CN108309528B - Corrective pedal device for lower limb rehabilitation training device - Google Patents

Abstract

A corrective foot pedal device for lower limb rehabilitation training device comprises a foot plate position adjustment mechanism and a foot plate. The foot plate position adjustment mechanism includes a base frame for rotating connection with the end of the lower leg exoskeleton of the lower limb rehabilitation training device. The footrest includes a base, a forefoot assembly, and a rear heel assembly. The present invention introduces the forefoot assembly and the rear heel assembly, which can realize the inversion adjustment of the forefoot and ensure the placement and correction of the functional positions of the lower limbs for exercise training. The introduction of the foot plate position adjustment mechanism can realize the position and size adjustment, and meet the requirements of different trainers' lower limb rehabilitation degree and foot size.

Description

Corrective pedal device for lower limb rehabilitation training device

technical field

The invention relates to medical rehabilitation equipment, in particular to a corrective foot pedal device used for a lower limb rehabilitation training device.

Background technique

Patients with stroke and traumatic brain injury often cause limb dysfunction. Such patients can also cause limb muscle atrophy, foot drop, foot varus, foot valgus or muscle spasm due to long-term bed rest. added difficulty. The recovery of the walking ability of stroke patients is closely related to the rehabilitation of the motor function of the lower limbs on the affected side. The use of lower limb exercise rehabilitation training can maintain and restore the joint motion range of patients, which is conducive to the recovery of the main motor functions of the limbs. There are already commercialized gait lower limb rehabilitation robots. Such as the 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. Another kind of oblique bed weight loss lower limb rehabilitation training device, the use of horizontal weight loss can well solve the initial rehabilitation of seriously ill patients, and can realize sports training and joint training.

When the above device is used for sports training, such patients often have symptoms such as foot drop, foot varus, foot valgus, etc., and the patient's foot cannot be placed on the pedal well, which often leads to insufficient rehabilitation exercise training. In severe cases, it may even cause safety problems such as sprained feet or fractures, making it more difficult to recover from the disease and to rehabilitate in the future. Therefore, it is of great significance to adjust and correct the limb position for lower limb exercise training, which can effectively prevent foot drop, foot inversion, foot valgus or muscle spasm.

SUMMARY OF THE INVENTION

The purpose of the present invention is to solve the above problems, and to provide a corrective pedal device for a lower limb rehabilitation training device.

In order to achieve the above purpose, the present invention adopts the following technical solutions: a corrective foot pedal device for lower limb rehabilitation training device, used for rotating connection with the end of the calf exoskeleton of the lower limb rehabilitation training device, including a foot plate position adjustment mechanism and a foot The pedal and the foot plate position adjustment mechanism are used for rotating connection with the end of the calf exoskeleton of the lower limb rehabilitation training device, and the foot plate is installed on the foot plate position adjustment mechanism, which can realize position and size adjustment.

The foot plate position adjustment mechanism includes a base frame for rotationally connecting with the end of the lower leg exoskeleton of the lower limb rehabilitation training device, and the base frame is sequentially provided with a lateral slide rail, a lateral slide plate, a vertical slide rail and a vertical slide plate from bottom to top. ;The lateral slide rail is fixed on the bottom frame, and the lateral slide rail is embedded on the lateral slide rail and can move laterally along the lateral slide rail; the vertical slide rail is fixed on the lateral slide rail, and the vertical slide rail is embedded on the vertical slide rail and can move along the horizontal slide rail. The vertical slide rail moves vertically and can move laterally with the lateral slide.

The footboard includes a base, a forefoot assembly and a rear heel assembly; the base is fixedly connected to the vertical slide plate of the footboard position adjustment mechanism, the forefoot assembly is movably installed at the front of the base, and the rear heel assembly is fixedly installed at the rear of the base .

The front part of the base is provided with a chute for arranging the forefoot assembly, and the rear part is provided with a fixing groove for fixing the rear heel assembly.

The forefoot assembly includes a forefoot pad and a forefoot connector. The forefoot pad and the forefoot connector are nested and connected to each other. The lower part of the forefoot connector is provided with a slider, which slides with the chute on the base. connected.

The lower part of the forefoot pad is provided with a circle of cylindrical soft rubber bumps, the upper part of the forefoot connecting piece is correspondingly provided with a circle of cylindrical grooves, and the forefoot foot pad and the forefoot connecting piece are matched by the bump and the groove. Nested and connected to each other, and the connection angle can be adjusted.

The rear heel assembly includes a rear heel pad and a rear heel connector; the rear heel pad and the rear heel connector are nested and connected to each other, and the rear heel connector is fixedly connected to the fixing groove on the base.

The lower part of the rear heel pad is provided with a circle of cylindrical soft rubber bumps, the upper part of the rear heel connector is correspondingly provided with a circle of cylindrical grooves, and the rear heel pad and the rear heel connector are matched by the bump and the groove. Nested and connected to each other, and the connection angle can be adjusted.

