WO2021095971A1 - Dispositif d'exercice de rééducation pour membres supérieurs et inférieurs - Google Patents

Dispositif d'exercice de rééducation pour membres supérieurs et inférieurs Download PDF

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Publication number
WO2021095971A1
WO2021095971A1 PCT/KR2019/016683 KR2019016683W WO2021095971A1 WO 2021095971 A1 WO2021095971 A1 WO 2021095971A1 KR 2019016683 W KR2019016683 W KR 2019016683W WO 2021095971 A1 WO2021095971 A1 WO 2021095971A1
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WIPO (PCT)
Prior art keywords
cradle
pair
bracket
motor
brackets
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Application number
PCT/KR2019/016683
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English (en)
Korean (ko)
Inventor
최동민
최병걸
이춘배
Original Assignee
에이치로보틱스 주식회사
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Publication of WO2021095971A1 publication Critical patent/WO2021095971A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0274—Stretching or bending or torsioning apparatus for exercising for the upper limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/005—Moveable platforms, e.g. vibrating or oscillating platforms for standing, sitting, laying or leaning
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0214—Stretching or bending or torsioning apparatus for exercising by rotating cycling movement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H2001/0207—Nutating movement of a body part around its articulation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0157—Constructive details portable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1481—Special movement conversion means
    • A61H2201/149—Special movement conversion means rotation-linear or vice versa
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1635—Hand or arm, e.g. handle
    • A61H2201/1638—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor

Definitions

  • the present invention relates to a rehabilitation exercise device for upper and lower extremities, and more particularly, to a rehabilitation exercise device for upper and lower extremities capable of performing rehabilitation exercise of the upper or lower extremities through the upper or lower extremities.
  • each joint portion of the human body has a structure in which joint portions and adjacent portions can be rotated based on the joint portion.
  • the elderly or rehabilitation patients with weak muscle strength are unable to exercise on their own, so they have difficulty in joint movement compared to healthy people, and it is practically difficult to exercise with a general exercise device even though exercise is actually required.
  • muscle strength is weakened or damaged joints are continuously left unattended, muscles or joints gradually harden and cause pain when moving, and even when nerves are restored, it can interfere with normal activities.
  • Korean Patent Publication No. 10-1163903 describes upper limb rehabilitation of stroke patients.
  • An exoskeleton robot is disclosed.
  • the rehabilitation exercise apparatus disclosed in the prior art has an unnecessarily complex configuration, and thus, there is a problem in that it is difficult to provide benefits to more users due to high cost burden of purchase and installation.
  • it is difficult to move the rehabilitation exercise device most users have to move to the place where the rehabilitation exercise device is and exercise, which is cumbersome to use.
  • Patent Document 1 Korean Registered Patent Publication No. 10-1163903 (Name of invention: exoskeleton robot for upper limb rehabilitation of stroke patients, registration date: 2012.07.02.)
  • the present invention was conceived in consideration of the above points, and the present invention improves user convenience by being able to easily attach and detach a driving motor, and can perform rehabilitation exercise by being firmly mounted, and simplifies the structure according to purchase and installation. It minimizes the cost burden and is easy to move, so it is easily moved to the elderly or rehabilitation patients with weak muscle strength, and the upper or lower limbs are easily mounted after seating on a desk, chair, mattress, etc., and each joint of the upper or lower limb is similar to normal exercise. It is an object of the invention to provide an upper limb rehabilitation robot capable of rehabilitation exercise.
  • An object of the present invention and a first support having a first cradle on which a hand or foot is mounted;
  • a second support having a second cradle on which the forearm of the upper limb or the lower leg of the lower limb are mounted;
  • a connector having a track connected to the second cradle, and a pair of first brackets disposed on both sides of the track so that the first cradle is pivotably coupled;
  • a third support portion having a third cradle on which the upper arm of the upper limb or the thigh of the lower limb is mounted, and a pair of second brackets disposed on both sides of the third cradle so that the second cradle is pivotably coupled; It is selectively coupled to any one of the pair of the first bracket and the pair of the second bracket, and includes a drive motor for turning the first cradle or the second cradle, the drive motor is a pair of the It can be achieved by a rehabilitation exercise device for upper and lower limbs,
  • the hook coupling portion is formed recessed in the pair of the first bracket and the pair of second brackets;
  • a motor attaching/detaching switch provided on the driving motor and having a hook detachably hooked to the hook coupling portion, and releasing a coupling state of the hook coupling portion and the hook when a pressing operation is performed;
  • the hook may include an elastic member that provides an elastic force to the motor attaching/detachment switch so that the hook maintains a coupled state.
