CN109674622A - A kind of wheel chair type lower limb rehabilitation training equipment and its training method - Google Patents
A kind of wheel chair type lower limb rehabilitation training equipment and its training method Download PDFInfo
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- CN109674622A CN109674622A CN201910118340.7A CN201910118340A CN109674622A CN 109674622 A CN109674622 A CN 109674622A CN 201910118340 A CN201910118340 A CN 201910118340A CN 109674622 A CN109674622 A CN 109674622A
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- connecting shaft
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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
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- 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
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- Orthopedic Medicine & Surgery (AREA)
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Abstract
本发明涉及康复辅具领域，具体公开了一种轮椅式下肢康复训练设备及其训练方法，解决现有技术中的人体下肢单瘫、偏瘫、肌无力、运动不协调等腿部运动功能障碍患者，通过自我康复时间比较长，且康复效果慢的问题。本发明一种轮椅式下肢康复训练设备，包括靠背角度调节机构，包括靠垫和靠板支架，所述靠垫粘合在所述靠板支架的上方；座椅升降机构，所述靠背角度调节机构设置于所述座椅升降机构的后上方并与所述座椅升降机构连接；步态训练机构，位于所述座椅升降机构的前方；通过协调运转，带动患者模拟正常人的行走状态进行训练，从而逐渐恢复患者的下肢运动机能，使得病人能够及时康复，并且康复提高康复效果。
The invention relates to the field of rehabilitation aids, and specifically discloses a wheelchair-type lower extremity rehabilitation training device and a training method thereof, which solve the problems of patients with lower extremity monoplegia, hemiplegia, muscle weakness, uncoordinated movement and other leg movement dysfunctions in the prior art. , through self-recovery time is relatively long, and the recovery effect is slow. The present invention is a wheelchair-type lower limb rehabilitation training device, comprising a backrest angle adjustment mechanism, including a backrest and a backrest support, the backrest is glued above the backrest support; a seat lift mechanism, the backrest angle adjustment mechanism is provided with The gait training mechanism is located in front of the seat lifting mechanism and is connected to the rear and upper part of the seat lifting mechanism; through coordinated operation, the patient is driven to simulate the walking state of a normal person for training, Thereby, the lower limb motor function of the patient is gradually restored, so that the patient can recover in time, and the rehabilitation improves the recovery effect.
Description
Technical field
The present invention relates to rehabilitation accessory field, it is related specifically to a kind of wheel chair type lower limb rehabilitation training equipment and its training side
Method.
Background technique
In rehabilitation medical field, the leg exercises dysfunctions such as human body lower limbs monoplegia, hemiplegia, myasthenia, movement are uncoordinated
Patient, it is long by the self-rehabilitation time, and rehabilitation efficacy is slow.
And there is no more mature for human body lower limbs hemiplegia, the myasthenia etc. for taking wheelchair at present in the prior art
The rehabilitation medical restorer of leg exercise dysfunction, causes rehabilitation efficacy bad, hence it is imperative that finding one kind
It can assist in the medical rehabilitation apparatus that wheelchair and lower limb rehabilitation training combine, enable a patient to enough timely rehabilitation, and rehabilitation mentions
High rehabilitation efficacy.
Summary of the invention
One of the object of the invention is to provide a kind of wheel chair type lower limb rehabilitation training equipment, to solve human body in the prior art
The leg exercises dysfunction such as lower limb hemiplegia, myasthenia, it is long by the self-rehabilitation time, and rehabilitation efficacy is slow asks
Topic.
The two of the object of the invention are a kind of lower limb rehabilitation training method.
To reach one of above-mentioned purpose, the invention adopts the following technical scheme:
A kind of wheel chair type lower limb rehabilitation training equipment, comprising: backrest angle regulating mechanism 1, including back cushion 5 and lean on board mount
6, the back cushion 5 is bonded in the top for leaning on board mount 6；Seat riser 2, the backrest angle regulating mechanism 1 are arranged
In the seat riser 2 back upper place and connect with the seat riser 2；Gait training mechanism 3 is located at the seat
The front of chair elevating mechanism 2.
Using above-mentioned technological means, human body lower limbs structure is simulated using link mechanism, by the defeated of DC speed-reducing
Enter the motion profile of amount and revolving speed controls connecting rod, so that equipment auxiliary patient's lower limb carry out the purpose of walking rehabilitation training；
The leg exercises dysfunction such as human body lower limbs hemiplegia, myasthenia in the prior art is overcome, rehabilitation duration is gone by self
It is long, and the problem that rehabilitation efficacy is slow, the present invention drive the walking states of patient simulation normal person to carry out by coordination operation
Training enables a patient to enough timely rehabilitation, and rehabilitation improves rehabilitation effect to be gradually recovered the lower extremity movement function of patient
Fruit.
According to one embodiment of present invention, wherein the right side of the back cushion 5 is the shape of headrest；The backrest angle
1 two sides of regulating mechanism are symmetrical arranged two side plates 30, and mounting blocks 9 are fixedly mounted by bolt 10 in the lower section of the side plate 30；Institute
Welding installation electronic jar 11 below mounting blocks 9 is stated, the lower section of the electronic jar 11 is symmetrically installed two bearing blocks one
13, it is located at the leftward position of the electronic jar 11 in the lower section by board mount 6, is equally symmetrically installed two bearing blocks
One 13.
