KR20210108850A - Rehabilitation exercise apparatus for upper limb and lower limb - Google Patents

Abstract

The present invention relates to a rehabilitation exercise device for upper and lower limbs which comprises: a base plate; a holding plate for holding a rehabilitation exercising unit which comprises a first supporting part for supporting hands or feet, a second supporting part for supporting the forearm of an upper limb or the lower leg of a lower limb, and a third supporting part for supporting the upper arm of the upper limb or the thigh of the lower limb; and a link member coupled to the base plate and the holding plate to be able to rotate and accessing to or separating from the base plate by adjusting an angle of the base plate and the holding plate. According to the present invention, holding angles of the upper and lower limbs can be simply adjusted.

Description

Rehabilitation exercise device for upper and lower extremities

The present invention relates to a rehabilitation exercise apparatus for upper and lower extremities, and more particularly, to a rehabilitation exercise apparatus for upper extremities and lower extremities capable of rehabilitating the upper extremities or lower extremities by using the upper extremities or lower extremities.

In general, each joint portion of the human body has a structure in which the joint portion and adjacent portions are rotatable based on the joint portion.

On the other hand, the elderly or rehabilitation patients with weak muscle strength are unable to exercise on their own, and thus have difficulty in joint movement compared to healthy people.

If the muscle strength is weakened or the damaged joint is left unattended, the muscle or joint gradually hardens, causing pain when moving, and even if the nerve is restored, it can interfere with normal activities.

In addition, in the case of a patient who has operated on joint areas such as the wrist and shoulder, since it is impossible to exercise by themselves, the muscle is weakened and a smooth nutrition supply is not made, so there is a risk that the joint area of the wrist and shoulder becomes stiff and hardened.

Accordingly, in order to prevent joint deformation and return to normal activities, rehabilitation exercise with pain for a long time is required.

In order to improve this problem, as a prior art of a rehabilitation exercise device for joint movement by giving passive exercise to the elderly or rehabilitation patients with weak muscle strength, Korean Patent Registration No. 10-1163903 discloses upper extremity rehabilitation of stroke patients. An exoskeleton robot for

The rehabilitation exercise apparatus disclosed in the prior art has an unnecessarily complicated configuration, and has a problem in that it is difficult to provide benefits to more users due to a high cost burden due to purchase and installation. In addition, since it is not easy to move the rehabilitation exercise device, most users have to move to a place where the rehabilitation exercise device is located, so that it is cumbersome to use.

Domestic Patent Publication No. 10-1163903 (Title of the invention: exoskeleton robot for upper extremity rehabilitation of stroke patients, registration date: 2012.07.02.)

The present invention has been devised in view of the above points, and the present invention enables rehabilitation exercise by simply adjusting the mounting angle of the upper or lower extremities according to the condition of the rehabilitation patient, and simplifies the structure to bear the cost of purchase and installation. It is easy to move to the elderly or rehabilitation patients with weak muscle strength because it is easy to move, and after it is seated on a desk, chair, or mattress, the upper or lower extremities are conveniently mounted. It is an object of the invention to provide an upper extremity rehabilitation robot that can

An object of the present invention, the base plate; A mounting plate on which a rehab exercise unit including a first support part for supporting a hand or foot, a second support part for supporting the forearm or lower leg of the upper extremity, and a third support part for supporting the upper arm or thigh of the lower extremity is mounted. Wow; Rehabilitation exercise apparatus for upper and lower extremities, characterized in that it includes a link member rotatably coupled to the base plate and the mounting plate to approach or separate from the base play according to the angle adjustment of the base plate and the mounting plate. is achieved by

Here, one end of the mounting plate may be installed to be horizontally movable along the plate surface of the base plate, and the other end of the mounting plate may be rotatably installed to the base plate.

a pair of extension brackets rotatably coupled to the mounting plate at intervals and extending in parallel toward the third support; a connecting rod connecting the pair of extension brackets; The base plate may include a plurality of locking protrusions formed at intervals along the longitudinal direction of the pair of extension brackets, and to which the connecting rod is selectively caught in response to an inclination angle between the base plate and the mounting plate. .

It may further include a fixing unit for fixing the connecting rod to the selected locking jaw so that the state is maintained.

The fixing unit may include, as an embodiment, a pair of unit bodies reciprocating along the base plate together with the connecting rod according to angle adjustment between the base plate and the mounting plate; a pair of operating levers provided on the outside of the base plate and rotatably coupled to the pair of unit bodies; a pair of interlocking levers provided inside the base plate and rotatably coupled to the pair of unit bodies to rotate in association with the rotation of the pair of operating levers; It may include a pair of interlocking brackets provided at both edges of the connecting rod toward the interlocking lever and pressed or released according to the rotation of the interlocking lever.

The fixing unit may include, as another embodiment, a plurality of auxiliary engaging projections formed in a continuous wave shape along the longitudinal direction of the base plate in parallel with the plurality of stopping projections on the base plate; a plurality of locking pins provided on the base plate having the same pitch as the auxiliary locking jaws; a unit body which reciprocates along the base plate together with the connecting rod according to angle adjustment between the base plate and the mounting plate, and is selectively mounted on the plurality of auxiliary locking jaws; an operating lever provided outside the base plate and rotatably coupled to the unit body; It may include an interlocking lever provided on the outside of the base plate, rotatably coupled to the unit body to rotate in association with the rotation of the operation lever, and selectively caught or released by the plurality of locking pins.