  • each of the first bracket and the second bracket includes a wheel having a drive shaft to which a motor shaft of the drive motor is coupled to be rotatably provided; It may include a driving motor insertion portion provided outside the wheel and into which one end of the driving motor is inserted.
  • It may further include a motor mounting guide for guiding the mounting of the first bracket and the second bracket and the drive motor.
  • the motor mounting guide unit includes: a plurality of guide ribs protruding from an inner circumference of the drive motor insertion unit at intervals along a circumferential direction; It may include a plurality of guide rib grooves are formed in the outer circumference of the drive motor corresponding to the plurality of guide ribs, the plurality of guide ribs are fitted.
  • the driving motor can be easily attached and detached, improving user convenience, and being firmly mounted to perform rehabilitation exercises, simplifying the structure to minimize the cost burden of purchase and installation. It can be easily moved to rehabilitation patients with weak muscle strength and placed on a desk, chair, mattress, etc., and then easily mounted on the upper or lower limbs, and each joint of the upper or lower limbs can be rehabilitated similarly to normal exercise.
  • FIG. 1 is a perspective view of a rehabilitation exercise device according to an embodiment of the present invention
  • Figure 2 is a plan view of Figure 1
  • Figure 3 is a left side view of Figure 1
  • Figure 4 is a front view of Figure 1
  • Figure 5 is a rear view of Figure 1
  • FIG. 6 is an exploded perspective view of FIG. 1,
  • FIG. 7 is a view showing a state in which the seating portion of FIG. 1 is separated
  • FIG. 8 is a view showing a state in which the intervals are adjusted so that the second cradle and the track of FIG. 7 approach each other;
  • Figure 9 (a) is an enlarged view of the "A" part of Figure 8
  • Figure 9 (b) is a longitudinal sectional view of the main part of Figure 9 (a)
  • FIG. 10 is an exploded perspective view of main parts of the third support portion and the second cradle of FIG. 1;
  • FIG. 11 is an exploded perspective view of a third support part and a driving motor of FIG. 1;
  • FIG. 12 is a cross-sectional view in a state in which the third support part of FIG. 1 and the driving motor are assembled;
  • FIG. 13 is a longitudinal sectional view in a state in which the third support part of FIG. 1 and the driving motor are assembled;
  • FIG. 14 is an exploded perspective view of the second bracket of the third support portion of FIG. 1;
  • FIG. 15 is an enlarged view of a main part of FIG. 14;
  • FIG. 16 is a view showing a state in which a bush is assembled to the second bracket of FIG. 13;
  • FIG. 17 is a view showing a state in which the auxiliary cover is assembled to the second bracket of FIG. 16;
  • FIG. 18 is an enlarged longitudinal sectional view of the main part of FIG.
  • Figure 19 (a) is a perspective view of the first cover
  • Figure 19 (b) is a rear perspective view of the first cover
  • Figure 20 (a) is a perspective view of the second cover
  • Figure 20 (b) is a rear perspective view of the second cover
  • 21 is a view showing a state in which the first bracket and the second cover of FIG. 1 are separated;
  • 22 is a view showing a state in which a driving motor is mounted on a second bracket as an embodiment
  • FIG. 23 is a view showing a state in which a driving motor is mounted on a first bracket as an embodiment
  • FIG. 24 is an exploded perspective view of main parts of a second bracket and a stopper of the rehabilitation exercise device according to an embodiment of the present invention.
  • 25 is a view showing a state in which the second cradle and the third cradle of the rehabilitation exercise device according to an embodiment of the present invention are angle-adjusted;
  • 26 is a view showing another embodiment of a stopper
  • Fig. 27 is an enlarged cross-sectional view of a main part of the post of Fig. 26;
  • FIG. 28 is a view showing another embodiment of the rehabilitation exercise device using the stopper of FIG. 26;
  • 29 is a longitudinal sectional view showing an assembled state of the second cradle and the track of FIG. 7;
  • rehabilitation exercise device for upper and lower limbs 10 first support
  • hook coupling portion 133 motor detachable switch
  • drive shaft 161 drive motor insertion unit
  • first cover 195 second cover
  • stopper ring 231 post
  • the rehabilitation exercise device for upper and lower limbs includes a first support having a first cradle on which a hand or foot is mounted; A second support having a second cradle on which the forearm of the upper limb or the lower leg of the lower limb are mounted; A connector having a track connected to the second cradle, and a pair of first brackets disposed on both sides of the track so that the first cradle is pivotably coupled; A third support portion having a third cradle on which the upper arm of the upper limb or the thigh of the lower limb is mounted, and a pair of second brackets disposed on both sides of the third cradle so that the second cradle is pivotably coupled; It is selectively coupled to any one of the pair of the first bracket and the pair of the second bracket, and includes a drive motor for turning the first cradle or the second cradle, the drive motor is a pair of the It characterized in that the hook is detachably coupled to the first
  • FIG. 1 to 24 illustrate a rehabilitation exercise device according to an embodiment of the present invention.