According to one embodiment of present invention, wherein zanjon is respectively installed in symmetrical two one 13 shells of bearing block
Ball bearing 1 is connected in two deep groove ball bearings 1 in two one 13 shells of bearing block by interference fit installation
Spindle 1；It is fixed by one 17 pairs two deep groove ball bearings 1 of bearing cap；
11 side of electronic jar is equipped with electric cylinder 1, the electric cylinder 1 and the electronic jar 11
It is installed in 30 degree of positions；The both ends free bearing inner hole of the electric cylinder 1 is mounted in the connecting shaft 1；
It is described to be symmetrically installed two elevating mechanism activity hinged-supports 4, the elevating mechanism below the leftmost side of board mount 6
Kidney slot is processed as among movable hinged-support 4；It is described to be installed in one circle inner hole of the left end of board mount 6 processing, the round inner hole
Shaft 7.
According to one embodiment of present invention, wherein the seat riser 2 mainly includes lower bracket 29, swinging fork
Arm 1 swings yoke 2 28 and seat support plate 20；The lower bracket 29, the seat support plate 20 are located at the seat
The lower part and top of chair elevating mechanism 2, the lower bracket 29 and the seat support plate 20 pass through the swing of arranged crosswise
Yoke 1 and the swing yoke 2 28 are bound up.
According to one embodiment of present invention, wherein the lower section of the lower bracket 29 is arranged symmetrically 4 shockproof universal wheels one
25, the left position of the upper surface of the lower bracket 29 is symmetrically installed bearing block, each symmetrical in 2 bearing block shell inner holes
Deep groove ball bearing 3 38 is installed；Pass through interference fit installation connecting shaft 39 in the inner hole of 2 deep groove ball bearings 3 38；It is described
The inner hole for swinging the lower end of yoke 1 is mounted in the outer diameter of the connecting shaft 39；
The other end of the lower bracket 29 is symmetrically installed lower movable hinged-support 24, the interposition of the lower movable hinged-support 24
It sets and is processed as kidney slot；4 79 one end of connecting shaft is mounted in the inner hole of the lower end for swinging yoke 2 28, the connection
The other end of axis 4 79 passes through in the kidney-shaped slot among the lower movable hinged-support 24；
The corresponding upper space position of the lower bracket 29, the lower section of the seat support plate 20 is equally disposed with bearing
, deep groove ball bearing 3 38 is installed in the bearing block shell inner hole；The upper end for swinging yoke 2 28 is mounted on seat
In the bearing block of the lower section of support plate 20；
Connecting shaft 4 79 and lower movable hinged-support 24, the company are installed in the inner hole of the upper end for swinging yoke 1
The other end of spindle 4 79 passes through in the kidney-shaped slot among the lower movable hinged-support 24, is carried out pair by using split pin 80
The connecting shaft 4 79 is positioned.
According to one embodiment of present invention, wherein described to swing yoke 1 and the yoke 2 28 of swinging crosses
Place's installation deep groove ball bearing 2 31, the middle position for swinging yoke 1 are arranged a circular hole, are equipped with 2 in the circular hole
Connecting shaft 2 32 is installed in the inner hole of 2 31,2 deep groove ball bearings 2 31 of deep groove ball bearing, passes through bearing cap 2 34
Seam allowance axially position is carried out to the outer ring of the deep groove ball bearing 2 31 in outside；The inside installation for swinging yoke 1
End cap 35, the other end of the connecting shaft 2 32 pass through the inner hole for swinging yoke 2 28；
Electric cylinder 2 22, the piston rod shaft end of the electric cylinder 2 22 and the pendulum are installed on the downside of the seat support plate 20
The inner hole of one 27 upper end of moving fork arm is installed by connection axis connection, the shaft end of the electric cylinder 2 22 by the inner hole of its end
The connecting shaft 4 79, the connecting shaft 4 79 pass through the kidney slot of the elevating mechanism activity hinged-support 4, pass through split pin 80
It is attached the positioning of axis 4 79.
According to one embodiment of present invention, wherein the gait training mechanism 3 includes dynamic training mechanism rack 41,
The 41 top mechanism of dynamic training mechanism rack is symmetrical arranged；
The dynamic training mechanism rack installs universal wheel connection frame 43, the universal wheel connection frame 43 above 41 4 angles
Lower section shockproof universal wheel 2 42 is respectively installed；
Big sliding slot 45 is provided on the bottom plate of the dynamic training mechanism rack 41, it is two that the big sliding slot 45, which is symmetrical arranged,
A, the big sliding slot 45 is L shaped plate, and electric machine support 54, the electric machine support 54 are placed in big 45 upper horizontal of the sliding slot installation
For L shaped plate；The electric machine support 54 and the big sliding slot 45 pass through the second outer-hexagonal bolt 64 and are fixed on the gait image training
Above the bottom plate of structure bracket 41.
According to one embodiment of present invention, wherein the middle position of the electric machine support 54 direct current is installed by bolt
The shaft end of decelerating motor 65, the DC speed-reducing 65 small straight spur gear 58, the small straight-tooth are installed by flat key 60
Baffle 59 is installed, the baffle 59 is subtracted by soket head cap screw 61 with direct current on the corresponding gear side of 58 centre bore of roller gear
65 shaft end screw-internal thread fit of speed motor is fixed；
Big straight spur gear 81 and the small straight spur gear 58 engagement installation, the big straight spur gear 81
2 deep groove ball bearings 4 52 are installed in inner hole；Fixed central spindle 46, the fixation are passed through in 81 inner hole of big straight spur gear
One end of mandrel 46 is mounted in the inner hole of pivot holder 57；Another shaft end of the fixed central spindle 46 is installed by plate-like sliding slot 44.