According to the present invention, rehabilitation exercise can be performed by conveniently adjusting the mounting angle of the upper or lower extremities according to the condition of the rehabilitation patient, and the structure is simplified to minimize the cost burden due to purchase and installation, and the elderly or muscular strength is convenient because of the convenience of movement. It can be easily moved to weak rehabilitation patients and seated on a desk, chair, mattress, etc., and then the upper or lower extremities are conveniently mounted, and each joint of the upper extremity or lower extremities can be rehabilitated similarly to normal exercise.

1 is a perspective view of a rehabilitation exercise apparatus according to an embodiment of the present invention;
2 is a view showing a state in which the base plate of FIG. 1 is tilted from the mounting plate;
3 is a view showing a state of rehabilitating an upper extremity using a rehabilitation exercise device according to an embodiment of the present invention;
4 is a view showing a state of rehabilitating the lower extremities using the rehabilitation exercise device according to an embodiment of the present invention;
Figure 5 is a perspective view of the rehabilitation exercise unit of Figure 1;
6 is a plan view of FIG. 5 for explaining the length adjustment process of the second support according to the present invention;
7 is a view for explaining the operating mechanism of the second support of FIG. 6;
8 is an enlarged cross-sectional view of the main part showing the length stopper of FIG. 6;
9 is a view of another embodiment for explaining the length adjustment process of the second support according to the present invention;
10 is an enlarged perspective view of the main part of the rotation stopper of FIG. 9;
11 is a perspective view of the intermittent dial of FIG. 10;
12 is an enlarged cross-sectional view of the main part of FIG. 9;
13 is an enlarged perspective view of the main part showing a state in which the mounting plate of FIG. 1 is erected at a predetermined angle with respect to the base plate;
14 is a view for explaining the operating mechanism of the mounting plate of FIG. 12;
15 is an enlarged view of the main part of FIG. 13;
16 is a view showing the operation process of the fixing unit when viewed from the inside of the base plate;
17 is a bottom perspective view of the main part of FIG. 1;
18 is a bottom view of FIG. 17 showing a process of adjusting the angle between the second support part and the third support part according to the present invention;
19 is a view showing an angle adjustment state between the second support and the third support according to the present invention;
20 is a view showing the arrangement of the angle fixing lever and the rotating plate according to the present invention;
Figure 21 (a) is a perspective view of a driving module according to the present invention, Figure 21 (b) is an enlarged view of the main part of the driving module,
22 is a perspective view of a light second hinge unit according to the present invention;
23 is a view of a state in which a driving module is mounted on a light second hinge unit according to the present invention;
Figure 24 (a) is an exploded perspective view of the drive shaft member and the hinge shaft member according to the present invention, Figure 24 (b) is a view for explaining the operating mechanism of the drive shaft member and the hinge shaft member,
25 is a view showing the mutual operation relationship of the rotation gear plate 3220 and the gear intermittent member 3221 in the first hinge part as an embodiment;
26 is a view for explaining the tagging of the driving module and each hinge part;
27 is a view showing another embodiment of the fixing unit;
FIG. 28 is a view showing a state in which the locking hook is caught by the locking pin in a state in which the operation lever of FIG. 27 is removed.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. As used herein, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein may have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 to 25 show a rehabilitation exercise apparatus 1 according to an embodiment of the present invention.

As shown in these figures, the rehabilitation exercise apparatus 1 according to an embodiment of the present invention includes a rehabilitation exercise unit 3 and a cradle 5 for supporting the rehabilitation exercise unit 3 .

The rehabilitation exercise unit 3 includes a first support part 310 for supporting the hand or foot, a second support part 320 for supporting the forearm or lower leg of the upper limb, the first support part 310 and the second support part 320 . A pair of first hinge parts 311 and 312 rotatably connecting the It may include a pair of second hinge parts 331 and 332 connected to each other.

The cradle 5 includes a base plate 510 and a cradle plate 520 on which the rehabilitation exercise unit 3 is mounted. A link-mechanism for converting horizontal movement into vertical movement is applied to the base plate 510 and the mounting plate 520 , and one side of the mounting plate 520 follows the plate surface of the base plate 510 . The link mechanism ( Link-mechanism) is applied.

According to the above configuration, as shown in FIG. 1, in a state in which the mounting plate 520 is folded on the base plate 510, as shown in FIG. 3, training to rehabilitate the upper extremities can be performed, As shown in FIG. 2, in a state in which the mounting plate 520 is erected at a certain angle from the base plate 510 by a link-mechanism, as shown in FIG. 4, training to rehabilitate the lower extremities is performed. can be done

Here, adjustment of the angle between the mounting plate 520 and the base plate 510, and fixing and releasing 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 as to be adjustable according to the use in the upper limb or lower limb, and the length of the upper limb or lower limb of the rehabilitation subject, the first support part ( It includes an interval adjusting unit for adjusting the interval between the 310 and the third support unit 330 .

The interval adjusting unit of the rehabilitation exercise unit 3 according to the present invention will be described with reference to FIGS. 5 to 8 .

The rehabilitation exercise unit 3 according to the present invention has a stacked slide-crank structure applied to the second support part 320 to support the forearm of the upper extremity or the lower leg of the lower extremity. The length of the second support part 320 For example, it is regulated.

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

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

The second moving plate 325 is provided between the second fixed 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 interval adjusting unit includes a first crank unit 326 and a second crank unit 327 .

The first crank part 326 is rotatably connected to the first fixing plate 322 and the hinge shaft part 321 , and converts the rotational motion of the hinge shaft part 321 into a linear motion of the first fixing plate 322 . .

The first crank unit 326 includes a first adjustment link 326a, a second adjustment link 326b, and a first connection link 326c.

