CN2925455Y - Standing lower limb rehabilitation training machine - Google Patents

Abstract

The utility model relates to a standing lower limb rehabilitation training machine, which is used for patients with lower limb injuries to carry out rehabilitation training in a standing posture. Its main structure includes a base, two sets of symmetrically arranged gait mechanisms on the left and right, and two sets of symmetrically arranged ankle joint movement mechanisms on the left and right. Among them, the DC torque motor, reducer, sprocket pair, rotating shaft and the crank linkage mechanism fixedly connected to the lower side of the rotating shaft seat drive the curved rocker with handle to swing around the upper end of the column type rocker seat, and then drive The pedals whose middle part is hinged with the connecting rod and whose ends are hinged with the slide block perform plane movement. When in use, the control command and control strategy can be set independently on the keyboard of the single-chip microcomputer, and the training intensity can be selected. When the patient stands on the foot pedal and holds the handle with both hands, the motor can be started to carry out rehabilitation training for the coordination of gait and ankle joint. The utility model can be used for rehabilitation training for patients with paralysis caused by cardiovascular and cerebrovascular diseases and lower limb injuries caused by accidents, and can also be used for physical exercise for healthy old people.

Description

Standing lower limb rehabilitation training machine

technical field

The utility model relates to a standing lower limb rehabilitation training machine, which is used for patients with lower limb injuries to carry out rehabilitation training in a standing posture. It belongs to the equipment for patient rehabilitation training.

Background technique

Medical theory and practice have proved that patients with limb injuries caused by cerebral palsy sequelae or accidents must perform limb training in order to restore limb function and prevent muscle "disuse" atrophy and joint stiffness. However, most patients cannot complete limb training independently due to functional impairment or physical strength, and need to be assisted by nurses or other people with certain nursing knowledge and physical strength, which increases the difficulty of rehabilitation and the cost of nursing.

At present, some exercise equipment such as treadmills or imitation bicycles sold on the market are mostly used for physical training of healthy people, and are not suitable for functional training of the above-mentioned patients; some rehabilitation trainers (CPM) for patients with lower limb injuries ) are mostly aimed at a single item, and there is no sports medical device that coordinates gait movement and joint movement.

Contents of the invention

The purpose of this utility model is to disclose a standing lower limb rehabilitation training machine, which is used for muscle and joint function training of patients with lower limb injuries. Its speed and strength can be adjusted independently according to the severity of the disease and the patient's physical ability; Coordinate the movement with the ankle joint, so as to get a better rehabilitation effect.

The main structure of the standing lower limb rehabilitation training machine includes a base, two sets of symmetrically arranged gait mechanisms on the left and right, and two sets of symmetrically arranged ankle joint motion mechanisms on the left and right. The base is a plane frame structure, with a column-type rocker seat at one end, a trapezoidal shaft seat at the other end, and an inclined slide rail seat in the middle. The gait mechanism is composed of a DC torque motor with a sensor, a rotating shaft, a bearing seat, a sprocket pair, two sets of left and right crank linkage mechanisms, a bending rocker and two pedals. Each set of ankle joint kinematics consists of a set of slide rails and two left and right slide blocks.

The driven sprocket of the sprocket pair in the gait mechanism is fixed in the middle of the rotating shaft, and one end of the cranks in the two sets of crank linkage mechanisms are respectively fixed in the two ends of the rotating shaft (in order to simulate the human gait movement, the axes of the two cranks are clamped Angle 180°), and the two bearing seats supporting the rotating shaft are respectively fixed on the upper side of the rotating shaft seat; the DC torque motor with sensor is fixed on the outer side of the rotating shaft seat, and the driving sprocket in the sprocket pair fixed The chain drives the driven sprocket and the rotating shaft to rotate. The upper end of the curved rocker is hinged with the upper end of the column type rocker seat, and the lower end of the curved rocker is hinged with the other end of the crank by means of a connecting rod in the crank linkage mechanism. The middle part of the connecting rod is hinged with the middle part of the pedal.

The slide rail in the ankle joint movement mechanism is fixedly connected on the inclined slide rail seat, and a slide block which can slide along the slide rail and is hinged with the end of the pedal is respectively installed on the left and right sides.

When the DC torque motor gets the control signal, it drives the sprocket pair to rotate, and then drives the bending rocker to swing around the hinge point through the rotating shaft and the crank-link mechanism; One back, one up and down planar movement.

During use, the patient stands on the footrest and holds the handle with both hands. Adjust the initial state of the training machine so that the patient can obtain the best standing posture. The patient can independently set the control command on the keyboard of the single-chip microcomputer, select the control mode and training intensity, and then start the DC torque motor; the single-chip microcomputer receives the force, rotation angle and speed signals from the sensor, controls the DC torque motor to work, and then realizes the patient's gait Coordinated movement with the ankle joint.

The utility model can realize different modes of exercise (including active and passive) by selecting different preset control strategies, so that the rehabilitation training is diversified. The rehabilitation training machine can be used for rehabilitation training for patients with paralysis caused by cardiovascular and cerebrovascular diseases and lower limb injuries caused by accidents, and can also be used for physical exercise for healthy elderly people.