According to one embodiment of present invention, wherein crank pin 55 is fixedly mounted in the big straight spur gear 81
Shaft retaining ring 4 56, the other end of the crank pin 55 and institute is fixedly mounted in the both ends of one end, the big straight spur gear 81
It is fixed to state connecting rod 82, the upper end of the connecting rod 82 and the big sliding slot 45 are fixed；
The V-type boss of the big sliding slot 45 in the X direction is combined with V-type roller bearing 73, and with the V-type roller shaft
73 V-groove is held to match；Link block 74 and the V-type roller bearing 73 installation are fixed；74 company of being fixedly connected of link block
The upper end of one end of spindle 5 75, the other end of the connecting shaft 5 75 and the connecting rod 82 is solid by cross recessed countersunk head sscrew 76
Fixed connection；The V-type boss of the V-groove of the V-type roller bearing 73 and the big sliding slot 45 in the Y direction cooperates.
It is the two of arrival above-mentioned purpose, the invention adopts the following technical scheme:
A kind of lower limb rehabilitation training method based on wheel chair type lower limb rehabilitation training equipment, specifically comprises the following steps:
Patient lies on the chair cushion of wheelchair, and two feet are stepped on respectively on foot pedal 66, is risen by the way that operation display is arranged
Drop movement, it is specific to act are as follows: be powered starting electric cylinder 2 22, and piston rod is pushed forward to specified travel position, therefore connects
Spindle, which drives, swings yoke 1 as connecting shaft moves right along the kidney slot in elevating mechanism activity hinged-support 4；In turn
The same distance so that connecting shaft 4 79 moves right in the kidney slot of lower movable hinged-support 24, realizes control seat support plate 20
It is moved up and down with lower bracket 29；
After lifting distance determines, angle required for lying in chair cushion according to patient passes through the number in setting operation display
Value, angle appropriate needed for being arranged are specific to act are as follows: be powered starting electric cylinder 1, and output axially pushes, and passes through setting
Electric cylinder 1 releases specified stroke distances, therefore pushes and reach by board mount 6 up to disposal site and horizontal back cushion 5
Set required angle；
After height and backrest angle adjustment to above-mentioned wheelchair, DC speed-reducing 65, which is powered, to be started, small straight-tooth circle
Stud wheel 58 makes rotating motion, and big straight spur gear 81 rotates with, and crank pin 55 is with big straight spur gear 81
Rotation makes rotating motion, and because connecting rod 82 and crank pin 55 are fixed, the upper and lower end parts of connecting rod 82 are by V-type roller bearing 73 big
It is moved in the sliding slot of sliding slot 45, therefore connecting rod 82 does movement in a curve；
The foot pedal 66 being mounted on connecting rod 82 does same motion profile, and then human body lower limbs is assisted to carry out imitation walking
Movement.Liang Tao mechanism is set in gait training mechanism, and every side is both provided with a DC speed-reducing 65, and two direct currents subtract
65 concurrently-acting of speed motor, can also be with single movement, it can it is acted individually for left leg and right leg, it can also be with left foot
It is moved at the same time with right crus of diaphragm, equipment uses small-sized electrical control, and operation display is arranged.
The utility model has the advantages that
A kind of wheel chair type lower limb rehabilitation training equipment of the present invention and its training method are overcome using above-mentioned technological means
The leg exercises dysfunction such as human body lower limbs hemiplegia, myasthenia in the prior art, by self going rehabilitation duration long,
And the problem that rehabilitation efficacy is slow, the present invention drive the walking states of patient simulation normal person to be trained by coordination operation, from
And it is gradually recovered the lower extremity movement function of patient, enough timely rehabilitation is enabled a patient to, and rehabilitation improves rehabilitation efficacy.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples.
Fig. 1 is main view of the invention.
Fig. 2 is top view of the invention.
Fig. 3 is side view of the invention.
Fig. 4 is the main view of backrest angle regulating mechanism of the present invention.
Fig. 5 is the top view of backrest angle regulating mechanism of the present invention.
Fig. 6 is the A of Fig. 4 to Local map.
Fig. 7 is the B direction view of Fig. 6.
Fig. 8 is the C of Fig. 6 to cross-sectional view.
Fig. 9 is the main view of seat riser of the present invention.
Figure 10 is the side view of seat riser of the present invention.
Figure 11 is the top view of seat riser of the present invention.
Figure 12 is the D of Figure 10 to partial view.
Figure 13 is the E of Figure 10 to partial view.
Figure 14 is the main view of gait training mechanism of the present invention.
Figure 15 is the top view of gait training mechanism of the present invention.
Figure 16 is the F of Figure 15 to cross-sectional view.
Figure 17 is the G of Figure 15 to partial view.
Figure 18 is the H of Figure 16 to partial view.
Figure 19 is the mobile schematic diagram of gait training mechanism of the present invention.