The first adjustment link 326a is rotatably coupled to the hinge shaft portion 321 .

The second adjustment link (326b), one side is rotatably coupled to the first adjustment link (326a), the other side is rotatably coupled to the first fixing plate (322).

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

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

The second crank unit 327 includes a third adjustment link 327a, a fourth adjustment link 327b, and a second connection link 327c.

The third adjustment link (327a) is rotatably coupled to the hinge shaft portion (321). The third adjustment link 327a is disposed opposite to the first adjustment link 326a at an angle of 180 degrees.

The fourth control link (327b), one side is rotatably coupled to the third control link (327a), the other side is rotatably coupled to the second fixing plate (323). The fourth adjustment link 327b is disposed 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 connection link 327c is disposed opposite to the first connection link 326c.

Meanwhile, the first moving plate 324 is reciprocally guided by a pair of first guide rods 329a extending from the first fixed plate 322 to the first moving plate 324 . In addition, the reciprocating movement of the first moving plate 324 is guided by a pair of third guide rods 329c extending from the hinge shaft portion 321 toward the first moving plate 324 . Here, in this embodiment, the first guide rod (329a) and the third guide rod (329c) are shown as a pair, respectively, but not limited thereto, and the first guide rod (329a) and the third guide rod (329c) ( 329c) may be provided with one or more, respectively.

In addition, the second moving plate 325 is guided to reciprocate by a pair of second guide rods 329b that extend from the second fixed plate 323 toward the second moving plate 325 . In addition, the reciprocating movement of the second moving plate 325 is guided by a pair of third guide rods 329c extending from the hinge shaft portion 321 toward the second moving plate 325 . Here, in this embodiment, the second guide rod (329b) and the third guide rod (329c) are shown as a pair, respectively, but not limited thereto, and the second guide rod (329b) and the third guide rod (329c) ( 329c) may be provided with one or more, respectively.

According to the above configuration, the interval adjusting unit of the rehabilitation exercise device 1 according to the present invention includes a first fixed plate 322 and a first moving plate 324 and a second fixed plate ( 323) and the second moving plate 325, respectively, operate in conjunction with each other to approach or separate from each other about the hinge shaft portion 321. A slide-crank mechanism is implemented, the second support portion 330 of It is possible to adjust the length, so that the distance between the first support 310 and the third support 330 can be adjusted.

Hereinafter, for better understanding of the present invention, the length of the second support 330 is adjusted in detail with reference to FIG. 7 .

7, when the first adjustment link (326a) and the second adjustment link (326b) are rotated clockwise about the hinge shaft portion 321, the first adjustment link (326a) and the second adjustment link (326b) between As the angle between the first adjustment link 326a and the first connection link 326c increases, the gap between the hinge shaft portion 321 and the first fixing plate 322 increases. Similarly, the angle between the third adjustment link 327a and the fourth adjustment link 327b and the angle between the third adjustment link 327a and the second connection link 327c are the first adjustment link 326a and the second adjustment link 327c. Increasing to the same size between the adjustment link (326b), the gap between the hinge shaft portion 321 and the second fixing plate (323) is increased. Accordingly, the first fixing plate 322 and the second fixing plate 323 are separated from the hinge shaft portion 321 to have the same size.

Conversely, when the first adjustment link (326a) and the second adjustment link (326b) in FIG. 7 are rotated counterclockwise around the hinge shaft portion 321, the first adjustment link (326a) and the second adjustment link (326b) ), the angle between the first adjustment link 326a and the first connection link 326c decreases, and the gap between the hinge shaft portion 321 and the first fixing plate 322 becomes smaller. Similarly, the angle between the third adjustment link 327a and the fourth adjustment link 327b and the angle between the third adjustment link 327a and the second connection link 327c are the first adjustment link 326a and the second adjustment link 327c. Reduced to the same size between the adjustment link (326b), the gap between the hinge shaft portion 321 and the second fixing plate (323) becomes small. Accordingly, the first fixing plate 322 and the second fixing plate 323 are narrowed to the same size from the hinge shaft portion 321 , respectively.

Therefore, in the rehabilitation apparatus 1 according to the present invention, the first fixed plate 322 and the first moving plate 324, and the second fixed plate 323 and the second moving plate 325 are hinge shaft portions 321 . ) and works in conjunction with each other to approach or separate from 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 connection bar 328 is fixed to the second fixing plate 323 , the first fixing plate 322 is movably coupled to the connection bar 328 , and the first fixing plate 322 is It approaches and separates from the second fixing plate 323 .

A through hole 322a (refer to FIG. 8 ) through which the connecting bar 328 passes is formed in the first fixing plate 322 , so that movement of the first fixing plate 322 in the longitudinal direction may be guided.

And, in the first fixing plate 322, intermittent movement of the first fixing plate 322 in the longitudinal direction, for example, limiting the relative movement of the first fixing plate 322 and the second fixing plate 323 A length stopper 340 may be installed. In the present invention, it is exemplified that the length stoppers 340 are installed as a pair on each connection bar 328 .

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

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

The intermittent lever 341 includes a pusher 342 provided at one end to press or release the pressing member 345 , and a pusher 342 provided at the other end so that the pusher 342 presses or releases the pressing member 345 . ) includes a handle 343 for rotating.