  • the rehabilitation exercise device 1 largely supports a first support part 10 for supporting a hand or foot, and a second support part for the forearm of the upper limb or the lower leg of the lower limb. (20), a connector 30 connecting the first support portion 10 and the second support portion 20, and a third support portion 70 that supports the upper arm of the upper limb or the thigh of the lower limb.
  • the rehabilitation exercise device 1 worn on the upper limb to perform rehabilitation.
  • the rehabilitation exercise device 1 according to an embodiment of the present invention may be worn on the lower limbs in addition to the upper limbs to perform rehabilitation exercises.
  • the first support 10 includes a first cradle 11 and a pair of first arms 15.
  • the first cradle 11 is formed to be curved to partially surround the back of the hand or the palm of the hand. Accordingly, the user can stably place the hand on the first cradle 11 during rehabilitation exercise.
  • a band or a separate case may be provided on the first cradle 11 to fix the hand so as not to be separated from the first cradle 11.
  • the pair of first arms 15 face each other at both ends of the first cradle 11 facing the second support portion 20, with hands interposed therebetween, for example, with the first cradle 11 therebetween. Be stationery.
  • the pair of first arms 15 are pivotally coupled to the pair of first brackets 65a and 65b of the connector 30 to be described later.
  • the free end of each first arm 15 is coupled to the drive shaft 155 provided in each of the first brackets 65a and 65b by a coupling means (not shown) such as a bolt or a coupling pin, and the drive shaft 155 As the forward and reverse rotation is performed, the drive shaft 155 is rotated in the vertical direction.
  • the second support 20 includes a second cradle 21 and a pair of second arms 25.
  • the second cradle 21 is formed to be curved to partially surround the forearm. Accordingly, the user can stably mount the forearm on the second cradle 21 during rehabilitation exercise.
  • a band or a separate case may be provided on the second cradle 21 to fix the forearm so as not to be separated from the second cradle 21.
  • the pair of second arms 25 face each other at both ends of the second cradle 21 facing the third support 70 with the forearm interposed, for example, with the second cradle 21 therebetween. Be stationery.
  • the pair of second arms 25 is pivotally coupled to the pair of second brackets 75a and 75b of the third support portion 70 to be described later.
  • the free end of each second arm 25 is coupled to the drive shaft 155 provided in each of the second brackets 75a and 75b by means of coupling means such as bolts, coupling pins, etc., and the drive shaft 155 rotates forward and backward. It turns vertically around (155).
  • the connector 30 is disposed between the first cradle 11 and the second cradle 21, and includes a track 31 and a pair of first brackets 65a and 65b.
  • the track 31 has a cross-sectional shape corresponding to the second cradle 21 and is disposed in a lower region of the second cradle 21.
  • the track 31 is disposed along the longitudinal direction of the second cradle 21 so as to be at least partially overlapping with the second cradle 21. Accordingly, the track 31 can reciprocate along the longitudinal direction of the second cradle 21.
  • the tracks 31 are interconnected by the second cradle 21 and the clamp 33, as shown in FIG. 7.
  • the clamp 33 includes a clamping plate 35 disposed on the upper surface of the second cradle 21 and a clamping bolt 37 that supports the clamping plate 35 and is supported by the track 31.
  • a guide hole 23 is formed in the second cradle 21.
  • the guide hole 23 has a long hole shape formed through the second cradle 21 along the longitudinal direction of the second cradle 21, for example, in parallel with the plurality of slits 41 to a predetermined length.
  • a clamp 33 for interconnecting the second cradle 21 and the track 31 is movably coupled to the guide hole 23.
  • the guide hole 23 can guide the movement of the second cradle 21 and the track 31.
  • a guide 39 for a track is provided at one edge of the track 31.
  • the track guide 39 partially surrounds one edge of the second cradle 21, and when the second cradle 21 reciprocates along the track 31, one edge of the second cradle 21 is slidable. Support it.
  • the guide 39 for the track may be provided along both edges of the track 31.
  • first cradle 11 and the second cradle 21 may be spaced apart by the spacing adjustment units 41, 45, and 51.
