 774 that protrude to both sides and can be elastically pressed. On the plate surface of the second rotating portion 3321, intermittent grooves 775 into which the intermittent claws 774 are inserted when the rotational intermittent portion 770 moves vertically are provided on both sides of the rotational intermittent portion 770. They can be formed in pairs along the moving direction.

With such a configuration, as shown in FIG. 1, the driving module 7 is attached to the second hinge portions 331 and 332, and the gear connecting/disconnecting member 771 and the gear of the rotary gear plate 776 are attached to the pair of first hinge portions 311 and 312, respectively. When the teeth of the first hinges 311 and 312 are engaged with each other to prevent the pair of first hinges 311 and 312 from rotating, the second support 320 can be rotated by the rotational force of the driving module 7. 310 has limited pivoting motion, allowing the user to exercise the elbow joint without moving the wrist joint.

As another embodiment, the drive module 7 is attached to the first hinge portions 311 and 312, and the gear teeth of the gear connecting/disconnecting member 771 and the rotating gear plate 776 are engaged with the pair of second hinge portions 331 and 332, respectively. When the pair of second hinges 331 and 332 are prevented from rotating in this way, the first supporter 310 can be rotated by the rotational force of the driving module 7, but the second supporter 320 can be rotated. Limited, the user can exercise the wrist joint without moving the elbow joint.

The configuration as described above can be applied to the second hinge portions 331 and 332 as well.

FIG. 26 is a diagram showing the configuration of a rotation interrupter 770 according to another embodiment of the present invention.

In the embodiment shown in FIG. 27, a pair of intermittent grooves 774a are formed on both sides of the rotating intermittent part 270, and an intermittent rod 775a provided on the second rotating part 3321 is inserted into the intermittent groove 775. have Here, the intermittent rod 775a is elastically pressed in the direction of being inserted into the intermittent groove 775. For example, the intermittent rod 775a may be configured to press in the direction of being inserted into the intermittent groove 775 via the elastic force of a spring. can.

Meanwhile, a drive module according to embodiments of the present invention may include gear protrusions, as shown in FIGS. 21 and 23 .

Here, the gear projection is provided at a position where the gear connection/disconnection member 771 can contact the gear connection/disconnection member 771 at the position where the gear connection/disconnection member 771 meshes with the rotary gear plate 776 . As a result, the drive module can rotate between the first hinge portions 311 and 312 or the second hinge portion 331 in a state where the gear connecting/disconnecting member 771 meshes with the rotating gear plate 776, that is, in a state where the first rotating portion 3322 and the second rotating portion 3321 do not rotate relative to each other. , 332 can be prevented. In other words, if the driving module can be engaged while the gear connecting/disconnecting member 771 is engaged with the rotating gear plate 776, the driving module rotates while the rotation of the first rotating part 3322 is interrupted, and the driving module fails. This is because it may cause

Therefore, when the rotation of the first rotating part 3322 is intermittent, the driving module itself is prevented from being engaged, thereby preventing the failure due to the above situation.

Also, the first and second hinge parts 311 and 312 and the second hinge parts 331 and 332 may have a state display window 773 for displaying the current state according to the operation of the gear connecting/disconnecting member 771 . That is, "Lock" is displayed in the state display window 773 when the gear connecting/disconnecting member 771 is in a position to mesh with the rotating gear plate, and "Unlock" is displayed in the state display window 773 when the mesh is released. can be prepared for This can be implemented in such a way that it is mechanically synchronized with the sliding movement of the gear disconnecting member 771 and the characters are displayed.

In the above embodiment, the gear connecting/disconnecting member 771 is installed on the second rotating part 3321, and the rotating gear plate 776 is installed to rotate together with the first rotating part 3322. Applicable. In other words, the gear connecting/disconnecting member 771 may be provided on the first rotating portion 3322 and the rotating gear plate 776 may be configured to rotate together with the second rotating portion 3321 .

On the other hand, the rehabilitation exercise apparatus 1 according to an embodiment of the present invention can perform rehabilitation exercise by selectively mounting the driving module 7 on each hinge part corresponding to the position of the upper limb or lower limb to be exercised.

For example, when the driving module 7 is attached to the left first hinge part 311 or the left second hinge part 331, the rehabilitation exercise apparatus 1 according to the embodiment of the present invention prevents the driving module 7 from interfering with the user's body. You can exercise by wearing it on your right upper limb. At this time, when the driving module 7 is attached to the left first hinge portion 311, the right wrist joint can be exercised, and when the driving module 7 is attached to the left second hinge portion 331, the right elbow can be exercised. You can exercise your joints.

When the driving module 7 is attached to the right first hinge part 312 or the right second hinge part 332, the rehabilitation exercise device 1 according to the embodiment of the present invention prevents the driving module 7 from interfering with the user's torso. It can be worn on the left upper limb for exercise. At this time, when the driving module 7 is attached to the right first hinge portion 312, the left wrist joint can be exercised, and when the driving module 7 is attached to the left second hinge portion 332, the left elbow joint can be exercised. can exercise

Here, the driving module 7 according to the embodiment of the present invention is provided so as to be capable of interlocking with an application installed in a smart device such as a smartphone. At this time, the drive module 7 can automatically recognize where the drive module 7 is installed in the first hinge part and the second hinge part, and on which side of the left or right it is installed. desirable if possible.

Therefore, the rehabilitation exercise device 1 for upper and lower limbs according to the embodiment of the present invention may include a mounting position detection unit for automatically detecting the mounting position of the driving module 7 .

The mounting position detector detects the position where the drive module 7 is mounted in the pair of first hinges 331 and the pair of second hinges 331 and 332 . In the embodiment of the present invention, it is assumed that the mounting position detection section includes the modules to be detected M, 810a, 810b, 810c, and 810d and the sensor module HS.