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

Accordingly, when the intermittent lever 341 in FIG. 8 is rotated clockwise about the rotation shaft 322b, the pusher rotates toward the pressing member 345 to contact the pressing member 352 and press the pressing member 345 . and the pressing member 345 presses the connecting bar 328 passing through the through hole 322a to prevent movement of the first fixing plate 322 in the longitudinal direction. On the other hand, when the intermittent lever 341 is rotated counterclockwise about the rotation shaft 322b, the pusher is spaced apart from the pressing member 345 and releases the pressure of the pressing member 345, and the through-hole 322a inside the connecting bar The movement of 328 is enabled, so that the first fixing plate 322 is movable in the longitudinal direction along the connecting bar 328 .

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

9 to 12 are views showing examples of a structure for intermittent movement in the longitudinal direction of the second support 330 according to another embodiment of the present invention. Rehabilitation exercise unit 3 according to another embodiment of the present invention is provided on the hinge shaft portion 321, the rotation stopper 350 for limiting the relative movement of the first fixed plate 322 and the second fixed plate 323 may include

As described above, in adjusting the length in the longitudinal direction, the second support 320 according to the present invention has a slide-crank structure, which includes rotation of the hinge shaft 321, The rotation stopper 350 controls the rotation of the hinge shaft portion 321 to maintain a predetermined length.

The rotation stopper 350 includes an intermittent dial 351 , a shaft body 353 forming a hinge shaft portion 321 , a shaft pillar portion 354 protruding upward from the shaft body 353 , and a shaft pillar portion 354 . ), and the first adjustment link (326a) and the third adjustment link (327a) are connected to rotate the first adjustment link (326a) and the third adjustment link (327a) relative to the shaft body (353) plate 352 .

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

The intermittent pin 351c is formed to protrude from the end of the intermittent dial 351 facing the shaft body 353, and is inserted or released into any one intermittent hole selected from among a plurality of intermittent holes 352a to be described later.

The locking groove 351c is spaced apart from the intermittent pin 351a and is recessed in one end region facing the shaft body 353 . In this embodiment, a pair of engaging grooves 351c are provided to face each other.

In the shaft body 353 , a plurality of interrupted holes 352a are formed at intervals along the circumferential direction of the shaft column portion 354 .

The shaft plate 352 has a circular ring shape. A first adjustment link 326a and a third adjustment link 327a are connected to the outer periphery of the shaft plate 352 , and an intermittent dial 351 is rotatably provided on the inner periphery. In addition, in one area of the inner periphery of the shaft plate 352 , a pair of locking projections 352b hooking on the locking groove 351c of the intermittent dial 351 and connecting the intermittent dial 351 to the shaft plate 352 protrude. is formed

In addition, the rotation stopper 350 according to the present invention may further include an elastic member 355 for the stopper.

The stopper elastic member 355 is provided between the shaft pillar portion 354 and the intermittent dial 351, and generates an elastic force in 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 part 320, the elastic member 355 for the stopper pulls the intermittent dial 351 and lifts it from the shaft body to separate the intermittent pin 351a from the intermittent hole 352a. While adjusting the length in the state, if the intermittent dial 351 is released when the second support part 320 is adjusted to the desired length, the intermittent dial 351 moves the shaft body 353 by the elastic force of the elastic member 355 for the stopper. Descending toward, the intermittent pin (351a) is inserted into the intermittent hole (352a) of the corresponding position at the same time.

By this configuration, the rotation stopper 350 according to the present invention is the intermittent pin 351a is inserted into the intermittent hole 352a, the shaft plate 352 does not rotate with respect to the shaft body 353, 2 The support part 320 is not adjustable in length. At the same time, the locking protrusion 352b of the shaft plate 352 is caught in the locking groove 351c of the intermittent dial 351 , thereby preventing the intermittent dial from rotating around the shaft column portion 354 .

On the other hand, in the rotation stopper 350 according to the present invention, when the intermittent pin 351a is inserted and released from the intermittent hole 352a, the shaft plate 352 rotates with respect to the shaft body 353, so that the second support part 320 ) is adjustable in length. At this time, the locking protrusion 352b of the shaft plate 352 maintains a locking state in the locking groove 351c of the intermittent dial 351, and the intermittent dial 351 maintains a state connected to the shaft plate 352. . Accordingly, the intermittent dial 351 is rotatable forward and reverse about the shaft column part 354 , so that the first fixing plate 322 and the second fixing plate 323 approach each other about the shaft body 353 . Alternatively, the length of the second support part 320 can be adjusted by being spaced apart.

11, reference numeral 351b denotes a pin insertion part into which the intermittent pin 351a is inserted and fixed, and reference numeral 351d denotes a shaft passing hole through which the shaft column part 354 is fixed after passing. 10 illustrates a state in which the intermittent pin 351a is inserted into the intermittent hole 352a in a state in which the intermittent pin 351a is removed from the intermittent dial 351 for convenience of explanation.

As such, the first fixing plate 322 and the first moving plate 324 and the second fixing plate 323 and the second moving plate 325 approach or spaced apart from each other about the hinge shaft portion 321, respectively. By implementing a slide-crank mechanism that works in conjunction with each other so that it is possible to adjust the length of the second support part 320, it corresponds to the length of the user's various forearms or lower legs, and the first support part 310 and By adjusting the interval between the third support parts 330, it is possible to perform a rehabilitation exercise.

Hereinafter, the configuration of the cradle 5 according to the present invention will be described in detail with reference to FIGS. 13 to 16 .

As described above, the holder 5 may include a base plate 510 , a mounting plate 520 , and a link member 530 . According to this configuration, a link-mechanism as shown in FIG. 14 is implemented.

Here, a pair of extension brackets 521 are installed on both sides of the mounting plate 520 to extend in parallel toward the third support 330 . One end of the pair of extension brackets 521, for example, one end facing the first support 310 is rotatably coupled to the mounting plate 520 at an interval. The other end of the pair of extension brackets 521, for example, the other end facing the third support 330 is interconnected by a connecting rod (522).