In attached drawing:
1, backrest angle regulating mechanism 2, seat riser 3, gait training mechanism
4, elevating mechanism activity hinged-support 5, back cushion 6, lean on board mount
7, shaft 8, bracket 9, mounting blocks
10, bolt 11, electronic jar 12, electric cylinder one
13, bearing block 1, shaft block ring 1, connecting shaft one
16, deep groove ball bearing 1, bearing cap 1, upper bracket
19, chair cushion 20, seat support plate 21, bearing block two
22, electric cylinder 2 23, connecting plate 24, lower movable hinged-support
25, shockproof universal wheel 1, bearing block 3 27, swing yoke one
28, yoke 2 29, lower bracket 30, side plate are swung
31, deep groove ball bearing 2 32, connecting shaft 2 33, shaft block ring two
34, bearing cap 2 35, end cap 36, nut
37, bearing cap 3 38, deep groove ball bearing 3 39, connecting shaft three
40, shaft block ring 3 41, gait training mechanism bracket 42, shockproof universal wheel two
43, universal wheel connection frame 44, plate-like sliding slot 45, big sliding slot
46, fixed central spindle 47, axle sleeve 48, the first outer-hexagonal bolt
49, wing nut 50, felt collar 51, hole retaining ring
52, deep groove ball bearing 4 53, shifting axle 54, electric machine support
55, crank pin 56, shaft block ring 4 57, pivot holder
58, small straight spur gear 59, baffle 60, flat key
61, soket head cap screw 62, thread plate 63, sleeve
64, the second outer-hexagonal bolt 65, direct current speed reducer 66, foot pedal
67, support base 68, pin shaft 69, shaft block ring five
70, electric pushrod 71, deep groove ball bearing 5 72, bearing (ball) cover
73, V-type roller bearing 74, link block 75, connecting shaft five
76, the mobile position of cross recessed countersunk head sscrew 77, electric cylinders 78, gait training mechanism
79, connecting shaft 4 80, split pin 81, big straight spur gear
82, connecting rod
Specific embodiment
The purpose of the present invention, technical solution are clearly and completely described and advantage is more clearly understood in order to make, with
The embodiment of the present invention is further elaborated in lower combination attached drawing.It should be appreciated that specific embodiment described herein is
A part of the embodiment of the present invention is only used to explain the present invention, be not intended to limit the present invention instead of all the embodiments,
Every other embodiment obtained by those of ordinary skill in the art without making creative efforts, belongs to this hair
The range of bright protection.
In the description of the present invention, it should be noted that term " center ", " in " "upper", "lower", "left", "right",
The orientation or positional relationship of the instructions such as "inner", "outside", "top", "bottom", " side ", "vertical", "horizontal" is based on the figure
Orientation or positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device of indication or suggestion meaning or
Element must have a particular orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.This
Outside, term " one ", " first ", " second ", " third ", " the 4th ", " the 5th ", " the 6th " are used for description purposes only, and cannot manage
Solution is indication or suggestion relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be directly connected, can also can be indirectly connected through an intermediary
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.
For concise and explanation purpose, the principle of embodiment is described by referring mainly to example.In the following description,
Many details are suggested to provide a thorough understanding of embodiments.It will be apparent, however, that for ordinary skill
Personnel, these embodiments can be not limited to these details in practice.In some instances, it does not describe in detail known
Method and structure, to avoid unnecessarily making these embodiments become difficult to understand.In addition, all embodiments can be combined with each other
It uses.
As shown in Figure 1-Figure 3, a kind of wheel chair type lower limb rehabilitation training equipment, comprising: backrest angle regulating mechanism 1, including
Back cushion 5 and board mount 6 is leaned on, the back cushion 5 is bonded in the top for leaning on board mount 6；Seat riser 2, it is described to lean on dorsal horn
Degree regulating mechanism 1 is set to the back upper place of the seat riser 2 and connect with the seat riser 2；Gait training
Mechanism 3, positioned at the front of the seat riser 2.
As shown in Figure 4-Figure 7, the right side of the back cushion 5 is the shape of headrest, adapts to the back of people；The backrest angle tune
It saves 1 two sides of mechanism and is symmetrical arranged two side plates 30, mounting blocks 9 are fixedly mounted by bolt 10 in the lower section of the side plate 30；It is described
Welding installation electronic jar 11, the lower section of the electronic jar 11 are symmetrically installed two bearing blocks 1 below mounting blocks 9,
It is located at the leftward position of the electronic jar 11 in the lower section by board mount 6, is equally symmetrically installed two bearing blocks one
13, for installing electric cylinder 1.
It is described to be symmetrically installed two elevating mechanism activity hinged-supports 4, the elevating mechanism below the leftmost side of board mount 6
It is processed as kidney slot among movable hinged-support 4, facilitates the movement of shaft, and then is conducive to the adjusting of elevating mechanism；The backup plate
The left end of bracket 6 processes a circle inner hole, installs shaft 7 in the round inner hole.
11 side of electronic jar is equipped with electric cylinder 1, the electric cylinder 1 and the electronic jar 11
It is installed in 30 degree of positions；The both ends free bearing inner hole of the electric cylinder 1 is mounted in the connecting shaft 1, is pacified by left and right
Shaft block ring 1 is filled, axially position is realized to the free bearing of the electric cylinder 1.
As shown in figure 8, deep groove ball bearing 1 is respectively installed in symmetrical two one 13 shells of bearing block, in two institutes
It states in two deep groove ball bearings 1 in one 13 shell of bearing block through interference fit installation connecting shaft 1；Pass through bearing cap
One 17 pairs two deep groove ball bearings 1 are fixed, and the bearing cap 1 is fixed on the bearing by screw
On the shell of seat 1.
As shown in Fig. 9, Figure 10, Figure 11, Figure 13, seat riser 2 mainly include lower bracket 29, swing yoke 1,
Swing yoke 2 28 and seat support plate 20；The lower bracket 29, the seat support plate 20 are located at the seat lifting
The lower part and top of mechanism 2, the lower bracket 29 and the seat support plate 20 pass through the swing yoke one of arranged crosswise
27 and the swing yoke 2 28 be bound up.