  • the spacing adjustment units 41, 45 and 51 include a plurality of slits 41, a push button 45, and an elastic member 51.
  • the plurality of slits 41 are formed through the second cradle 21 at regular intervals along the longitudinal direction of the second cradle 21.
  • the push button 45 has an engaging protrusion 47 selectively coupled to the plurality of slits 41.
  • the push button 45 is provided on the track 31 so as to be able to move up and down, and releases the engaged state of the slit 41 and the engaging protrusion 47 during a pressing operation.
  • the elastic member 51 is provided between the push button 45 and the track 31 to elastically support the push button 45.
  • the elastic member 51 provides an elastic force to the push button 45 so that the coupling protrusion 47 remains engaged with the slit 41.
  • a seating portion 55 on which the forearm is seated is attached and detached so that the forearm of the user is seated without discomfort.
  • the seating portion 55 has a cross-sectional shape corresponding to the second cradle 21.
  • the pair of first brackets 65a and 65b are disposed to face each other on both sides of the track 31 with the pair of first arms 15 of the first support portion 10 interposed therebetween.
  • the first bracket located on the left is referred to as the left first bracket 65a
  • the first bracket located on the right is referred to as It is referred to as the first light bracket 65b.
  • the first arm 15 of the first support portion 10 is coupled to the first brackets 65a and 65b by a coupling means (not shown) such as a bolt or a coupling pin.
  • first bracket (65a, 65b) has the same configuration and shape as the second bracket (75a, 75b) to be described later, according to the detailed description of the first bracket (65a, 65b), the second bracket (75a) to be described later. ,75b).
  • the third support 70 includes a third cradle 71 and a pair of second brackets 75a and 75b.
  • the third cradle 71 is formed to be curved to partially surround the upper arm. Accordingly, the user can stably mount the upper arm on the third cradle 71 during rehabilitation exercise.
  • a band or a separate case may be provided on the third cradle 71 to fix the upper arm so as not to be separated from the third cradle 71.
  • the pair of second brackets 75a and 75b have the same configuration as the first brackets 65a and 65b of the first support 10 described above. Therefore, in the description of the present invention, the names and reference numerals of each component constituting the first brackets 65a and 65b and the second brackets 75a and 75b are the same, and representatively, the second brackets 75a and 75b ) To describe each component and function of the bracket.
  • the pair of second brackets 75a and 75b includes a wheel 151, a driving motor insert 161, and a bush 171, as shown in FIGS. 10 to 18.
  • the wheel 151 has a circular wheel shape.
  • a drive shaft 155 is provided at the center of the wheel 151 to be rotatable.
  • the motor shaft 105 of the drive motor 100 to be described later may be selectively coupled to the drive shaft 155.
  • the second arm 25 of the second support part 20 is coupled to the drive shaft 155 by a coupling means (not shown) such as a bolt or a coupling pin.
  • the motor shaft 105 of the drive motor 100 is coupled to one side of the drive shaft 155 facing the outside of the wheel 151, and the second arm 25 is at the other side of the drive shaft 155 facing the inside of the wheel 151. ) Is combined.
  • the driving motor 100 When the driving motor 100 is coupled to the second brackets 75a and 75b, as the driving motor 100 rotates forward and backward, the pair of second arms 25 of the second support 20 move the driving shaft 155 At the same time as the center rotates in the vertical direction, the second cradle 21 is also rotated in the vertical direction. Therefore, when the forearm is mounted on the second cradle 21, it is possible to exercise the elbow joint as the second cradle 21 rotates.
  • a pair of drive shafts 155 provided in each of the pair of second brackets 75a and 75b cross the bottom region of the second cradle 21 and cross a pair of second brackets 75a and 75b. It is formed extending toward, and is interconnected by a link 157 supported on each drive shaft 155. Accordingly, the rotation of the pair of second brackets 75a and 75b can be synchronized.
  • each wheel 151 of the pair of second brackets 75a and 75b may be directly supported by the pedestal 241.
  • the drive shaft 155 rotatably provided at the center of the wheel 151 of the first brackets 65a and 65b having the same configuration as the second brackets 75a and 75b has the motor shaft 105 of the drive motor 100.
  • the motor shaft 105 of the drive motor 100 may be coupled to one side of the drive shaft 155 facing the outside of the wheel 151, and a first arm is provided on the other side of the drive shaft 155 toward the inside of the wheel 151. (15) is combined.