And, inside the base plate 510, according to the angle between the mounting plate 520 and the base plate 510, a plurality of locking projections 512 on which the connecting rod 522 is caught are formed along the longitudinal direction of the locking plate 511. this is installed A plurality of locking projections 512 are formed at intervals along the longitudinal direction of the pair of extension brackets 521, so that the connecting rod 522 is selectively caught. Accordingly, in response to the angle of inclination between the mounting plate 520 and the base plate 510 , the connecting rod 522 is in a state of being caught by any one of the locking jaws 512 , so that it can be maintained at a predetermined angle.

In addition, the cradle 5 according to the present invention may include a fixing unit 540 for fixing the connecting rod 522 so as to maintain a state in which the connecting rod 522 is caught on any one of the locking jaws 512 .

The fixed unit 540 is, as shown in FIGS. 15 and 16 , a pair of unit main bodies 541 , a pair of operating levers 542 , a pair of interlocking levers 543 , and a pair of interlocking brackets. (522a).

The unit body 541 moves together with the connecting rod 522 according to angle adjustment of the base plate 510 and the mounting plate 520 , and reciprocates along the base plate 510 .

The operation lever 542 is provided on the outside of the base plate 510 and is rotatably coupled to the unit body 541 .

The interlocking lever 543 is provided inside the base plate 510 and is rotatably coupled to the unit body 541 to rotate in association with the rotation of the operation lever 542 .

The interlocking bracket 522a is provided on both edges of the connecting rod 522 toward the interlocking lever 543 , and is pressed or released according to the rotation of the interlocking lever 543 . The interlocking bracket 522a is connected to the connecting rod 522 by the connecting bracket 522b.

With this configuration, as shown in Fig. 16 (a), when the operating lever 542 is rotated clockwise, the interlocking lever 543 is rotated clockwise, and the connection bracket 522b is connected to the interlocking lever ( 543), the connecting rod 522 is blocked from moving upward, and the connecting rod 522 is prevented from being pulled out from the engaging protrusion 512 of the base plate 510.

On the other hand, when performing the operation of folding or unfolding the mounting plate 520 to adjust the angle of the mounting plate 520 with respect to the base plate 510, if the operation lever 542 is rotated counterclockwise, As shown in (b) and (c) of (b) and (c), the interlocking lever 543 rotates counterclockwise while lifting the upper end of the interlocking bracket 522a, and the connecting rod 522 is pulled out from the locking jaw 512. It becomes possible to fold and unfold with me.

Accordingly, by operating the operation lever 542 on the outside of the base plate 510 to remove or fix the connecting rod 522 from the locking jaw 512 , the mounting plate 520 and the base plate 510 . A safety accident that may occur due to the operation of lifting the connecting rod 522 by inserting a hand between them can be prevented in advance.

In addition, by releasing the connecting rod 522 from the locking jaw 512 , as shown in FIG. 3 , in a state in which the mounting plate 520 is folded on the base plate 510 , the upper extremity can be rehabilitated. And, by fixing the connecting rod 522 to the locking jaw 512, as shown in FIG. 4, in a state in which the mounting plate 520 is erected at a predetermined angle from the base plate 510, the lower extremities can be rehabilitated. do.

And, according to the condition of the rehabilitation patient, it is possible to perform rehabilitation exercise by simply adjusting the mounting angle of the upper or lower extremities with respect to the base plate 510 seated on the floor.

Meanwhile, in FIGS. 27 and 28 , a fixing unit 540a having a different shape from the above-described fixing unit is illustrated.

The fixing unit 540a according to another embodiment of the present invention is different from the above-described fixing unit 540 , for example, in the longitudinal direction of the base plate 510 on one side of the base plate 510 . A plurality of auxiliary locking jaws 523 are formed in parallel with the plurality of locking jaws 512 .

The plurality of auxiliary locking jaws 523 has a continuous wave shape forming a valley and a mountain, and is formed at the same pitch as the plurality of locking jaws 512 of the locking plate 511 . The unit body 541 is selectively mounted on the plurality of auxiliary stopping protrusions 523 .

In addition, a plurality of locking pins 524 are provided on one side of the base plate 510 on which the plurality of auxiliary locking jaws 523 are formed, corresponding to the positions of the valleys of the auxiliary locking jaws 523 .

The plurality of locking pins 524 have the same pitch as the auxiliary locking jaws 523 and are provided to protrude from one side of the base plate 510 .

And, in the fixing unit 540a according to another embodiment of the present invention, the free end of the interlocking lever 543a that rotates in association with the rotation of the operation lever 542 has a ring shape.

The interlocking lever 543a is provided on the outside of the base plate 510 and is rotatably coupled to the unit body 541 .

The interlocking lever 543a is locked or released by the selected locking pin 524 as it rotates in conjunction with the rotation of the operating lever 542 .

In addition, the unit body 541 is connected to the connecting rod by the connecting bracket 522b.

With this configuration, as shown in FIGS. 27 and 28 , in a state in which the connecting rod 522 is engaged with the engaging jaw 512 , the operating lever 542 is positioned perpendicular to the base plate 510 . . At this time, the interlocking lever 543a is engaged with the locking pin 524, the connection rod 522 is blocked from moving upward, and the connection rod 522 is pulled out from the locking jaw 512 of the base plate 510. will prevent

On the other hand, when performing an operation of folding or unfolding the mounting plate 520 to adjust the angle of the mounting plate 520 with respect to the base plate 510, if the operation lever 542 is rotated counterclockwise, the interlocking lever As the 543a rotates counterclockwise, it is released from the locking pin 524, and by lifting the operating lever 542, the connecting rod 522 comes out from the locking jaw 512 and folds or unfolds. .