Electric cylinder 2 22, the piston rod shaft end of the electric cylinder 2 22 and the pendulum are installed on the downside of the seat support plate 20
The inner hole of one 27 upper end of moving fork arm is installed by connection axis connection, the shaft end of the electric cylinder 2 22 by the inner hole of its end
The connecting shaft 4 79, the connecting shaft 4 79 pass through the kidney slot of the elevating mechanism activity hinged-support 4, pass through split pin 80
It is attached the positioning of axis 4 79.
The lower section of lower bracket 29 is arranged symmetrically 4 shockproof universal wheels 1, the left end position of the upper surface of the lower bracket 29
It sets and is symmetrically installed bearing block, 2 bearing block shells are in the location arrangements of mirror image, each in 2 bearing block shell inner holes
It is symmetrically installed deep groove ball bearing 3 38；Axially position carried out to the outer ring of deep groove ball bearing 38 using the seam allowance portion of bearing cap 37,2
Pass through interference fit installation connecting shaft 39 in the inner hole of a deep groove ball bearing 3 38；It is installed in the outer diameter of the connecting shaft 39
Have and swing yoke 1, the inner hole of the lower end for swinging yoke 1 is mounted in the outer diameter of the connecting shaft 39；It is described
It is flat by machining milling to swing one 27 lower end of yoke, two side plane, is kept off in the one 27 two sides installation axle of swing yoke
Enclose 3 40.
The other end of the lower bracket 29 is symmetrically installed lower movable hinged-support 24, the interposition of the lower movable hinged-support 24
It sets and is processed as kidney slot；4 79 one end of connecting shaft is mounted in the inner hole of the lower end for swinging yoke 2 28, the connection
The other end of axis 4 79 passes through in the kidney-shaped slot among the lower movable hinged-support 24, by using split pin 80 to the company
Spindle 4 79 positions.
The corresponding upper space position of lower bracket 29, the lower section of the seat support plate 20 are equally disposed with bearing block, institute
State installation deep groove ball bearing 3 38 in bearing block shell inner hole；The upper end for swinging yoke 2 28 is mounted on seat support plate
In the bearing block of 20 lower section；It swings and connecting shaft 4 79 and lower movable hinged-support is installed in the inner hole of the upper end of yoke 1
24, the other end of the connecting shaft 4 79 passes through in the kidney-shaped slot among the lower movable hinged-support 24, by using opening
Pin 80 position to the connecting shaft 4 79.
As shown in figure 12, it swings yoke 1 and deep groove ball bearing 2 31 is installed by the intersection for swinging yoke 2 28,
A circular hole is arranged in the middle position for swinging yoke 1, is equipped with 2 deep groove ball bearings 2 31,2 in the circular hole
Connecting shaft 2 32 is installed, by the seam allowance of bearing cap 2 34 to the depth in outside in the inner hole of a deep groove ball bearing 2 31
The outer ring of ditch ball bearing 2 31 carries out axially position；The inside for swinging yoke 1 is installed by end cap 35, the connecting shaft two
32 other end passes through the inner hole for swinging yoke 2 28.
One end that the connecting shaft 2 32 passes through the inner hole for swinging yoke 2 28 is equipped with external screw thread, and uses nut 36
It is mounted on 2 32 other end external screw thread of connecting shaft, the swing yoke 1 and the swing yoke 2 28 are led in realization
It crosses the connecting shaft 2 32 to link together, and relatively can activity.
Electric cylinder 2 22, which is powered, to be started, and piston rod is pushed forward to specified travel position, because of the work of electric cylinder 2 22
Stopper rod shaft end and the inner hole for swinging yoke 1 pass through connection axis connection, therefore connecting shaft drives and swings yoke 1 with connection
Axis moves right along the kidney slot in elevating mechanism activity hinged-support 4；In addition because swinging yoke 1 and swinging yoke 2 28
Intersection using connecting shaft 2 32 connect, swing 2 28 lower end of yoke pass through and connecting shaft 4 79 connection, connecting shaft four
79 move right same distance in the kidney slot of lower movable hinged-support 24.Therefore the upper end by swing yoke 1 and pendulum
The transverse shifting of the lower end of moving fork arm 22 is changed into upper and lower movement, realizes on control seat support plate 20 and lower bracket 29
Lower movement；Electric cylinder 2 22 is controlled by solenoid valve, by commutation, 2 22 piston rod of electric cylinder resets, connecting shaft
It is moved to the left, realizes that chair rises to certain distance.
Shown in Figure 14-Figure 18, gait training mechanism 3 includes dynamic training mechanism rack 41, dynamic training mechanism branch
41 top mechanism of frame is symmetrical arranged；Universal wheel connection frame 43 is installed above 41 4 angles of the dynamic training mechanism rack, it is described
The lower section of universal wheel connection frame 43 is respectively installed by shockproof universal wheel 2 42；The shockproof universal wheel 2 42 is from strap brake, it can be achieved that moving
It moves to designated position and stops.
Big sliding slot 45 is provided on the bottom plate of the dynamic training mechanism rack 41, it is two that the big sliding slot 45, which is symmetrical arranged,
A, the big sliding slot 45 is L shaped plate, and electric machine support 54, the electric machine support 54 are placed in big 45 upper horizontal of the sliding slot installation
For L shaped plate；The electric machine support 54 and the big sliding slot 45 pass through the second outer-hexagonal bolt 64 and are fixed on the gait image training
Above the bottom plate of structure bracket 41.