  • the driving motor 100 When the driving motor 100 is coupled to the first brackets 65a and 65b, as the driving motor 100 rotates forward and backward, the pair of first arms 15 of the first support unit 10 rotates the driving shaft 155. At the same time as the center rotates in the vertical direction, the first cradle 11 is also rotated in the vertical direction. Therefore, when the hand is mounted on the first cradle 11, it is possible to exercise the wrist joint as the first cradle 11 rotates.
  • a pair of drive shafts 155 provided in each of the pair of first brackets 65a and 65b extend toward the pair of first brackets 65a and 65b while crossing the bottom region of the track 31 It is formed and is interconnected by links 157 supported on each drive shaft 155. Accordingly, the rotation of the pair of first brackets 65a and 65b can be synchronized.
  • each wheel 151 of the pair of first brackets 65a and 65b may be supported by the pedestal 241.
  • the drive motor insertion part 161 has a ring shape of a certain width and is provided to protrude from the outside of the wheel 151.
  • the driving motor 100 is mounted on the driving motor insertion unit 161.
  • the bush 171 has a ring shape, and is slidably coupled to the outer periphery of the driving motor insertion part 161.
  • the bush 171 has an inner diameter that is the same size as the outer diameter of the driving motor insertion portion 161. Accordingly, the bush 171 is able to rotate relative to the wheel 151 and the drive motor insertion unit 161.
  • the bush 171 may be made of a metal material.
  • a flange 175 is provided that is bent and extended to a predetermined width along the outer circumference of the bush 171.
  • the flange 175 of the bush 171 is covered by the auxiliary cover 181 so that it is not exposed to the outside.
  • a bush 171 passes through the auxiliary cover 181, and a hook protrusion 185 protrudes toward the wheel 151 on the inside of the auxiliary cover 181. Accordingly, the hook protrusion 185 of the auxiliary cover 181 is hooked to the wheel 151, and the auxiliary cover 181 surrounds the flange 175 of the bush 171 and is fixed to the wheel 151.
  • a plurality of angle adjustment holes 201 may be formed at a predetermined angle interval along the circumferential direction of the bush 171.
  • the plurality of angle adjustment holes 201 will be described later.
  • the rehabilitation exercise device 1 includes a drive motor 100 for selectively turning the first cradle 11 or the second cradle 21.
  • the driving motor 100 is selectively detachably coupled to one of a pair of first brackets 65a and 65b and a pair of second brackets 75a and 75b, 2 Turn the cradle (21).
  • the driving motor 100 includes a motor housing 101 forming an exterior, a stator 103 accommodated in the motor housing 101, and a central axis of the motor housing 101 It is provided along the stator 103 and includes a motor shaft 105 equipped with a rotor 107 rotating by an electromagnetic action.
  • a transmission means for transmitting the rotational force generated from the drive motor 100 to the bracket as shown in Figs. 10 and 11, a plurality of driving pins 111 and a plurality of pin insertion grooves 115 Includes.
  • the plurality of driving pins 111 are formed to protrude from the motor shaft 105 of the driving motor 100 to a predetermined length.
  • the plurality of driving pins 111 are provided along the circumference of the rotation center of the motor shaft 105.
  • the plurality of pin insertion grooves 115 correspond to the plurality of driving pins 111 of the motor shaft 105 and are recessed in the respective drive shafts 155 of the first brackets 65a and 65b and the second brackets 75a and 75b. Is formed, a plurality of driving pins 111 are inserted and coupled.
  • the motor shaft 105 of the drive motor 100 and the drive shaft 155 of each bracket 65a, 65b, 75a, 75b are formed by a plurality of driving pins 111 and a plurality of pin insertion grooves 115. As they are coupled to each other, slip does not occur between the motor shaft 105 and the drive shaft 155, so that the rotational force of the drive motor 100 passes through the motor shaft 105, It is stably transmitted to the drive shaft 155.
  • the rehabilitation exercise device 1 includes a motor mounting guide for guiding mounting the driving motor 100 to the first brackets 65a and 65b or the second brackets 75a and 75b. Includes 120.
  • the motor mounting guide unit 120 includes a plurality of guide ribs 121 and a plurality of guide rib grooves 125 as shown in FIGS. 10 and 11.
  • the plurality of guide ribs 121 are spaced along the circumferential direction on the inner circumference of the driving motor insertion unit 161 of each bracket (65a, 65b, 75a, 75b), and are driven from the free end of the driving motor insertion unit 161 It is formed to protrude to a predetermined length in the mounting direction of the motor 100.
  • the plurality of guide rib grooves 125 correspond to the plurality of guide ribs 121 and are recessed to a predetermined depth in the outer periphery of the driving motor 100 so that each guide rib 121 is fitted.