A row of positioning holes are respectively provided on both sides of the chute at the front of the base, and two positioning pins are correspondingly arranged on the forefoot connecting piece. The forefoot connecting piece realizes the forefoot connecting piece through the cooperation of the positioning pins and the positioning holes. Displacement and positioning on the base.

The foot plate position adjustment mechanism also includes a self-rebound latch, a positioning hole is respectively provided on the bottom frame and the vertical slide plate, and a fixing hole is provided on the lateral slide plate, and the self-rebound latch is installed on the lateral slide plate and passes through the horizontal slide plate. The fixing hole is matched and connected with the positioning hole on the bottom frame and the vertical sliding plate, so as to realize the free movement and fixing of the position in the horizontal direction of the vertical sliding plate.

Compared with the prior art, the present invention has the following advantages:

1) Using the structure of the forefoot assembly and the rear heel assembly, the forefoot pad is connected with the forefoot connector, which can realize the inversion adjustment of the forefoot, and the rear heel pad is connected with the rear heel connector to adjust the size of the entire footpad , to ensure the placement and correction of limb function positions for lower limb exercise training.

2) The introduction of a position adjustment mechanism in the structure can realize position and size adjustment, meet the requirements of different trainers' lower limbs and foot size, avoid discomfort caused by fixed length and different foot sizes, and ensure the training intensity of patients. Safe and comfortable personalized training is achieved.

Description of drawings

Fig. 1 is the structural representation of the foot plate position adjustment mechanism in the present invention;

Fig. 2 is the structural representation of the foot pedal in the present invention;

Fig. 3 is the structural representation of the foot pedal bottom plate in the present invention;

4 is a schematic structural diagram of a forefoot assembly in the present invention;

FIG. 5 is a schematic structural diagram of the rear heel assembly in the present invention.

Detailed ways

The device of the present invention can be installed at the ankle joint at the end of the lower leg exoskeleton of the lower limb rehabilitation training device, and can also be installed on any fixed bracket as an orthosis. 101 shown in FIG. 1 is the installation hole of the device.

The corrective foot pedal device of the present invention for the lower limb rehabilitation training device comprises a foot plate position adjustment mechanism 1 and a foot plate 2. The foot plate position adjustment mechanism 1 is used for rotating connection with the end of the calf exoskeleton of the lower limb rehabilitation training device, and the foot plate 2 Installed on the foot plate position adjustment mechanism, which can realize position and size adjustment.

Referring to FIG. 1 , the foot plate position adjustment mechanism 1 in the present invention includes a base frame 11 for rotational connection with the end of the lower leg exoskeleton of the lower limb rehabilitation training device, and the base frame is provided with a transverse slide rail 12 and a transverse slide rail from bottom to top in sequence. 13. The vertical slide rail 14 and the vertical slide plate 15; the lateral slide rail is fixed on the chassis, and the lateral slide rail is embedded in the lateral slide rail and can move laterally along the lateral slide rail; the vertical slide rail is fixed on the lateral slide When the sliding plate is embedded on the vertical sliding rail, it can move vertically along the vertical sliding rail, and can move laterally with the lateral sliding plate.

2, the footboard 2 in the present invention includes a base 21, a forefoot assembly 22 and a rear heel assembly 23; the base is fixedly connected to the vertical slide plate of the footboard position adjustment mechanism, and the forefoot assembly is movably installed at the front of the base, The rear heel assembly is fixedly mounted to the rear of the base.

Referring to FIG. 3 , the front part of the base 21 in the present invention is provided with a sliding groove 211 for arranging the forefoot assembly, and the rear part is provided with a fixing groove 212 for fixing the rear heel assembly.

4, the forefoot assembly 22 in the present invention includes a forefoot pad 221 and a forefoot connector 222, the forefoot pad and the forefoot connector are nested and connected to each other, and the lower part of the forefoot connector is provided with a slider 223, The slider is slidably connected to the chute on the base. A circle of cylindrical soft rubber bumps 224 is arranged on the lower part of the forefoot pad 221, and a circle of cylindrical grooves is correspondingly arranged on the upper part of the forefoot connector. The forefoot pad and the forefoot connector are matched by the bump and the groove Nested and connected to each other, and the connection angle can be adjusted.

5, the rear heel assembly 23 in the present invention includes a rear heel pad 231 and a rear heel connector 232; the rear heel pad and the rear heel connector are nested and connected to each other, and the rear heel connector is fixed to the fixing groove on the base connected. A circle of cylindrical soft rubber bumps 233 is arranged at the lower part of the rear heel pad, and a circle of cylindrical grooves is correspondingly arranged on the upper part of the rear heel connector. Nested connection, and the connection angle can be adjusted.

Referring to Figure 3 and Figure 4, a row of positioning holes 213 are respectively provided on both sides of the chute at the front of the base, and two positioning pins 225 are correspondingly provided on the forefoot connecting piece. The matching of the holes realizes the displacement and positioning of the forefoot connecting piece on the base.