The middle position of electric machine support 54 DC speed-reducing 65, the axis of the DC speed-reducing 65 are installed by bolt
Small straight spur gear 58 is installed by flat key 60 in end, and small 58 centre bore of straight spur gear is pacified on corresponding gear side
Baffle 59 is filled, the baffle 59 is fixed by soket head cap screw 61 and 65 shaft end screw-internal thread fit of DC speed-reducing, to small straight
Tooth roller gear 58 carries out axially position；
Big straight spur gear 81 and the small straight spur gear 58 engagement installation, the big straight spur gear 81
2 deep groove ball bearings 4 52 are installed in inner hole；Through hole positions the deep groove ball bearing 4 52 with retaining ring 51, felt collar 50
The effect dust-proof to deep groove ball bearing 4 52 is played, fixed central spindle 46 is passed through in big 81 inner hole of straight spur gear, it is described
One end of fixed central spindle 46 is mounted in the inner hole of pivot holder 57, and 46 middle position of fixed central spindle is mounted on the zanjon
In the inner hole of ball bearing 4 52；Plate-like sliding slot 44 is installed in another shaft end of the fixed central spindle 46, in the plate-like sliding slot 44
The circumferencial direction of circular bosses installs three holding screws and plate-like sliding slot 44 is fixed.
One end of crank pin 55 is fixedly mounted in big straight spur gear 81, and the both ends of the big straight spur gear 81 are solid
Dingan County fills shaft retaining ring 4 56, and the other end of the crank pin 55 and the connecting rod 82 are fixed, the upper end of the connecting rod 82 and institute
It is fixed to state big sliding slot 45；
The V-type boss of the big sliding slot 45 in the X direction is combined with V-type roller bearing 73, and with the V-type roller shaft
73 V-groove is held to match；Link block 74 and the V-type roller bearing 73 installation are fixed；74 company of being fixedly connected of link block
The upper end of one end of spindle 5 75, the other end of the connecting shaft 5 75 and the connecting rod 82 is solid by cross recessed countersunk head sscrew 76
Fixed connection；The V-type boss of the V-groove of the V-type roller bearing 73 and the big sliding slot 45 in the Y direction cooperates.Sleeve 63 with
The inner hole of the V-type roller bearing 73 is interference fitted installation, and 62 one end of thread plate is mounted in the inner hole of the sleeve 63, described
The screw-internal thread fit of 62 other end external screw thread of thread plate and the connecting rod 82 is installed.
DC speed-reducing 65 is powered starting, and small straight spur gear 58 makes rotating motion, big straight spur gear 81 with
Rotation, crank pin 55 makes rotating motion with big straight spur gear 81, because connecting rod 82 is fixed with crank pin, connecting rod 82
Upper and lower end parts moved in the sliding slot of big sliding slot 45 by V-type roller bearing 73, therefore connecting rod 82 does movement in a curve.The company of being mounted on
Foot pedal 66 on bar 82 does same motion profile.
Equipment principle:
Human body lower limbs structure is simulated using link mechanism, is required to formulate rehabilitation training first according to the mobility in suffering limb joint
Track is obtained the moving displacement and speed of control piece by kinematics analysis.Pass through the input quantity and revolving speed to DC speed-reducing
The motion profile of controls connecting rod 82, so that equipment auxiliary patient carries out the purpose that lower limb carry out walking rehabilitation training.Gait
Liang Tao mechanism is set in training institution, and every side is both provided with a DC speed-reducing 65, and two DC speed-reducings 65 can
Simultaneously operation, can also be with single movement, it can it is acted individually for left leg and right leg, it can also be with left foot and right crus of diaphragm simultaneously
Movement, equipment use small-sized electrical control, and operation display is arranged.
A kind of lower limb rehabilitation training method based on wheel chair type lower limb rehabilitation training equipment, specifically comprises the following steps:
As shown in figure 19, patient lies on chair cushion, and two feet are stepped on respectively on foot pedal 66, by setting operation display into
Row lifting action, it is specific to act are as follows: and be powered starting electric cylinder 2 22, and piston rod is pushed forward to specified travel position, because
The piston rod shaft end of electric cylinder 2 22 and the inner hole for swinging yoke 1 pass through connection axis connection, therefore connecting shaft drives swinging fork
Arm 1 moves right with connecting shaft along the kidney slot in elevating mechanism activity hinged-support 4；In addition because swinging yoke 1
It is connected with the intersection for swinging yoke 2 28 using connecting shaft 2 32, swings 2 28 lower end of yoke and pass through and connecting shaft 4 79
Connection, the same distance so that connecting shaft 4 79 moves right in the kidney slot of lower movable hinged-support 24；Therefore pass through pendulum
The transverse shifting of the lower end of the upper end and swing yoke 22 of moving fork arm 1 is changed into upper and lower movement, realizes control chair
Face support plate 20 and lower bracket 29 move up and down；
Electric cylinder 2 22 is controlled by solenoid valve, by commutation, 2 22 piston rod of electric cylinder resets, connecting shaft
It is moved to the left, realizes that chair rises to certain distance, when needing sitting, 77 energization of electric cylinder movement pulls gait image training
Structure 3, which is turned left, is moved to designated position, realizes sitting；
After lifting distance determines, angle required for lying in chair cushion according to patient passes through the number in setting operation display
Value, angle appropriate needed for being arranged are specific to act are as follows: be powered starting electric cylinder 1, and output axially pushes, and passes through setting
Electric cylinder 1 releases specified stroke distances, therefore pushes and reach by board mount 6 up to disposal site and horizontal back cushion 5
Set required angle；
After height and backrest angle adjustment to above-mentioned wheelchair, DC speed-reducing 65, which is powered, to be started, small straight-tooth circle
Stud wheel 58 makes rotating motion, and big straight spur gear 81 rotates with, and crank pin 55 is with big straight spur gear 81
Rotation makes rotating motion, and because connecting rod 82 and crank pin 55 are fixed, the upper and lower end parts of connecting rod 82 are by V-type roller bearing 73 big
It is moved in the sliding slot of sliding slot 45, therefore connecting rod 82 does movement in a curve；
The foot pedal 66 being mounted on connecting rod 82 does same motion profile, and then human body lower limbs is assisted to carry out imitation walking
Movement.