Accordingly, by operating the operation lever 542 on the outside of the base plate 510 to remove or fix the connecting rod 522 from the locking jaw 512, it is seated on the floor according to the condition of the rehabilitation patient. It is possible to perform rehabilitation exercise by simply adjusting the mounting angle of the upper or lower extremities with respect to the base plate 510 .

On the other hand, the rehabilitation exercise apparatus 1 according to the present invention may selectively couple the drive module 7 to any one of a pair of first hinge parts 311 and 312 and a pair of second hinge parts 331 and 332. . Taking the upper limb as an example, if the driving module 7 is mounted on either side of the first hinge parts 311 and 312, wrist rehabilitation exercise is possible, and the driving module ( 7), rehabilitation exercise of the elbow joint becomes possible.

At this time, in the case of the pair of first hinge parts 311 and 312 , the installation position of the driving module 7 may be determined according to the rehabilitation of the left or right upper limb, and in the case of the pair of second hinge parts 331 and 332 , Similarly, selection of the drive module 7 is possible according to the rehabilitation of the right or left upper limb.

Here, when the driving module 7 is mounted on the first hinge parts 311 and 312 to perform wrist motion, that is, when the first support part 310 and the second support part 320 are relatively rotated, The second support 320 and the third support 330 need to be fixed at a predetermined angle.

In addition, the rehabilitation exercise apparatus according to the present invention may include an angle adjusting unit 6 for adjusting the angle between the second support 320 and the third support 330 as shown in FIGS. 17 to 20 . have.

The angle adjusting unit 6 includes a rotation plate 611 , a plurality of fixing holes 613 , an angle fixing lever 621 , a pair of first transmission links 623 , and a pair of second transmission links. (625).

The pair of rotation plates 611 has a disk shape, and is provided integrally with the third support part 330 to rotate independently of the pair of second hinge parts 331 and 332, and a pair of second hinge parts 331 and 332. are axially coupled to each other. Accordingly, the second hinge parts 331 and 332 of the rehabilitation exercise apparatus 1 according to the present invention rotate independently of the third support part 330 , and the second support part 320 is coupled to be relatively rotatable. The second hinge parts 331 and 332 are fixed to the mounting plate 520 .

The plurality of fixing holes 613 are formed at intervals along the circumferential direction of each rotation plate 611 . The plurality of fixing holes 613 are inclined at a predetermined angle with respect to the radial direction of the rotation plate 611 in consideration of the rotation radius of the second transmission link 625 according to the operation of the angle fixing lever 621 to be described later. .

The angle fixing lever 621 is provided between the pair of second hinge parts 331 and 332 and reciprocates toward the first support part 310 . As shown in FIG. 17 , the angle fixing lever 621 is located under the third support part 330 .

A pair of first transmission links 623 are respectively rotatably coupled to both sides of the angle fixing lever 621 .

One side of the pair of second transmission links 625 is rotatably coupled to the pair of first transmission links 623, respectively, and the other side of the pair of second transmission links 625 has a selected fixing hole ( 613) is inserted or released to intermittently or release the rotation of the pair of rotation plates 611.

According to this configuration, when the angle fixing lever 621 is moved to the opposite side of the first support part 310 , as shown in FIG. 18 ( b ), the other side of the second transmission link 625 is a pair of It rotates inwardly of the second hinge parts 331 and 332 and is released from the fixing hole 613 to release the angle between the second support part 320 and the third support part 330 .

When the angle fixing lever 621 is moved toward the first support part 310, as shown in (a) of FIG. 18, the other side of the second transmission link 625 is the second hinge part 331 and 332, respectively. It rotates outward and is inserted into the selected fixing hole 613 to fix the angle between the second support part 320 and the third support part 330 .

Here, (a) of FIG. 18 is a position for fixing the angle, and (b) of FIG. 18 is a position for releasing the angle fixing, so that the angle fixing lever 621 is pressed to a position for fixing the angle. It may further include an elastic member 627 for the same lever.

The elastic member 627 for the lever generates an elastic force in the angle fixing lever 621 so that the second transmission link 625 is inserted into the selected fixing hole 613 .

Accordingly, as shown in (a) of FIG. 19 , in a state in which the second support part 320 and the third support part 330 are horizontally fixed, the user moves the angle fixing lever 621 to the first support part 310 . After pulling to the opposite side of and rotating the third support part 330 at an angle to be set with respect to the second support part 320 in a state in which the second transmission link 625 is uninserted from the fixing groove 613, the angle fixing lever When the 621 is released, the angle fixing lever 621 is moved toward the first support 310 by the elastic force of the elastic member 627 for the lever and the second transmission link 625 is inserted into the selected fixing groove 613. , as shown in (b) of FIG. 19 , the third support part 330 may be provided to be fixed at a set angle with the second support part 320 at the corresponding position.

Meanwhile, the first rotation guide ball 615 and the second rotation guide ball 617 may be formed on the rotation plate 611 in a semi-circular arc shape along the circumferential direction. In addition, the first rotation guide ball 615 and the second rotation guide ball 617 may be formed in a semi-circular arc shape facing each other with the rotation centers of the second hinge parts 331 and 332 interposed therebetween.