  • the guide rib 121 and the guide rib groove 125 guide when the driving motor 100 is mounted on the selected bracket, and at the same time, the driving motor 100 mounted on the selected bracket is connected to the driving motor insertion unit 161 It is possible to prevent oscillation along the circumferential direction of.
  • the rehabilitation exercise device 1 includes a motor mounting means 130 for mounting the driving motor 100 to the first brackets 65a and 65b and the second brackets 75a and 75b. Includes.
  • the motor mounting means 130 includes a hook coupling part 131, a motor attaching/detachment switch 133, and an elastic member 141, as shown in FIGS. 10 to 12.
  • the hook coupling part 131 is recessed in the wheel 151 of the first brackets 65a and 65b and the second brackets 75a and 75b.
  • the motor attachment/detachment switch 133 is formed in the motor housing 101 while supporting the hook 135 and the hook 135 to be detachably hooked to the hook coupling part 131 by protruding from the driving motor 100. It includes a hook bridge 137 extending in length along the path, and a motor attachment/detachment button 139 that supports the hook bridge 137 and is exposed from the driving motor 100. The motor attachment/detachment button 139 releases the coupling state of the hook coupling part 131 and the hook 135 during a pressing operation.
  • the elastic member 141 is provided in the motor housing 101 and elastically supports the motor detachable button 139.
  • the elastic member 141 provides an elastic force to the motor attachment/detachment button 139 so that the hook 135 remains coupled to the hook coupling portion 131.
  • the hook 135 of the drive motor 100 is hooked or disengaged to the hook coupling portion 131 of the selected bracket, thereby It is easy to attach and detach to improve user convenience, prevents the drive motor 100 from being separated from the drive motor insert 161 along the axial direction of the motor shaft 105, and allows it to be firmly mounted on the selected bracket. do.
  • the motor mounting means 130 further includes a drive motor ring 145.
  • the drive motor ring 145 has a ring shape and is coupled to the bush 171.
  • a plurality of bush coupling protrusions 147 are formed to protrude along the circumferential direction on the inner circumference of the drive motor ring 145 at intervals.
  • the bush coupling protrusion 147 is fitted into a plurality of bush grooves 177 (refer to FIG. 15) that are recessed at predetermined intervals and lengths along the circumferential direction of the bush 171.
  • the bush coupling protrusion of the drive motor ring 145 By fitting and coupling the 147 to the bush groove 177 of the bush 171, the driving motor ring 145 is supported by the bush 171 and supported by the driving motor 100 at the same time.
  • the drive motor ring 145 also serves to prevent the stopper ring 225 to be described later from being separated from the bush 171.
  • the guide rib groove 125 of the driving motor 100 is fitted and coupled to the guide rib 121 formed in the driving motor insertion unit 161 so that the driving motor 100 is supported by the driving motor insertion unit 161,
  • the hook 135 of the driving motor 100 is hooked to the hook coupling portion 131 of the wheel 151 so that the driving motor 100 is supported by the wheel 151, and the bushing of the driving motor ring 145
  • the protrusion 147 is fitted into the bush groove 177 of the bush 171 so that the driving motor ring 145 is supported by the driving motor 100 and supported by the bush 171 at the same time.
  • the rehabilitation exercise device 1 according to an embodiment of the present invention, as shown in Figs. 19 and 20, the first cover ( 190) and a second cover 195.
  • the first cover 190 and the second cover 195 are mounted on the bush 171.
  • the first cover protrusion 191 of the first cover 190 is fitted into the bush groove 177 of the bush 171, the first cover 190 is mounted on the bush 171.
  • This first cover 190 has a drive shaft 155 that rotates by the rotational force of the drive motor 100 and is coupled to the bush 171 of the bracket to which the drive motor 100 is not mounted, and the corresponding drive shaft 155 It does not block the rotation of the bracket and covers the drive shaft 155 of the bracket so that it is not exposed to the outside.
  • a plurality of second cover protrusions 197 fitted into the plurality of bush grooves 177 of the bush 171 are formed to protrude at intervals. Has been.
  • a plurality of cover pins 199 that are inserted and coupled to the plurality of pin insertion grooves 115 of the driving shaft 155 are provided on one side of the second cover 195.
  • the plurality of cover pins 199 are formed in depressions along the circumference of the rotation center of the drive shaft 155.
  • the plurality of cover pins 199 rotates without rotating in connection with the drive motor 100 among the drive shafts 155 of the pair of first brackets 65a and 65b and the pair of second brackets 75a and 75b. It is inserted into the pin insertion groove 115 of the driving shaft 155 to be coupled.