Although the illustrative specific embodiment of the present invention is described above, in order to the technology of the art
Personnel are it will be appreciated that the present invention, but the present invention is not limited only to the range of specific embodiment, to the common skill of the art
For art personnel, as long as long as various change the attached claims limit and determine spirit and scope of the invention in, one
The innovation and creation using present inventive concept are cut in the column of protection.
Claims (10)
1. a kind of wheel chair type lower limb rehabilitation training equipment, comprising:
Backrest angle regulating mechanism (1), including back cushion (5) and board mount (6) are leaned on, the back cushion (5) is bonded in the backup plate branch
The top of frame (6)；
Seat riser (2), the backrest angle regulating mechanism (1) are set to the back upper place of the seat riser (2)
And it is connect with the seat riser (2)；
Gait training mechanism (3) is located at the front of the seat riser (2).
2. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 1, wherein the right side of the back cushion (5) is
The shape of headrest；Backrest angle regulating mechanism (1) two sides are symmetrical arranged two side plates (30), the lower section of the side plate (30)
Mounting blocks (9) are fixedly mounted by bolt (10)；Welding installation electronic jar (11), the electricity below the mounting blocks (9)
Two bearing blocks one (13) are symmetrically installed below dynamic jar support (11), are located at the electricity in the lower section by board mount (6)
The leftward position of dynamic jar support (11), is equally symmetrically installed two bearing blocks one (13).
3. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 2, wherein symmetrical two bearing blocks
Deep groove ball bearing one (16) is respectively installed in one (13) shell, two deep-groove ball axis in two bearing block one (13) shells
It holds in one (16) through interference fit installation connecting shaft one (15)；By bearing cap one (17) to two deep groove ball bearings one
(16) it is fixed；
Electronic jar (11) side is equipped with electric cylinder one (12), the electric cylinder one (12) and the electronic jar
(11) in 30 degree of position installations；The both ends free bearing inner hole of the electric cylinder one (12) is mounted in the connecting shaft one (15)；
It is described to be symmetrically installed two elevating mechanism activity hinged-supports (4), the elevating mechanism below the leftmost side of board mount (6)
Kidney slot is processed as among movable hinged-support (4)；The one circle inner hole of left end processing by board mount (6), in the round inner hole
It installs shaft (7).
4. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 1, wherein the seat riser (2)
Mainly include lower bracket (29), swings yoke one (27), swings yoke two (28) and seat support plate (20)；
The lower bracket (29), the seat support plate (20) are located at the lower part and top of the seat riser (2),
The swing yoke one (27) and the swing of the lower bracket (29) and the seat support plate (20) by arranged crosswise
Yoke two (28) is bound up.
5. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 4, wherein the lower section of the lower bracket (29)
It is arranged symmetrically 4 shockproof universal wheels one (25), the left position of the upper surface of the lower bracket (29) is symmetrically installed bearing block, and 2
Deep groove ball bearing three (38) is respectively symmetrically installed in a bearing block shell inner hole；2 deep groove ball bearings three (38) it is interior
Pass through interference fit installation connecting shaft (39) in hole；The inner hole of the lower end for swinging yoke one (27) is mounted on the connection
In the outer diameter of axis (39)；
The other end of the lower bracket (29) is symmetrically installed lower movable hinged-support (24), the centre of the lower movable hinged-support (24)
Position is processed as kidney slot；Connecting shaft four (79) one end is mounted in the inner hole of the lower end for swinging yoke two (28), institute
The other end for stating connecting shaft four (79) passes through in the intermediate kidney-shaped slot of the lower movable hinged-support (24)；
The corresponding upper space position of the lower bracket (29), the lower section of the seat support plate (20) is equally disposed with bearing
, deep groove ball bearing three (38) are installed in the bearing block shell inner hole；The upper end for swinging yoke two (28) is mounted on
In the lower section bearing block of seat support plate (20)；
Connecting shaft four (79) and lower movable hinged-support (24) are installed in the inner hole of the upper end for swinging yoke one (27), it is described
The other end of connecting shaft four (79) passes through in the intermediate kidney-shaped slot of the lower movable hinged-support (24), by using split pin
(80) it carries out positioning the connecting shaft four (79).
6. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 4, wherein the swing yoke one (27) and
Deep groove ball bearing two (31) are installed by the intersection for swinging yoke two (28), and the interposition for swinging yoke one (27) installs
Set a circular hole, 2 deep groove ball bearings two (31) be installed in the circular hole, 2 deep groove ball bearings two (31) it is interior
Connecting shaft two (32) are installed in hole, by the seam allowance of bearing cap two (34) to the outer ring of the deep groove ball bearing two (31) in outside
Carry out axially position；End cap (35) are installed in the inside for swinging yoke one (27), and the other end of the connecting shaft two (32) is worn
Cross the inner hole for swinging yoke two (28)；
Electric cylinder two (22) are installed on the downside of the seat support plate (20), the piston rod shaft end of the electric cylinder two (22) and described
The inner hole of yoke one (27) upper end is swung by connection axis connection, the shaft end of the electric cylinder two (22) passes through the interior of its end
The connecting shaft four (79) is installed in hole, and the connecting shaft four (79) passes through the kidney slot of the elevating mechanism activity hinged-support (4),
The positioning of axis four (79) is attached by split pin (80).
7. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 1, wherein the gait training mechanism (3)
Including dynamic training mechanism rack (41), mechanism is symmetrical arranged above the dynamic training mechanism rack (41)；
The dynamic training mechanism rack installs universal wheel connection frame (43) above (41) four angles, the universal wheel connection frame
(43) lower section is respectively installed by shockproof universal wheel two (42)；
It is provided with big sliding slot (45) on the bottom plate of the dynamic training mechanism rack (41), the big sliding slot (45), which is symmetrical arranged, is
Two, the big sliding slot (45) is L shaped plate, and electric machine support (54) are placed in big sliding slot (45) the upper horizontal installation, the electricity
Machine support (54) is L shaped plate；The electric machine support (54) and the big sliding slot (45) are fixed by the second outer-hexagonal bolt (64)
Above the bottom plate of gait training mechanism bracket (41).
8. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 7, wherein in the electric machine support (54)
Between position DC speed-reducing (65) is installed by bolt, the shaft end of the DC speed-reducing (65) passes through flat key (60) installation
Small straight spur gear (58), small straight spur gear (58) centre bore install baffle (59) on corresponding gear side,
The baffle (59) is fixed by soket head cap screw (61) and DC speed-reducing (65) shaft end screw-internal thread fit；
Big straight spur gear (81) and the small straight spur gear (58) engagement installation, the big straight spur gear (81)
Inner hole in install 2 deep groove ball bearings four (52)；Fixed central spindle (46) are passed through in big straight spur gear (81) inner hole,
One end of the fixed central spindle (46) is mounted in the inner hole of pivot holder (57)；Pacify another shaft end of the fixed central spindle (46)
Sabot shape sliding slot (44).
9. a kind of wheel chair type lower limb rehabilitation training equipment according to claim 8, wherein the big straight spur gear
(81) one end of crank pin (55) is fixedly mounted, shaft retaining ring four is fixedly mounted in the both ends of the big straight spur gear (81)
(56), the other end of the crank pin (55) and the connecting rod (82) are fixed, the upper end of the connecting rod (82) and the big cunning
Slot (45) is fixed；
The V-type boss of the big sliding slot (45) in the X direction is combined with V-type roller bearing (73), and with the V-type roller shaft
The V-groove for holding (73) matches；Link block (74) and the V-type roller bearing (73) installation are fixed；The link block (74) is solid
Surely one end of connecting shaft five (75) is connected, the other end of the connecting shaft five (75) and the upper end of the connecting rod (82) pass through cross
Slot sunk screw (76) is fixedly connected；The V-groove of the V-type roller bearing (73) and the V of the big sliding slot (45) in the Y direction
The cooperation of type boss.
10. a kind of lower limb rehabilitation training method based on wheel chair type lower limb rehabilitation training equipment, which is characterized in that including walking as follows
It is rapid:
Patient lies on chair cushion, and two feet are stepped on respectively on foot pedal (66), carries out lifting action, tool by setting operation display
Body movement are as follows: be powered starting electric cylinder two (22), and piston rod is pushed forward to specified travel position, therefore connecting shaft drives
Yoke one (27) are swung as connecting shaft moves right along the kidney slot in elevating mechanism activity hinged-support (4)；So that
Connecting shaft four (79) moves right same distance in the kidney slot of lower movable hinged-support (24), realizes control seat support plate
(20) it is moved up and down with lower bracket (29)；
After lifting distance determines, angle required for lying in chair cushion according to patient, by the numerical value in setting operation display, if
Angle appropriate needed for setting is specific to act are as follows: be powered starting electric cylinder one (12), and output axially pushes, and passes through setting electricity
Dynamic cylinder one (12) releases specified stroke distances, therefore pushes by board mount (6) up to disposal site and horizontal back cushion (5)
Reach set required angle；
After adjusting to above-mentioned chair height and backrest angle, DC speed-reducing (65), which is powered, to be started, small straight tooth column tooth
Wheel (58) makes rotating motion, and big straight spur gear (81) rotates with, and crank pin (55) is with big straight spur gear
(81) rotation makes rotating motion, and because connecting rod (82) and crank pin (55) are fixed, the upper and lower end parts of connecting rod (82) are rolled by V-type
Wheel bearing (73) moves in the sliding slot of big sliding slot (45), therefore connecting rod (82) does movement in a curve；
The foot pedal (66) being mounted on connecting rod (82) does same motion profile, and then human body lower limbs is assisted to carry out imitation walking
Movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118340.7A CN109674622B (en) | 2019-02-16 | 2019-02-16 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910118340.7A CN109674622B (en) | 2019-02-16 | 2019-02-16 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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| CN109674622A true CN109674622A (en) | 2019-04-26 |
| CN109674622B CN109674622B (en) | 2022-01-11 |
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| CN201910118340.7A Active CN109674622B (en) | 2019-02-16 | 2019-02-16 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110792144A (en) * | 2019-11-25 | 2020-02-14 | 苏州哲思达智能设备科技有限公司 | Wall-mounted intelligent closestool |
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| CN109674622B (en) | 2022-01-11 |
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