Here, a first rotation guide protrusion 331a and a second rotation guide protrusion 331b protruding from the second hinge parts 331 and 332 are inserted into the first rotation guide ball 615 and the second rotation guide ball 617 , While moving, rotation between the second support part 320 and the third support part 330 may be guided around the second hinge parts 331 and 332 . At this time, the rotation angle between the second support part 320 and the third support part 330 by the first rotation guide ball 615 and the second rotation guide ball 617 formed in a semi-circular arc shape is approximately 180 degrees within the range. may be intercepted.

In this way, it corresponds to various angles between the forearm and the upper arm or between the lower leg and the thigh depending on the condition of the rehabilitation patient, and by adjusting the angle between the second support part 320 and the third support part 330, it is possible to perform rehabilitation exercises. .

Hereinafter, the driving module 7 according to the present invention will be described in detail with reference to FIGS. 21 to 24 .

As described above, the driving module 7 is selectively mounted on any one of the pair of first hinge parts 311 and 312 and the pair of second hinge parts 331 and 332, the first support part 310 or the first 2 The support part 320 is rotated.

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

In addition, a ring coupling part 751 is formed in the first hinge parts 311 and 312 or the second hinge parts 331 and 332 .

On the other hand, in this embodiment, the driving module 7 is attached to the second hinge part 332 located on the right side when viewed from the first support part 310 to the third support part 330 in FIG. 1 . For convenience of description, the second hinge part located on the right side will be referred to as a light second hinge part 332 .

Here, a plurality of mounting protrusions 731 are formed on the inside of the ring member 730 at regular intervals along the circumferential direction of the ring member 730 , and around the opening of the light second hinge part 332 , the driving module A ring coupling portion 751 to which the ring member 730 of (7) is coupled is provided. A plurality of locking portions 753 may be formed in the ring coupling portion 751 to correspond to the mounting protrusion 731 .

Accordingly, when the driving module 7 is inserted into the light second hinge part 332 and then the ring member 730 is rotated, the mounting protrusion 731 rotates and is caught by the engaging part 753 , so that the driving module (7) can be prevented.

And, the body housing 710, the locking lever 740 is inserted into the ring member 730 to intermittently rotate the ring member 730 is formed, after rotating the ring member 730, the locking lever 740 By pushing and inserting the ring member 730, it is possible to prevent rotation of the ring member 730.

In addition, the light second hinge part 332 is provided with a hinge shaft member 760 to which the driving shaft member 720 of the driving module 7 is engaged.

The drive shaft member 720 and the hinge shaft member 760 are alternately protruded along the circumferential direction so that the plurality of jaws 720a and 760a face each other, respectively, as shown in FIG. 24 .

Each of the jaws 720a and 760a of the driving shaft member 720 and the hinge shaft member 760 are engaged with each other, so that the rotational force of the driving module 7 is transmitted through the hinge shaft member 760 to the light second hinge part 322 . make it possible to transmit Here, the hinge shaft member 760 of the light second hinge part 322 is connected to the second support part 330 .

In addition, an elastic member 765 such as a spring for pressing toward the opposite side is installed in any one of the drive shaft member 720 and the hinge shaft member 760 to firmly connect the drive shaft member 720 and the hinge shaft member 760. have.

In addition, both side surfaces of the jaws 720a and 760a of the drive shaft member 720 and the hinge shaft member 760 are inclined so that they can be easily coupled even if the alignment is slightly misaligned during the initial coupling.

In this way, the rehabilitation exercise apparatus 1 according to the present invention can easily attach and detach the drive module 7 to a desired hinge portion, thereby improving the user's convenience and performing rehabilitation exercises.

On the other hand, as shown in FIG. 25 , the driving module 7 may be provided with a rotation intermittent unit 770 for intermittent free rotation of the first hinge units 311 and 312 or the second hinge units 331 and 332 .

In this embodiment, since the driving module 7 is mounted on the light second hinge part 332 , the rotation intermittent part 770 is provided in the pair of first hinge parts 311 and 312 .

The rotation intermittent unit 770 includes a rotation gear plate 771 that rotates together with any one of the first support part 310 and the second support part 320 , and the first support part 310 and the second support part 320 . It may include a gear intermittent member 775 installed in any one.

A gear is formed at the circumferential end of the rotary gear plate 771 , and a gear is also formed at the end of the gear intermittent member 775 , and the gear intermittent member 775 is a rotary gear as shown in FIG. 25 ( a ). The rotation gear plate 771 does not rotate in engagement with the gear teeth of the plate 771, or the gear intermittent member 775 is engaged with the gear teeth of the rotation gear plate 771 as shown in FIG. When released, the rotation gear plate 771 rotates to intermittently rotate the first support part 310 and the second support part 320 .

The above structure is equally applicable to the second hinge parts 331 and 332 .

With this configuration, as shown in FIG. 1 . The driving module 7 is mounted on the light second hinge part 332, and the gear teeth of the gear intermittent member 775 and the rotation gear plate 771 are engaged with the pair of first hinge parts 311 and 312, respectively. When the pair of first hinge parts 311 and 312 do not rotate, the second support part 320 may pivot by the rotational force of the driving module 7 , but the first support part 310 may not rotate. Limited, the user can exercise the elbow joint in a state where the wrist joint does not move.

In addition, as another embodiment, the driving module 7 is mounted on the light first hinge part 312 , and the gear intermittent member 775 and the rotation gear plate 771 are respectively mounted on the pair of second hinge parts 331 and 332 , respectively. When the pair of second hinge parts 331 and 332 do not rotate by engaging the gear teeth of At 320, the turning movement is limited, and the user can exercise the wrist joint in a state where the elbow joint does not move.