  • the second cover protrusion 197 of the second cover 195 is fitted into the bush groove 177 of the bush 171, and at the same time, a plurality of cover pins 199 are inserted into the pin insertion groove 115 of the drive shaft 155. As it is inserted and coupled to, the second cover 195 is mounted on the bush 171 and the drive shaft 155 at the same time.
  • This second cover 195 is simultaneously coupled to the bush 171 of the bracket having the drive shaft 155 that does not rotate in connection with the drive motor 100 and the drive shaft 155 to prevent rotation of the drive shaft 155. Limit. Accordingly, by limiting the rotational motion of the arm connected to the drive shaft 155 of the bracket to which the second cover 195 is coupled, the rotational motion of the holder connected to the arm is restricted.
  • the rehabilitation exercise device 1 in this embodiment is mounted on the right second bracket 75b, the first cover 190 is mounted on the left second bracket 75a, and the second cover 195 is a pair of first brackets 65a. ,65b) has a configuration to be mounted.
  • 21 is a diagram showing a state in which the first brackets 65a and 65b and the second cover 195 are separated.
  • the driving motor 100 is mounted on the second right bracket 75b, the first cover 190 is mounted on the second left bracket 75a, and the second pair of the first brackets 65a and 65b respectively
  • the cover 195 is mounted, the second cradle 21 can rotate by the rotational force of the drive motor 100, but the first cradle 11 is rotated by the second cover 195.
  • the user can exercise the elbow joint while the wrist joint is not moving.
  • the driving motor 100 is mounted on the right first bracket 65a, 65b
  • the first cover 190 is mounted on the left first bracket 65a, 65b
  • a pair of second brackets 75a, 75b In the case where each of the second covers 195 is mounted, the first cradle 11 can rotate by the rotational force of the driving motor 100, but the second cradle 21 is attached to the second cover 195. Accordingly, the rotational motion is limited, so that the user can exercise the wrist joint while the elbow joint is not moving.
  • first cover 190 and the second cover 195 are distinguished from the joint portion that rotates by the driving motor 100 and the joint portion that is not rotated by the driving motor 100 and mounted on the corresponding bracket. You will be able to stably perform rehabilitation exercises.
  • the rehabilitation exercise apparatus 1 may perform exercise by mounting the driving motor 100 to a selected bracket corresponding to the position of the upper limb to be exercised.
  • the rehabilitation exercise device 1 when the driving motor 100 is mounted on the left first bracket 65a or the left second bracket 75a, the rehabilitation exercise device 1 according to an embodiment of the present invention includes the driving motor 100 It does not interfere with the torso of the body, and can be worn on the right upper limb to exercise. At this time, when the driving motor 100 is mounted on the left first bracket 65a, the right wrist joint can be moved, and when the driving motor 100 is mounted on the left second bracket 75a, the right elbow joint is moved. You can do it.
  • the rehabilitation exercise device 1 When the drive motor 100 is mounted on the light first bracket 65b or the light second bracket 75b, the rehabilitation exercise device 1 according to an embodiment of the present invention includes the drive motor 100 It does not interfere with and can be worn on the left upper limb to exercise. At this time, when the driving motor 100 is mounted on the right first bracket 65b, the left wrist joint can be moved, and when the driving motor 100 is mounted on the left second bracket 75a, the left elbow joint is moved. You can do it.
  • the rehabilitation exercise device 1 may include an angle adjusting unit 200 for adjusting an angle between the second cradle 21 and the third cradle 71.
  • the angle adjusting part 200 includes a plurality of angle adjusting holes 201, an angle adjusting switch 205, and an elastic member 211, as shown in FIGS. 14 to 18.
  • a plurality of angle adjustment holes 201 are formed at intervals of a predetermined angle along the circumferential direction of the bush 171 on the flange 175 of the bush 171.
  • the angle control switch 205 is provided on the rotation trajectory of the bush 171 and supports the locking protrusion 207 and the locking protrusion 207 selectively coupled to the plurality of angle adjusting holes 201, and a second light bracket ( It includes a switch knob 209 that is provided on the wheel 151 of 75b) so as to be liftable and releases the locking of the locking protrusion 207 and the angle adjusting hole 201 during a pressing operation.
  • the elastic member 211 elastically supports the angle control switch 205, and provides an elastic force to the angle control switch 205 so that the locking protrusion 207 maintains a locked state in the angle control hole 201.
  • the wheel 151 of the light second bracket 75b while pressing the angle adjustment switch 205 Relatively rotate the bush 171 to achieve a desired angle with respect to the second cradle 21, and then depress the angle control switch 205 to release the locking protrusion to the selected angle adjusting hole ( 201).
