KR100580971B1 - Rehabilitation Equipment for Complex Joint Exercise - Google Patents

Abstract

The present invention is to provide a composite joint exercise rehabilitation exercise mechanism configured to simultaneously provide a knee joint by the linear motion and hip joint motion by the rotational movement, the base member; Drive means having a structure in which a reciprocating shaft, a rotating shaft and a guide shaft are installed in parallel in the longitudinal direction of the base member, the reciprocating shaft and the rotating shaft being coupled to respective motors installed in the base member one side housing; A moving block coupled to the reciprocating shaft and reciprocating in a state supported by the rotating shaft and the guide shaft according to the rotational direction of the reciprocating shaft; A thigh support coupled to one side of the base member with a joint having one side end having three degrees of freedom with respect to the base member; A calf support having one side of the body coupled to the other end of the thigh support; A foot support coupled to an end of the calf support; Passing through the body of the moving block so as to be dependent on the movement of the moving block, the end of one element is bitten by the axis of rotation, the end of the other element is coupled to the guide shaft by sliding treatment, the end of each element is the body of the calf support The structure is characterized in that the structure includes two side-by-side rod coupled to the joint having two degrees of freedom.

Continuous Passive Motion, Rehabilitation Medical, Complex Joint Exercise

Description

Rehabilitation exercise device for compound joint exercise {Rehabilitation Medicine Device for Compound Joint Motion}             

1 is a block diagram of a rehabilitation exercise mechanism according to the present invention

2 is a detailed structural diagram of a drive means;

3a and 3b is an operating state diagram of the stretching movement

4a and 4b is an operating state diagram of the rotary motion

* Explanation of Major Codes

10. Base member 20. Reciprocating element 21. Motor 22. Ball screw shaft

30. Rotary element 31. Spline shaft 32. Worm gear

33.Motor 40.Moving block 41.Retainer

42. Body 43. Guide Shaft 44. Supporting Roller

45 groove 50 rod 60 upper structure

61.thigh support 62.calf support 63.foot support

64.3 Degree of freedom joint 65.axis 66.axis

67.Tightening screw 68.2 Degree of freedom joint

69.Fixing screw 80.Band 90.

100. 1st angle sensor 110. 2nd angle sensor

The present invention relates to a rehabilitation exercise mechanism for the recovery of the elderly, disabled and fracture patients with weakened unit strength weakened, more specifically can be provided at the same time the knee joint by the linear movement and hip joint movement by the rotational movement The present invention relates to a rehabilitation exercise device for a composite joint exercise.

People who have poor walking ability due to weakened unit muscle strength or surgery cannot move for a long time, so the joints and unit muscle power required for walking are weakened and hardened. In particular, fracture patients should not give a sudden movement to the joints and the entire skeleton after loosening the cast or fixation device because of the long periods of cast or fixation for bone union.

Therefore, the elderly who have lost their walking activity due to aging weakened, and those whose walking ability has weakened due to weakened unit muscle strength need exercise that can continuously increase the unit muscle strength, and they try bone union due to fracture and do not move for a long time. Patients who do not have to gradually move their joints should be able to walk without difficulty.

Gait ability can be improved when the hip, knee and ankle joint movement is smooth, each of these joints are surrounded by a soft medullary joint membrane, muscles and tendons, so that the rehabilitation exercise device for improving walking ability is It is required to give an element an effective exercise.

The rehabilitation apparatus used in the prior art is mechanically provided with repetitive stretching movements at the joints, thereby gradually recovering muscle strength by passive movement of the joints. It is configured to exercise the joints by providing flexion movements using flexed link mechanisms.

The mechanism for continuous passive motion (CPM) is a long frame (base), as shown in US 4,825,852, US 6,267,735 B1, and a link clause and a pivot structure at one end of the frame. Combined thigh support, calf support coupled to the linkage and pivot structure at the end of the thigh support, foot support mounted on one end of the calf support, screw shaft coupled to the motor in the longitudinal direction of the base, the screw shaft It is composed of a movable part coupled to the front and backward movement, and a member for connecting the movable part and the calf support in a U-shape to stabilize the movable part forward or backward by a motor, the knee joint is bent by the movement of the linkage It is configured to give joint motion. As such, the general CPM mechanism is a knee joint-oriented exercise apparatus, which requires a separate hip exercise apparatus for the hip joint exercise, which is essential for improving walking ability.