In this way, the gear intermittent member 775 and the rotation gear plate 771 are separated by the driving module 7 to distinguish the joint parts that do not rotate and are mounted on the corresponding hinges to selectively rehabilitate the wrist joint or elbow joint. be able to

On the other hand, the rehabilitation exercise apparatus 1 according to an embodiment of the present invention may perform rehabilitation exercise by selectively mounting the driving module 7 to each hinge unit in response to the desired upper extremity or lower extremity position.

For example, when the driving module 7 is mounted on the left first hinge part 311 or the left second hinge part 331 , the rehabilitation exercise apparatus 1 according to an embodiment of the present invention is the driving module 7 . It does not interfere with the user's torso and can be worn on the right upper arm for exercise. At this time, when the driving module 7 is mounted on the left first hinge part 311 , it is possible to exercise the right wrist joint, and when the driving module 7 is mounted on the left second hinge part 331 , the right elbow joint be able to exercise

When the driving module 7 is mounted on the light first hinge part 312 or the light second hinge part 332, the rehabilitation exercise apparatus 1 according to an embodiment of the present invention is the driving module 7 for the user. It does not interfere with the torso of the body and can be worn on the left upper arm for exercise. At this time, when the driving module 7 is mounted on the light first hinge part 312 , the left wrist joint can be moved, and when the driving module 7 is mounted on the left second hinge part 332 , the left elbow joint be able to exercise

In addition, as shown in FIG. 26 , each of the first hinge parts 311 and 312 and the second hinge parts 331 and 332 has a tag 920 installed at a position where tagging is possible when combined with the driving module 7 . have. In addition, a reader 910 capable of tagging the tag 920 may be installed in the driving module 7 when combined with the first hinge parts 311 and 312 or the second hinge parts 331 and 332 . Here, the tag 920 and the reader 910 may be connected through RF or NFC communication.

Through this, even if the driving module 7 is installed in any one of the pair of first hinge parts 311 and 312 and the pair of second hinge parts 331 and 332, the driving module 7 through recognition of the tag 920 It will automatically recognize where it is installed.

When the rehabilitation exercise device 1 according to the present invention is operated in conjunction with a smart phone, it is possible to automatically recognize the installation position of the driving module 7 to automatically recognize which part of the exercise is in progress, and a preset The load, the amount of exercise, the number of exercises, etc. can be automatically transmitted to the driving module 7 through the smart phone. Similarly, exercise records using the rehabilitation exercise device 1 can be stored in a smart phone according to the corresponding part.

As mentioned above, although embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art to which the present invention pertains can realize that the present invention can be embodied in other specific forms without changing its technical spirit or essential features. you will be able to understand Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive.

1: Rehabilitation exercise device for upper and lower extremities
3: Rehabilitation exercise unit
5: cradle
7: drive module
310: first support
311,312: first hinge part
320: second support
330: third support part
331,332: second hinge part

Claims (6)

a base plate;
A mounting plate on which a rehab exercise unit including a first support part for supporting a hand or foot, a second support part for supporting the forearm or lower leg of the upper extremity, and a third support part for supporting the upper arm or thigh of the lower extremity is mounted. Wow;
Rehabilitation exercise apparatus for upper and lower extremities, characterized in that it includes a link member rotatably coupled to the base plate and the mounting plate to approach or separate from the base play according to the angle adjustment of the base plate and the mounting plate. . According to claim 1,
One end of the mounting plate is installed to be horizontally movable along the plate surface of the base plate, and the other end of the mounting plate is rotatably installed on the base plate. According to claim 1,
a pair of extension brackets rotatably coupled to the mounting plate at intervals and extending in parallel toward the third support;
a connecting rod connecting the pair of extension brackets;
and a plurality of locking jaws formed on the base plate at intervals along the lengthwise direction of the pair of extension brackets and selectively engaging the connecting rods in response to an inclination angle between the base plate and the mounting plate. A rehabilitation exercise device for upper and lower extremities. 4. The method of claim 3,
Rehabilitation exercise apparatus for upper and lower extremities, characterized in that it further comprises a fixing unit for fixing the connecting rod to the selected locking jaw so that the hooked state is maintained. 5. The method of claim 4,
The fixed unit is
a pair of unit bodies reciprocating along the base plate together with the connecting rod according to the adjustment of the angle between the base plate and the mounting plate;
a pair of operating levers provided on the outside of the base plate and rotatably coupled to the pair of unit bodies;
a pair of interlocking levers provided inside the base plate and rotatably coupled to the pair of unit bodies to rotate in association with the rotation of the pair of operating levers;
Rehabilitation exercise apparatus for upper and lower extremities, comprising a pair of interlocking brackets provided at both edges of the connecting rod toward the interlocking lever and pressed or released according to the rotation of the interlocking lever. 5. The method of claim 4,
The fixed unit is
a plurality of auxiliary engaging projections formed in a continuous wave shape along the longitudinal direction of the base plate in parallel with the plurality of stopping projections on the base plate;
a plurality of locking pins provided on the base plate having the same pitch as the auxiliary locking jaws;
a unit body which reciprocates along the base plate together with the connecting rod according to angle adjustment between the base plate and the mounting plate, and is selectively mounted on the plurality of auxiliary locking jaws;
an operating lever provided outside the base plate and rotatably coupled to the unit body;
It is provided on the outside of the base plate, is rotatably coupled to the unit body to rotate in association with the rotation of the operation lever, characterized in that it comprises an interlocking lever selectively caught or released by the plurality of locking pins. Rehabilitation exercise device for upper and lower extremities.

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