CN107928993A - Shank drives training institution - Google Patents

Abstract

A calf driving training mechanism includes a mechanical leg and a driving mechanism of the mechanical leg. The mechanical leg is movably connected with the driving mechanism of the mechanical leg and can move up, down, forward, and backward in two dimensions under the action of the driving mechanism of the mechanical leg. The mechanical leg includes a thigh mechanism and a lower leg mechanism, and the thigh mechanism and the lower leg mechanism are movably connected. The mechanical leg drive mechanism includes a horizontal drive mechanism and a vertical drive mechanism; the vertical drive mechanism is connected to the horizontal drive mechanism by transmission, and the mechanical leg is connected to the vertical drive mechanism by transmission. The invention places the driving mechanism on the lower leg, and can accurately simulate the training of the space gait for the knee joint of the lower limb which belongs to the ball-joint joint.

Description

calf drive trainer

technical field

The invention relates to medical rehabilitation equipment, in particular to a calf drive training mechanism.

Background technique

There are many patients with lower extremity movement disorders caused by diseases or sports injuries, and the restoration of independent walking ability is the primary goal of rehabilitation efforts. Due to the plasticity of the brain, it is common in medicine to allow patients to perform adequate repetitive activities through repetitive, task-specific training. This allows the reorganizing cerebral cortex to learn and store the correct movement patterns through profound experience. This method has achieved good clinical results. In the past year, the treatment methods of walking training on the treadmill and gait trainer training have been introduced as neurological rehabilitation methods, and have been widely used in neurological rehabilitation clinics.

At present, most of the equipment for lower limb training are only foot-driven and joint-driven. The commercialized gait lower limb rehabilitation robot has Handy1 developed in 1987 by the British MikeTopping company. Secondly, another rehabilitation robot that has successfully entered the market is the MANUS rehabilitation robot developed by Exact Dynamics in the Netherlands, the NUSTEP rehabilitation device in the United States, the THERA.Vital intelligent rehabilitation training robot in Germany, and the MOTINMAKER developed by WORTEC in Switzerland. Joint drive mode. Another slant bed weight reduction lower limb rehabilitation training device, using horizontal weight reduction can well solve the initial rehabilitation of seriously ill patients. Its driving mode is driven by the sole of the foot, which can realize sports training and joint training.

However, the movement of the plantar-driven lower limbs is limited by the linear-driven movement, which cannot realize spatial movement training and cannot simulate gait movement. The joint-driven type is suitable for joint function recovery training after lower limb orthopedic surgery. For the lower limb knee joint, which belongs to the ball joint, it cannot accurately simulate the gait.

Contents of the invention

The object of the present invention is to solve the above-mentioned problems, to provide a calf driving training mechanism, which can perform lower limb gait training according to the set trajectory, and can realize compound motion of lower limb joint energy.

In order to achieve the above object, the present invention adopts the following technical solutions: a calf driving training mechanism, including a mechanical leg and a mechanical leg driving mechanism, and the mechanical leg is movably connected with the mechanical leg driving mechanism and can move up and down under the action of the mechanical leg driving mechanism. Front and back two-dimensional movement.

The mechanical leg includes a thigh mechanism and a lower leg mechanism, and the thigh mechanism and the lower leg mechanism are movably connected.

The thigh mechanism includes a thigh link, a thigh push rod and a thigh length adjustment knob, and the lower end of the thigh push rod is movably connected with the calf mechanism; The length of the entire thigh body.

The shank mechanism includes a foot pedal, a shank connecting rod, a shank push rod, a shank length adjustment mechanism and a knee joint cover. The shank length adjusting mechanism regulates the length of the whole shank mechanism; the knee joint cover is fixedly connected with the shank connecting rod, and the upper end of the shank push rod is movably connected with the thigh push rod in the thigh mechanism.

The mechanical leg drive mechanism includes a horizontal drive mechanism and a vertical drive mechanism; the vertical drive mechanism is connected to the horizontal drive mechanism by transmission, and the mechanical leg is connected to the vertical drive mechanism by transmission.

The horizontal driving mechanism includes a support, a horizontal screw fixing platform, a horizontal screw, a horizontal screw slider and a horizontal screw electric drive mechanism; the horizontal screw fixing platform is connected to the support, and the horizontal screw is connected to the horizontal screw. On the rod fixing table, the horizontal screw slider is set on the horizontal screw rod and can move forward and backward along the horizontal screw rod. The electric drive mechanism of the horizontal screw rod is connected to the rear end of the horizontal screw rod fixing table, and is connected to the horizontal screw rod through a stepping motor. Drive the horizontal screw to rotate.

Described vertical drive mechanism comprises vertical screw mandrel fixing platform, vertical screw mandrel, vertical screw mandrel slide block and vertical screw mandrel electric drive mechanism, vertical screw mandrel fixing platform and the horizontal screw mandrel slide in horizontal drive mechanism The block is fixedly connected, the vertical screw slider is set on the vertical screw rod and can move up and down along the vertical screw rod, and the electric drive mechanism of the vertical screw rod is connected to the upper end of the vertical screw rod fixed table, and the vertical The screw drive is connected to drive the vertical screw to rotate.

The invention places the driving mechanism on the lower leg, and can accurately simulate the training of the space gait for the knee joint of the lower limb which belongs to the ball-joint joint.

Description of drawings

Fig. 1 is the overall structure schematic diagram of calf driving training mechanism of the present invention;

Fig. 2 is the structural representation of mechanical leg driving mechanism;

Fig. 3 is a schematic diagram of the structure of the mechanical leg.

