CN104905935B - Recovery training appliance for recovery lower limbs - Google Patents

Abstract

The object of the present invention is to provide lower limbs rehabilitation trainer, comprise frame, lead screw nut mechanism, moving plate mechanism, flexible cable driving device, tension sensor, binding device, swivel device, flexible cable driving device cooperates with leading screw nut mechanism Jointly control the movement of the upper moving platform of the binding device, the tension sensor is installed on the flexible cable, and the swivel device is connected with the support leg of the trainer. The frame of the present invention is a frame structure, and the cooperation of the lead screw nut mechanism and the flexible cable drive device improves the control accuracy of the robot on the one hand, and improves the compliance of the robot system on the other hand; through two sets of lead screw nut mechanisms, not only can improve The range of activities of rehabilitation training improves the intensity of lower limb muscle training, and facilitates the layout of traction cables, improving the flexibility of driving strategies. Making the supporting lower limbs stand on the swivel device can enhance the coordination of the trainer's movement and better meet the needs of rehabilitation training.

Description

Lower Limb Rehabilitation Trainer

technical field

The invention relates to a rehabilitation machine, specifically a lower limb rehabilitation machine.

Background technique

Medical theory and practice have proved that patients with cerebral palsy sequelae or limb injuries caused by accidents need limb training in order to restore limb function and prevent muscle "disuse" atrophy and joint stiffness. In order to overcome the shortage of professional medical personnel and improve the effect of rehabilitation training, various rehabilitation training devices have emerged. Generally, active rehabilitation training devices are attached to the limbs of the trainee, and the limbs are driven by the expected movement trajectory to achieve the effect of rehabilitation training. . Elderly people have weak athletic ability, and through robot-assisted exercise training, they can improve their motor function.

At present, the relevant literature at home and abroad mainly includes the following types:

Patent No. 201010203502.6 and the invention patent titled "Rope Traction Lower Limbs Gait Rehabilitation Robot" elaborated that the lower limb flexion and extension motion control is realized through rope traction; patent No. 201210173493. The invention patent of "explains that the adduction and abduction movement control of the lower limbs is realized through rope traction; the utility model patent with the patent number 201120144824.8 and the patent name "lower limb abduction device in lateral position" expounds that through a set of support plates and frames The lower body can be used to fix the lower limbs and prevent adduction and internal rotation of the lower limbs when lying on the side. The patent No. is CN20092234252U 20090803, and the utility model patent titled "hip joint training device" sets forth that the lower limb hip joint motion control is realized by the pulley block and the swing bar device.

None of the lower limb rehabilitation training devices introduced in the above-mentioned related documents adopts rope traction to realize the exercise training of adduction, abduction, internal rotation and external rotation of the lower limbs at the same time.

Contents of the invention

The object of the present invention is to provide a lower limb rehabilitation training device for improving the muscle strength of the deep muscle group of the vastus medial region, the muscle strength of the buttocks muscle group, and the range of motion of the hip and knee joints of patients with motor dysfunction of the lower limbs.

The purpose of the present invention is achieved like this:

The lower limb rehabilitation training device of the present invention is characterized in that it includes a support system frame, a flexible cable traction system, a binding device, a moving plate system, and a swivel device. The support system frame is a rectangular parallelepiped frame, and the flexible cable traction system includes a The same first-fourth cable traction unit, the swivel device includes a turntable installed on the bottom surface of the support system frame, the moving plate system includes the first-second moving plate mechanism with the same structure, on a vertical surface of the rectangular parallelepiped structural frame The first-second flexible cable traction unit and the first movable plate mechanism are arranged on the top, and the third-fourth flexible cable traction unit and the second movable plate mechanism are arranged on the opposite surface of the face. The first movable plate mechanism includes a motor , lead screw nut structure, moving plate, slide rails are set on the support system frame, the motor is installed on the support system frame, the motor is connected to the lead screw of the lead screw nut structure, one end of the nut of the lead screw nut structure matches the slide rail, and the other end It is fixedly connected with the connection plate, and two pulleys are set on the connection plate. The first cable traction unit includes a torque motor, a winch, and a cable. The torque motor is fixed on the support system frame, and the winch is connected to the torque motor. One end of the cable is wound on the winch. The other end goes around one of the moving plates to connect the first buckle on the binding device, and the flexible rope of the second cable traction unit goes around the other wheel to connect to the second buckle on the binding device; the second mobile The cooperation mode of the plate mechanism and the third flexible cable traction unit and the fourth flexible cable traction unit is the same as that of the first mobile plate mechanism, the first flexible cable traction unit and the second flexible cable traction unit, and the third flexible cable traction unit The flexible cable of the fourth flexible cable connects the third buckle on the binding device, and the flexible cable of the fourth flexible cable traction unit connects the fourth button on the binding device.