  • a stopper 220 for preventing the rotation of the bush 171 of the pair of second brackets (75a, 75b) can do.
  • the stopper 220 includes a stopper groove 221, a stopper ring 225, and a post 231.
  • the stopper groove 221 is cut from the free end of the bush 171 to a predetermined width horizontally with respect to the circumferential direction of the bush 171.
  • the stopper ring 225 has a stopper protrusion 227 that is coupled to the stopper groove 221 of the bush 171 to prevent the rotation of the bush 171, and is coupled to the outer periphery of the bush 171.
  • the stopper ring 225 when the stopper ring 225 is mounted on the second light bracket 75b on which the driving motor 100 is mounted, the stopper ring 225 is provided on the second light bracket 75b.
  • the bush 171 is not separated from the bush 171 by the driving motor ring 145 fitted into the bush groove 177 of the bush 171.
  • the stopper ring 225 when the stopper ring 225 is mounted on the left second bracket 75a on which the driving motor 100 is not mounted, the stopper ring 225 is formed of the bush 171 provided on the left second bracket 75a. It is not separated from the bush 171 by the first cover 190 and the second cover 195 fitted into the bush groove 177.
  • the post 231 has a rod shape of a predetermined length, one end supports the stopper ring 225, and the other end is supported by the pedestal 241.
  • the second brackets 75a and 75b are fixed by the stopper 220 to be stable. You will be able to maintain the angle.
  • the post 231 is composed of a first pipe 233 and a second pipe 235 that are overlapped with each other as shown in FIGS. 26 and 27.
  • the first pipe 233 and the second pipe 235 are mutually approached and spaced apart from each other, and the length of the stopper ring 225 is adjusted with respect to the pedestal 241.
  • the clamping force of the fixing knob 237 simultaneously coupled to the outer circumferences of the first pipe 233 and the second pipe 235 It is fixed.
  • the rehabilitation exercise device 1 including the post 231 capable of adjusting the length is assembled as shown in FIG. 28, and can be used as a rehabilitation exercise device 1 for movement of the lower limb.
  • a wrist joint is disposed between a pair of first brackets 65a and 65b, and an elbow is disposed between the pair of second brackets 75a and 75b. Joints can be placed.
  • the rehabilitation exercise device 1 according to an embodiment of the present invention is shown to be used only for the upper limb, it may also be used for the lower limb.
  • the hand of the upper limb corresponds to the foot of the lower limb
  • the wrist of the upper limb corresponds to the ankle of the lower limb
  • the forearm of the upper limb corresponds to the lower leg of the lower limb
  • the upper arm of the upper limb corresponds to the thigh of the lower limb.
  • the first cradle 11, the second cradle 21, and the third cradle 71 are modularized into a size corresponding to the feet, lower legs, and thighs of the lower limbs, replaced and assembled, and the lower limbs are mounted instead of the upper limbs. You can also do rehabilitation exercises.
  • the present invention can be applied to a rehabilitation training device for rehabilitation training of a patient's upper or lower limbs.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

La présente invention concerne un dispositif d'exercice de rééducation pour membres supérieurs et inférieurs, comprenant : une première partie de support ayant un premier maintien sur lequel une main ou un pied est placé ; une seconde partie de support ayant un second maintien sur lequel est placé un avant-bras d'un membre supérieur ou un mollet d'un membre inférieur ; un connecteur ayant un rail relié au second berceau, et une paire de premières attaches disposées sur les deux côtés du rail de telle sorte que le premier berceau y soit couplé de façon pivotante ; une troisième partie de support ayant un troisième maintien sur lequel le bras supérieur du membre supérieur ou la cuisse du membre inférieur est placée et une paire de secondes attaches disposées des deux côtés du troisième maintien de telle sorte que le second maintien y soit couplé de façon pivotante ; et un moteur d'entraînement couplé sélectivement à l'une ou l'autre de la paire de premières attaches et de la paire de secondes attaches pour faire pivoter le premier maintien ou le second maintien, le moteur d'entraînement étant accroché de manière amovible à la paire de premières attaches et à la paire de secondes attaches.
PCT/KR2019/016683 2019-11-15 2019-11-29 Dispositif d'exercice de rééducation pour membres supérieurs et inférieurs WO2021095971A1 (fr)

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KR1020190146776A KR102246050B1 (ko) 2019-11-15 2019-11-15 상지 및 하지용 재활 운동 장치
KR10-2019-0146776 2019-11-15

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