The modules to be detected M, 810a, 810b, 810c, 810d are provided on the pair of first hinge portions 331 and the pair of second hinge portions 331, 332, respectively. Moreover, the sensor module HS is provided in the drive module 7, and when the drive module 7 is attached to one of the first hinge portion 331 and the second hinge portions 331 and 332, the detected module M, 810a is detected. , 810b, 810c, 810d.

Here, the modules to be detected M, 810a, 810b, 810c, and 810d respectively provided in the first hinge portion 331 and the second hinge portions 331 and 332 are provided so as to be distinguishable from each other, so that the sensor module HS can detect them. Upon recognition, it recognizes where the driving module 7 is provided in the first hinge portion 331 and the second hinge portions 331 and 332 .

28 and 29 are diagrams showing an example of the configuration of the mounting position detection section according to one embodiment of the present invention. The sensor module HS according to the embodiment of the present invention is exemplified to include a Hall sensor.

For example, the Hall sensor is installed inside the body housing 710 of the driving module 7, as shown in FIG.

For example, each detected module M, 810a, 810b, 810c, 810d includes a magnet member M and magnet holes 810a, 810b, 810c, 810d. The magnet members M may be built in positions corresponding to the first hinge portion 331 and the second hinge portions 331 and 332, respectively. Here, the position where the magnet member M is provided is provided at a position that can be detected by a Hall sensor when the drive module 7 is attached to the first hinge portions 311 and 312 or the second hinge portions 331 and 332 .

Magnet holes 810a, 810b, 810c, 810d are formed in the first hinge portions 311, 312 and the second hinge portions 331, 332 to expose the magnet members M to the outside, as shown in FIG. Here, the magnet holes 810a, 810b, 810c, and 810d are provided with at least one different position and size, and when the Hall sensor detects the magnetic field of the magnet member M, each magnet hole Depending on the positions and magnitudes of 810a, 810b, 810c, 810d, magnetic fields of other characteristics can be detected to make the mounting position of drive module 7 recognizable.

Referring to FIG. 29, four magnet holes 810a, 810b, 810c and 810d formed in each of the first and second hinge parts 311 and 312 and the second hinge parts 331 and 332 are centered around the position of the Hall sensor. It is provided so as to be positioned at the top and bottom. For example, the magnet holes 810a, 810b, 810c, and 810d formed in the right first hinge portion 312 are 810a, and the magnet holes 810a, 810b, 810c, and 810d formed in the left first hinge portion 311 are 810b. 810c is the magnet hole 810a, 810b, 810c, 810d formed in the second hinge portion 332 on the right side, and 810d is the magnet hole 810a, 810b, 810c, 810d formed in the second hinge portion 331 on the left side. In other words, when the driving module 7 is mounted, magnetic fields with different characteristics are detected according to the positions of the magnet holes 810a, 810b, 810c, and 810d, so that the mounting position of the driving module 7 can be confirmed.

FIG. 29 exemplifies that the positions and sizes of the magnet holes 810a, 810b, 810c, and 810d have other forms, but if the magnetic field characteristics can be distinguished, other forms are also possible. It is possible.

In another embodiment, a tag based on short-range communication, such as RF or NFC, in which information about the position is embedded is attached to the modules M, 810a, 810b, 810c, and 810d to be detected, and the tag is embedded in the sensor module HS. A reader is provided to recognize the information received.

The embodiments of the present invention have been described above with reference to the accompanying drawings. It will be understood that it can be embodied in other specific forms. Accordingly, the embodiments described above are to be considered in all respects as illustrative and not restrictive.

INDUSTRIAL APPLICABILITY The present invention can be applied to a rehabilitation exercise device for rehabilitation exercise of a patient's upper limbs or lower limbs.

1: Rehabilitation Exercise Device for Upper and Lower Limbs 3: Rehabilitation Exercise Unit 5: Placement Table 7: Drive Module 310: First Support Part 311, 312: First Hinge Part 320: Second Support Part 330: Third Support Part

Claims (3)

a first support for supporting the hand or foot;
a second support that supports the forearm of the upper limb or the lower leg of the lower limb;
a pair of first hinges rotatably coupling the first support and the second support;
a third support that supports the upper arm of the upper limb or the thigh of the lower limb;
a pair of second hinges rotatably coupling the second support and the third support;
a driving module selectively mounted on one of the pair of first hinges and the pair of second hinges to rotate the first support or the second support;
a mounting position detection unit that detects a position at which the drive module is mounted in the pair of first hinges and the pair of second hinges ;
The mounting position detection unit
a module to be detected provided on each of the pair of first hinge portions and the pair of second hinge portions;
a sensor module provided in the driving module for recognizing the detected module when the driving module is attached to one of the pair of first hinges and the pair of second hinges; ,
The rehabilitation exercise device for upper limbs and lower limbs, wherein the detected modules provided on the respective first and second hinges are distinguishable . the sensor module includes a Hall sensor;
Each of the detected modules,
magnet members embedded in positions corresponding to each other in the first hinge portion and the second hinge portion;
magnet holes formed in the first hinge part and the second hinge part for exposing the magnet member to the outside;
2. The upper and lower limbs according to claim 1 , wherein the magnet holes are provided with at least one of different positions and sizes, and the hall sensor distinguishes and recognizes the mounting position. rehabilitation exercise device. the module to be detected includes a short-range communication-based tag provided at the first hinge part and the second hinge part and embedded with information on the respective position;
2. The sensor module of claim 1, wherein the sensor module includes a reader that recognizes information stored in the tag when the drive module is attached to the first hinge portion or the second hinge portion. upper and lower limb rehabilitation exercise device.

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