Description of drawings

Figure 1 Schematic diagram of the standing lower limb rehabilitation training machine (front view)

Figure 2 Structural schematic diagram of the standing lower limb rehabilitation training machine (top view)

Detailed ways

Provide preferred embodiments of the present utility model below, and illustrate in conjunction with accompanying drawing.

As shown in Figures 1 and 2, the main structure of the standing lower limb rehabilitation training machine includes a base, two sets of symmetrically arranged gait mechanisms on the left and right, and two sets of symmetrically arranged ankle joint motion mechanisms on the left and right. Wherein the base 11 is a plane frame structure, with a column type rocker seat 12 at one end, a trapezoidal shaft seat 14 at the other end, and an inclined slide rail seat 13 at the middle. Gait mechanism is made up of DC torque motor 27 with sensor, rotating shaft 26, bearing block 15, sprocket wheel pair 25, left and right two cover crank linkages 21,24, bending rocker 22 and two pedals 23. Every set of ankle joint kinematic mechanism is made up of a set of slide rails 31 and two left and right slide blocks 32 .

The driven sprocket wheel of sprocket wheel pair 25 in the gait mechanism is fixed on the rotating shaft 26 middle part, and one end of the crank 24 in 2 cover crank linkages is respectively fixed on the two ends of the rotating shaft 26 (in order to simulate people's gait motion, The included angle of two cranks 24 axes is 180 °), and the two bearing blocks 15 supporting the rotating shaft 26 are respectively fixed on the upper side of the rotating shaft seat 14; , the driving sprocket in the sprocket pair 25 that is fixedly connected with the dc torque motor 27 shaft heads drives the driven sprocket and the rotating shaft 26 to rotate through the chain. The upper end of the curved rocker 22 is hinged to the upper end of the column type rocker seat 12, and the lower end of the curved rocker 22 is hinged to the other end of the crank 24 by means of the connecting rod 21 in the crank linkage mechanism. The middle part of connecting rod 21 is hinged with the middle part of pedal 23 .

The slide rail 31 in the ankle joint movement mechanism is fixedly connected on the inclined slide rail seat 13, and a slide block 32 that can slide along the slide rail 31 and is hinged with the end of the pedal 23 is respectively installed on the left and right sides.

After the DC torque motor 27 gets the control signal, it drives the sprocket pair 25 to rotate, and then drives the bending rocker 22 to swing around the upper hinge point through the rotating shaft 26 and the crank linkage mechanism; Gait movement, do one front and one back, one up and one down plane movement.

During use, the patient stands on the footrest 23, and both hands are held on the handle (not shown in the figure). Adjust the initial state of the training machine so that the patient can obtain the best standing posture. The patient can independently set the control command on the keyboard (not shown in the figure) of the single-chip microcomputer, select the training mode and intensity, and then start the DC torque motor 27; Work, and then realize the coordinated movement of the patient's gait and ankle joint.

The utility model can realize different modes of exercise forms by selecting different preset control strategies, so as to diversify rehabilitation training. The rehabilitation training machine can be used for rehabilitation training for patients with paralysis caused by cardiovascular and cerebrovascular diseases and lower limb injuries caused by accidents, and can also be used for physical exercise for healthy elderly people.

Claims (1)

1. stand-type lower limb rehabilitation training machine, it is characterized in that it comprise base, about 2 cover symmetric arrangement gait mechanism, about the ankle motion mechanism of 2 cover symmetric arrangement; Wherein, base (11) is a plane framework formula structure, and an end has column rocking bar core (12), and the other end has trapezoidal shaft seat (14), and the middle part has slide way inclined seat (13); Gait mechanism by the direct current torque motor that has pick off (27), rotating shaft (26), bearing block (15), chain wheel pair (25), about two cover crank linkages (21,24), crooked rocking bar (22) and two pedals (23) form; Every cover ankle motion mechanism by a cover slide rail (31) and about two slide blocks (32) form; The driven sprocket of gait mechanism medium chain wheel set (25) is packed in rotating shaft (26) middle part, and an end of the crank (24) in the 2 cover crank linkages is packed in the two ends of rotating shaft (26) respectively, and the angle of crank (24) axis is 180 °; Two bearing blocks (15) of supporting revolving shaft (14) are packed in the upside of shaft seat (14) respectively; The direct current torque motor (27) that has pick off is packed in the downside of shaft seat (14), and the drive sprocket in the coupled chain wheel pair (25) also drives described driven sprocket and rotating shaft (26) through chain and rotates; Crooked rocking bar (22) middle part is hinged with column rocking bar core (12) upper end, and the lower end of crooked rocking bar (22) is connected by the other end of the connecting rod in the toggle (21) with described crank (24); The middle part of the middle part of connecting rod (21) and pedal (23) is hinged; Slide rail in the ankle motion mechanism (31) is connected on the slide way inclined seat (13), and each side is equipped with one and can slides and the slide block (32) hinged with pedal (23) end along slide rail (31).

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