Republic of Korea Patent Registration No. 0386701 and Patent Publication No. 1999-0045112 is a base member, a frame that one end is rotatably coupled to the base member and a plurality of parts are hinged to be folded and unfolded, the base and the user's legs, Composed rotatably around the other end of the member and supporting one end of the frame and a drive means for reciprocating one end of the frame by a transfer means operated by a motor to put the patient's leg on the frame and the base member The hip movement of the user's legs spreads by flexing the knee joint by reciprocating one end of the frame by the driving means with the driving means in a straight line, and reciprocating one end of the frame with the driving means rotated from the base member. Knee exercises and hips as configured to And it provides the advantage of allowing you to perform the exercise), respectively. However, the hip joint movement by the above-described mechanism is performed independently after the knee movement is completed, and the hip joint movement and the knee joint in view of the principle of the skeletal muscle movement where the hip joint, the knee joint and the ankle joint are related to each other and are organically movable is possible. Exercise therapy, which is a separate exercise, is inefficient. The hip joint is a multiaxial structure consisting of a ball-like femoral ball head and a socket-shaped pelvic bone that surrounds the ball, and the femoral head ligament and iliac thigh that surround the hip joint. In order to provide effective rehabilitation exercise for ligaments, multiaxial exercise that twists and rotates the hip joint is most appropriate. However, the device provides only the limited directional movement of the leg to the side, improving the overall flexibility of the hip joint and muscle ligaments. There was a limit to effectively improving the strength of the organization.

The present invention has been made to solve the above problems of the conventional rehabilitation exercise mechanism as a single exercise device to perform the right and left rotational movement and the straight reciprocating movement at the same time or selectively performed to strengthen the movement and unit muscle strength of the knee joint and hip joint It is designed to make it possible to carry out this effectively.

To this end, the present invention is a base member having a long length; Reciprocating shaft, the rotary shaft and the guide shaft are installed in parallel to each other in the longitudinal direction of the base member, the reciprocating shaft and the rotary shaft is a drive means including a structure coupled to each motor installed in the base member one side housing and; A moving block coupled to the reciprocating shaft and reciprocating in a state supported by the rotating shaft and the guide shaft according to the rotational direction of the reciprocating shaft; A thigh support coupled to one side end of the base member with a joint having one side end having three degrees of freedom with respect to the base member; A calf support having one side of the body coupled to the other side end of the thigh support; A foot support coupled to an end of the calf support; Passing through the body of the moving block so as to be dependent on the movement of the moving block, the end of one element is bitten by the axis of rotation, the end of the other element is coupled to the guide shaft by sliding treatment, the end of each element is the body of the calf support A rehabilitation exercise device for a composite joint exercise including two side-by-side rods coupled to a joint having two degrees of freedom in a part is presented.

The structure is the forward and reverse rotation of the reciprocating motor is transmitted to the reciprocating shaft to reciprocate back and forth the moving block coupled thereto, the movement of the moving block is transmitted to the calf support through the rod, foot support, calf support, thigh support The upper structure includes a four-bar link structure by the forward and backward reciprocating motion of the rod to generate flexural movement to bend around the axis (Knee Joint) connecting the calf support and the thigh support. In addition, the forward and reverse rotation of the motor for rotational movement is transmitted to the rotational shaft to rotate the left and right rods by rotating the upper structure consisting of thigh support, calf support and foot support to the left and right to make the hip joint movement.

Therefore, the present invention can perform the repetitive flexion movement of the knee joint and the rotation movement of the hip joint by controlling the reciprocating motor and the rotational motor by a constant control program, respectively, the knee joint movement and the hip joint movement and the accompanying By providing the advantage of performing ankle joint exercise at the same time it is possible to perform a more efficient rehabilitation exercise for the recovery of walking ability.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

Figure 1 is for illustrating the structure of the present invention, the present invention is a base member 10 for supporting the entire component, the reciprocating element 20 and the rotary element 30 installed in the base member is Included drive means, a moving block 40 for transmitting the movement of the drive means, a rod 50 for transmitting the movement of the moving block to the superstructure, and the rotation and flexing in response to the movement of the moving block and the rod The movement is made of a superstructure 60 that provides the CPM by flexion movement and rotational movement on the user's leg is placed on it.