The present invention may also include:

1. The first buckle and the second buckle coincide, the third buckle and the fourth buckle are located on the same surface of the binding device, and the surface of the binding device where the first buckle is located is the same as the binding surface where the third buckle and the fourth buckle are located. The faces of the device are opposite, the flexible cables of the third flexible cable traction unit and the flexible cables of the fourth flexible cable traction unit are arranged crosswise, and the flexible cables of the flexible cable traction system and the binding device are located on a plane.

2. The torque motor of the cable traction system is located at the same height as the support system frame.

3. A horizontal bar for people to grasp is set on the support system frame.

The advantages of the present invention are: the frame of the present invention is a frame structure, the flexible cable driving unit is modularized, the overall mechanism of the robot is simple, the weight is light, the floor space is small, and the disassembly and installation are convenient. The cooperation of the screw nut mechanism and the flexible cable driving device improves the control accuracy of the robot on the one hand, and improves the compliance of the robot system on the other hand; through two sets of screw nut mechanisms, not only the range of motion of rehabilitation training can be improved, but also the lower limbs can be improved. It not only improves the intensity of muscle group training, but also facilitates the layout of the traction cables, improving the flexibility of the driving strategy. Making the supporting lower limbs stand on the swivel device can enhance the coordination of the trainer's movement and better meet the needs of rehabilitation training.

Description of drawings

Fig. 1 is a structural representation of the present invention;

Fig. 2 is the top view of the present invention;

Fig. 3 is a partial view of the present invention.

detailed description

The present invention is described in more detail below in conjunction with accompanying drawing example:

1 to 3, the lower limb rehabilitation training device of the present invention is composed of a support system frame 1, four sets of flexible cable traction systems, two sets of moving plate devices, two sets of screw nut mechanisms, and a set of swivel devices. The support system frame 1 is constructed of profiles and can be moved arbitrarily as required. The four sets of flexible cable traction systems are composed of No. 1 permanent magnet DC torque motor 3 and No. 2 permanent magnet motor respectively equipped with No. 1 photoelectric encoder 2, No. 2 photoelectric encoder 29, No. DC torque motor 28, No. 3 permanent magnet DC torque motor 34, No. 4 permanent magnet DC torque motor 23, No. 1 capstan 4, No. 2 capstan 30, No. 3 capstan 33, No. 4 respectively connected with each permanent magnet DC torque motor Winch 22, No. 1 flexible cable 6, No. 2 flexible cable 27, No. 3 flexible cable 38, No. 4 flexible cable 17, No. 1 torque sensor 5 and No. 2 torque sensor for measuring the tension of each flexible cable corresponding to each winch 32. No. 3 torque sensor 21 and No. 4 torque sensor 33 are formed, and four torque motors are fixed on the same height of frame 1 clockwise and symmetrically respectively, and drive respective corresponding capstans to rotate to realize the traction of each flexible cable. Two sets of moving plate devices are made of No. 1 moving plate 26, No. 1 passing wheel 10, No. 2 passing wheel 31, No. 2 moving plate 39, No. 3 passing wheel fixedly connected with No. 2 moving plate 26, and No. 1 moving plate 26. Wheel 34, No. 4 passing wheel 19 form; Two sets of lead screw nut mechanisms are equipped with No. 1 AC motor 12 of No. 5 photoelectric encoder 13, No. 1 lead screw 8 connected with AC motor, and a No. 1 lead screw that cooperates with No. 1 lead screw. No. slide rail 7, No. 1 nut 9 driven by leading screw, No. 2 AC motor 15 equipped with No. 6 photoelectric encoder 14, No. 2 leading screw 16 connected to 15 of No. 2 AC motor, cooperate with No. 2 leading screw The No. 2 slide rail 18 is made up of the No. 2 nut 20 driven by the No. 2 lead screw; the rotation of each AC motor drives the corresponding lead screw to rotate, and then drives each movable plate fixedly connected with the corresponding nut to move up and down. The other end of No. 1 flexible cable 6, No. 2 flexible cable 27, No. 3 flexible cable 38, and No. 4 flexible cable 17 passes through No. 1 torque sensor 5, No. 2 torque motor 32, No. The motor 21 and the No. 1 passing wheel 10 , No. 2 passing wheel 31 , No. 3 passing wheel 34 , and No. 4 passing wheel 19 fixed on each moving plate are finally connected with the P1 (P2) clockwise distributed on the moving platform of the binding device. Button 44, P4 button 42, P3 button 43 are connected. The arrangement of the flexible cables of the entire robot ensures that the four flexible cables connected to the moving platform of the binding device are in the same plane, and the up and down movement of the moving plate device ensures that the structural arrangement of the robot can realize the adduction and abduction of the lower limbs. The swivel device is composed of a rotating disc 25, a latch 46, and an adjustable damping device 45. By changing the motion state and damping of the swivel device, the coordination and compliance of the patient's rehabilitation training can be improved.

At the beginning of work, the trainer's affected leg is flexibly connected to the binding device 11 through a buckle, and the healthy leg stands on the turntable 25 of the swivel device, holding the horizontal bars 40 and 41 tightly with both hands. During work, the moving platform 11 of the binding device is jointly controlled by the flexible cable traction device, the lead screw nut device and the moving plate device to perform passive planning movements, so as to realize adduction and abduction training, so that the range of motion of the patient's hip and knee joints and the medial aspect of the thigh can be improved. The muscle strength of the deep muscle group and the muscle strength of the buttocks muscle group have improved.

The lower limb rehabilitation training device of the present invention includes a frame, a lead screw and nut mechanism, a moving plate mechanism, a flexible cable drive device, a tension sensor, a binding device, and a swivel device, and the flexible cable drive device and the lead screw and nut mechanism are jointly controlled The movement of the moving platform on the binding device, the tension sensor is installed on the flexible cable, the swivel device is connected with the support leg of the trainer, and the trainer holds the horizontal bar for rehabilitation training.

The flexible cable driving device includes a permanent magnet DC torque motor, a flexible cable traction wheel, a photoelectric encoder, and a tension sensor. The permanent magnet DC torque motor and the tension sensor are installed on the frame, and the output shaft of the torque motor drives the flexible cable traction wheel. The rotation drives the movement of the flexible cable fixedly connected with the traction wheel, and the other end of the flexible cable passes through the tension sensor. A photoelectric encoder is mounted on a permanent magnet DC torque motor.

The flexible cable driving device has four flexible cables, four permanent magnet DC torque motors, four passing wheels, and four tension sensors, and the first to fourth flexible cables correspond to the first to fourth permanent magnet DC torque motors respectively. , The first to the fourth wheel, the first to the fourth tension sensor.

The moving plate mechanism also includes a pair of front and back symmetrical cable guides.

The binding device also includes a moving platform equipped with P1 (P2) buttons, P3 buttons, and P4 buttons, and the P1 (P2) buttons, P3 buttons, and P4 buttons are distributed clockwise on the moving platform.

The lead screw nut mechanism also includes a set of slide rails fixedly connected with the frame, an AC motor driving the lead screw to rotate, a lead screw nut moving up and down along the slide rail, and the lead screw nut is fixedly connected with the moving plate mechanism.