Detailed ways

Referring to Fig. 1, Fig. 2, Fig. 3, the calf driving training mechanism of the present invention includes a mechanical leg 31 and a mechanical leg driving mechanism 32, and the mechanical leg is movably connected with the mechanical leg driving mechanism and can move up and down under the action of the mechanical leg driving mechanism. Front and back two-dimensional movement. Wherein, the mechanical leg 31 includes a thigh mechanism and a calf mechanism, and the thigh mechanism and the calf mechanism are flexibly connected; the thigh mechanism includes a thigh connecting rod 311, a thigh push rod 312 and a thigh length adjustment knob 313, and the lower end of the thigh push rod is flexibly connected with the calf mechanism; The thigh connecting rod is connected with the thigh push rod through movable socket, and the length of the whole thigh mechanism is adjusted through the thigh length adjustment knob. The calf mechanism comprises pedal 314, calf connecting rod 315, calf push rod 316, calf length adjustment mechanism 317 and knee joint cover 318, the calf connecting rod is installed on the pedal, and the calf push rod is connected to the movable sleeve of the calf connecting rod , and adjust the length of the entire calf mechanism through the calf length adjustment mechanism; the knee joint cover is fixedly connected with the calf connecting rod, the upper end of the calf push rod is connected with the thigh push rod, and the upper end of the calf connecting rod is connected with the mechanical leg driving mechanism through movable transmission, so that The entire mechanical leg realizes functional motion. The mechanical leg driving mechanism 32 includes a horizontal driving mechanism and a vertical driving mechanism; the horizontal driving mechanism includes a support 321, a horizontal screw mandrel fixing table 322, a horizontal screw mandrel 323, a horizontal screw mandrel slider 324 and a horizontal screw mandrel electric drive mechanism 325; The horizontal screw rod fixing table is connected to the support, the horizontal screw rod is connected to the horizontal screw rod fixing table, the horizontal screw rod slider is set on the horizontal screw rod and can move forward and backward along the horizontal screw rod, and the horizontal screw rod electric drive mechanism is connected to The rear end of the horizontal screw fixing table drives the horizontal screw to rotate through a stepping motor connected with the horizontal screw drive; the vertical drive mechanism includes a vertical screw fixing table 326, a vertical screw 327, and a vertical screw slider 328 With the vertical screw mandrel electric drive mechanism 329, the vertical screw mandrel fixed table is fixedly connected with the horizontal screw mandrel slider, and the vertical screw mandrel slider is set on the vertical screw mandrel and can move up and down along the vertical screw mandrel, and the vertical screw mandrel The rod electric drive mechanism is connected to the upper end of the vertical screw rod fixing table, and the vertical screw rod is driven to rotate through the stepping motor connected with the vertical screw rod transmission; the vertical screw rod can be realized by adjusting the stepping motor of the horizontal drive mechanism and the vertical drive mechanism. The two-dimensional movement of the screw slider in the horizontal and vertical directions realizes the two-dimensional movement of the mechanical leg.

Claims (7)

1. a kind of shank drives training institution, it is characterised in that：Including pedipulator and pedipulator driving mechanism, pedipulator and machinery Two-dimensional motion before and after leg driving mechanism is movably connected and can make under the action of pedipulator driving mechanism up and down.

2. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator includes big leg mechanism and small Leg mechanism, big leg mechanism are flexibly connected with small leg mechanism.

3. shank as claimed in claim 2 drives training institution, it is characterised in that：The big leg mechanism include thick link, Thigh push rod and thigh length adjusting knob, the lower end of thigh push rod are flexibly connected with small leg mechanism；Thick link is pushed away with thigh Pivot bush unit is connected between bar, and the length of whole big leg mechanism is adjusted by thigh length adjusting knob.

4. shank as claimed in claim 2 drives training institution, it is characterised in that：The small leg mechanism includes foot pedal, small Leg connecting rod, shank push rod, lower-leg length adjusting mechanism and knee joint cover, shank link install on the footrests, shank push rod with Shank link pivot bush unit is connected, and the length of whole small leg mechanism is adjusted by lower-leg length adjusting mechanism；Knee joint cover with Shank link is fixedly linked, and shank push rod upper end is movably connected with the thigh push rod in big leg mechanism.

5. shank as claimed in claim 1 drives training institution, it is characterised in that：The pedipulator driving mechanism includes level Driving mechanism and upright driving mechanism；Upright driving mechanism is connected with horizontal drive mechanism transmission, and the pedipulator drives with vertical Motivation structure movable drive is connected.

6. shank as claimed in claim 5 drives training institution, it is characterised in that：The horizontal drive mechanism includes bearing, Horizontal lead screw fixed station, horizontal lead screw, horizontal lead screw sliding block and horizontal lead screw electric driving mechanism；Horizontal lead screw fixed station connects On bearing, horizontal lead screw is connected on horizontal lead screw fixed station, and horizontal lead screw slide block set can be along level on horizontal lead screw Screw moves back and forth, and horizontal lead screw electric driving mechanism is connected to horizontal lead screw fixed station rear end, passes through stepper motor and level Screw rod transmission, which is connected, drives horizontal lead screw to rotate.

7. shank as claimed in claim 5 drives training institution, it is characterised in that：The upright driving mechanism includes vertical thread Bar fixed station, vertical screw, vertical screw sliding block and vertical screw electric driving mechanism, vertical screw fixed station and horizontal drive Horizontal lead screw sliding block in mechanism is fixedly connected, and vertical screw slide block set can move up and down on vertical screw along vertical screw Dynamic, vertical screw electric driving mechanism is connected to vertical screw fixed station upper end, passes through stepper motor and vertical screw rod transmission phase Related dynamic vertical screw rotates.