The foot plate position adjustment mechanism 1 also includes a self-rebound latch 16, a positioning hole is respectively provided on the bottom frame and the vertical slide plate, and a fixing hole is provided on the horizontal slide plate. The fixing hole is matched and connected with the positioning hole on the bottom frame and the vertical sliding plate, so as to realize the free movement and fixing of the position in the horizontal direction of the vertical sliding plate.

The device of the present invention can be separately fixed on the bracket, or installed at the exoskeleton ankle joint of the lower limb rehabilitation training device, and the foot plate position adjustment mechanism is connected with the foot plate, which can realize the position and size adjustment and prevent the patient's foot drop and foot inversion. , Foot eversion; the foot pedal can realize the heel and foot eversion adjustment. Since the rear heel component, the forefoot component and other structures are adopted, the forefoot foot inversion adjustment can be realized, and the placement and correction of the limb function position of the lower limb exercise training can be ensured. The introduction of a position adjustment mechanism can realize position and size adjustment to meet the requirements of different trainers' lower limb rehabilitation and foot size.

Claims (9)

1. A correction type pedal device for a lower limb rehabilitation training device is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device and is characterized by comprising a foot plate position adjusting mechanism and a pedal plate, wherein the foot plate position adjusting mechanism is used for being rotatably connected with the tail end of the crus exoskeleton of the lower limb rehabilitation training device;

the foot plate position adjusting mechanism comprises a bottom frame which is used for being rotatably connected with the tail end of a crus exoskeleton of the lower limb rehabilitation training device, and a transverse sliding rail, a transverse sliding plate, a vertical sliding rail and a vertical sliding plate are sequentially arranged on the bottom frame from bottom to top; the transverse sliding rail is fixed on the bottom frame, and the transverse sliding plate is embedded on the transverse sliding rail and can transversely move along the transverse sliding rail; vertical slide rail is fixed on horizontal slide, and vertical slide inlays the dress and can follow vertical slide rail vertical movement on vertical slide rail to can be along with horizontal slide lateral shifting.

2. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 1, wherein said footrest includes a base, a front sole assembly and a rear heel assembly; the base is fixedly connected with a vertical sliding plate of the foot plate position adjusting mechanism, the front sole assembly is movably arranged at the front part of the base, and the rear heel assembly is fixedly arranged at the rear part of the base.

3. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 2, wherein the base has a front portion provided with a slide groove for receiving the front sole assembly and a rear portion provided with a fixing groove for fixing the rear heel assembly.

4. The corrective foot rest for a lower limb rehabilitation training device of claim 2, wherein the forefoot assembly comprises a forefoot pad and a forefoot coupler, the forefoot pad and the forefoot coupler are nested together, and a slider is disposed at a lower portion of the forefoot coupler and slidably coupled to a slide groove of the base.

5. The corrective foot rest for the lower limb rehabilitation training device of claim 4, wherein the lower part of the forefoot foot pad is provided with a circle of cylindrical soft rubber projection, the upper part of the forefoot connecting piece is correspondingly provided with a circle of cylindrical groove, and the forefoot foot pad and the forefoot connecting piece are nested with each other through the cooperation of the projection and the groove, and the connection angle can be adjusted.

6. The orthotic footrest apparatus for a lower limb rehabilitation training device of claim 2, wherein said heel assembly includes a heel pad and a heel connector; the rear heel foot pad is mutually nested and connected with the rear heel connecting piece, and the rear heel connecting piece is fixedly connected with the fixing groove on the base.

7. The corrective foot rest for the lower limb rehabilitation training device of claim 6, wherein the lower portion of the heel foot rest is provided with a circle of cylindrical soft rubber projection, the upper portion of the heel connecting piece is correspondingly provided with a circle of cylindrical groove, the heel foot rest and the heel connecting piece are nested with each other through the cooperation of the projection and the groove, and the connecting angle can be adjusted.

8. The corrective foot device for the lower limb rehabilitation training device of claim 2, wherein a row of positioning holes are respectively formed on both sides of the sliding groove in the front portion of the base, two positioning pins are respectively formed on the front sole connecting member, and the front sole connecting member is used for realizing the displacement and positioning of the front sole connecting member on the base through the matching of the positioning pins thereof with the positioning holes.

9. The orthopedic foot rest apparatus for lower limb rehabilitation training devices of claim 1, wherein the foot plate position adjusting mechanism further comprises a self-rebounding latch, positioning holes are respectively formed on the bottom frame and the vertical sliding plate, fixing holes are formed on the transverse sliding plate, and the self-rebounding latch is mounted on the transverse sliding plate and is in fit connection with the positioning holes on the bottom frame and the vertical sliding plate through the fixing holes on the transverse sliding plate, so that the horizontal inner position of the vertical sliding plate can be freely moved and fixed.

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