The swivel device includes a set of damping devices with adjustable damping.

One end of the No. 1 cable is connected to the No. 2 capstan driven by the No. 1 torque motor, and the other end successively bypasses the No. 1 torque sensor and the No. 1 passing wheel, and finally connects to the P1 (P2) buckle of the moving platform of the binding device; One end of the No. 2 cable is connected to the No. 2 winch driven by the No. 2 torque motor, and the other end successively bypasses the No. 2 torque sensor and the No. 2 passing wheel, and finally connects to the P1 (P2) buckle of the moving platform of the binding device; One end of the No. 3 flexible cable is connected to the No. 3 torque motor, and the other end successively bypasses the No. 3 tension sensor and the No. The motor is connected, and the other end bypasses the No. 4 tension sensor and the No. 4 passing wheel successively, and finally connects with the P3 buckle of the moving platform of the binding device.

The four flexible cables are on the same plane as the moving platform of the binding device.

The point where the first and second flexible cables connect to the moving platform of the binding device coincides, and the third and fourth flexible cables are cross-connected to the moving platform of the binding device.

Also included are two horizontal bars for the exerciser to grasp while rehabilitating.

The swivel device that supports the pedaling of the foot can drive the exerciser to rotate along the vertical axis.

The damping mechanism in the swivel device fulfills the training requirements in different rehabilitation training modes by adjusting the damping.

Claims (5)

1. lower limb rehabilitation trainer, it is characterized in that: comprise support system frame, flexible cable traction system, binding device, mobile board system, swivel device, described support system frame is cuboid structural framework, flexible cable traction system comprises structure The same first-fourth cable traction unit, the swivel device includes a turntable installed on the bottom surface of the support system frame, the moving plate system includes the first-second moving plate mechanism with the same structure, on a vertical surface of the rectangular parallelepiped structural frame The first-second flexible cable traction unit and the first movable plate mechanism are arranged on the top, and the third-fourth flexible cable traction unit and the second movable plate mechanism are arranged on the opposite surface of the face. The first movable plate mechanism includes a motor , lead screw nut structure, moving plate, slide rails are set on the support system frame, the motor is installed on the support system frame, the motor is connected to the lead screw of the lead screw nut structure, one end of the nut of the lead screw nut structure matches the slide rail, and the other end It is fixedly connected with the connection plate, and two pulleys are set on the connection plate. The first cable traction unit includes a torque motor, a winch, and a cable. The torque motor is fixed on the support system frame, and the winch is connected to the torque motor. One end of the cable is wound on the winch. The other end goes around one of the moving plates to connect the first buckle on the binding device, and the flexible rope of the second cable traction unit goes around the other wheel to connect to the second buckle on the binding device; the second mobile The cooperation mode of the plate mechanism and the third flexible cable traction unit and the fourth flexible cable traction unit is the same as that of the first mobile plate mechanism, the first flexible cable traction unit and the second flexible cable traction unit, and the third flexible cable traction unit The flexible cable of the fourth flexible cable connects the third buckle on the binding device, and the flexible cable of the fourth flexible cable traction unit connects the fourth button on the binding device. 2. The lower limb rehabilitation training device according to claim 1, characterized in that: the first buckle and the second buckle overlap, the third buckle and the fourth buckle are located on the same surface of the binding device, and the binding where the first buckle is located The surface of the binding device is opposite to the surface of the binding device where the third buckle and the fourth buckle are located, the flexible cables of the third flexible cable traction unit and the flexible cables of the fourth flexible cable traction unit are arranged crosswise, and the flexible cables of the flexible cable traction system And the binding device is located on a plane. 3. The lower limb rehabilitation training device according to claim 1 or 2, characterized in that: the torque motors of the cable traction system are located at the same height of the support system frame. 4. The lower limb rehabilitation training device according to claim 1 or 2, characterized in that: the frame of the support system is provided with a horizontal bar for people to grasp. 5. The lower limb rehabilitation training device according to claim 3, characterized in that: the frame of the support system is provided with horizontal bars for people to grasp.