The base member 10 constitutes a body of the entire apparatus, and a housing 12 for mounting an internal component such as a motor is formed at one side of the long body 11, and for supporting the upper structure at the other side. The bearing 13 is formed.

As shown in FIG. 2, the driving means is configured to provide power for imparting a stretching motion and a rotational motion with respect to the upper structure 60, and includes a reciprocating element 20 and a rotational element 30. .

The reciprocating element 20 is an element for flexing the upper structure 60 by forward and backward reciprocating the moving block 40 in the longitudinal direction of the base. The ball screw shaft 22 is installed in the longitudinal direction of the base and coupled to the motor at one side end, and the moving block 40 is treated to the ball screw shaft 22 exposed to the inside of the base. As the motor moves forward and backward, the moving block is coupled to move back and forth. The ball screw shaft is treated with the retainer 41 coupled to the contact portion in the moving block, and the ball screw provides a non-slip linear reciprocating motion to the superstructure so that the thigh support and the calf support that constitute the superstructure are the same speed. It acts to make the sex movement.

Rotational movement element 30 is a rotational motor (33) coupled to the spline shaft 31 and the worm gear 32 with respect to the spline shaft 31 as the element for rotating the upper structure 60 left and right The spline shaft 31 is installed in the base member in parallel with the ball screw shaft 22, and the motor and the worm gear are installed in the housing. The worm gear can reduce the high rotation of the motor at a large reduction ratio, produce high power, and prevent the inverse rotation to automatically stop when the power is cut off due to an unexpected situation such as the power cut off. It has an effect that can be done.

The moving block 40 is an element that transmits the power from the driving means to the upper structure 60 and transmits the load from the upper structure to the base member, and the retainer 41 is coupled therein as described above. The ball screw shaft 22 is coupled to the ball screw shaft 22 so as to slide through the ball screw shaft 22 and the spline shaft 31 and the guide shaft 43 installed in parallel with each other. It is configured to allow backward reciprocating movement before riding. The spline shaft 31 is simply passed through without being in contact with the movable block, so that the rotation of the spline shaft is coupled without affecting the movable block.

Attaching the support roller 44 to the left and right base member contact portion of the moving block is configured to roll in the grounded state to the base member, thereby transmitting the kinetic force of the linear reciprocating motion and the left and right rotational motion to the upper structure and during the movement By supporting the weight of the user's legs it is possible to operate smoothly by preventing the overload of the motor and each shaft as a driving means.

The rod 50 is an element for directly transmitting the movement by the driving means to the upper part, and functions as a driving force transmission element of the flexural motion by the four-section link structure formed by the base and the upper structure, and a rotational motion by the spline shaft. It serves as a driving force transmitting element to provide.

To this end, the rod 50 is composed of two side by side members 51 and 52, each having a connecting portion at each end, one of which member 51 has a spline shaft 31 whose end passes through the moving block described above. ), And the other element 52 is coupled so that its end passes through the moving block and slides on the guide shaft 43. In the embodiment, the groove 45 is formed at the rod coupling position of the movable block so that the rod can pass through the movable block as it is and is coupled to the spline shaft and the guide shaft. The combined rod is moved together with the moving block in dependence on the forward and backward reciprocation of the moving block, but the rotational movement from the spline shaft is transmitted only to the superstructure through the rod without being interrupted by the moving block.

The upper structure 60 is a thigh support 61, a calf support 62, and a foot support as an element for supporting the user's leg and imparting the flexion movement of the knee joint and the rotational movement of the hip joint by the movement from the driving means. 63).

The thigh support 61 is composed of members 61a and 61b arranged side by side to maintain a constant interval as an element for supporting the patient's thigh, one end of each of the elements to the base bearing 13 of the base 13 Are joined by a degree of freedom joint (64). The three-degree of freedom joint according to the embodiment has a structure in which one end of the universal joint 64a is coupled to the shaft 64b installed perpendicular to the shaft support 13 in the form of a socket, and the other end of the universal joint is coupled to the thigh support. The universal joint coupled to the shaft 64b fixed to the bearing is made of 360 ° free rotation in the horizontal direction, and free rotation is performed in three-dimensional space by the characteristics of the universal joint itself. It is possible to flexibly accommodate the complex kinematic kinematic model drawn by the simultaneous left and right rotational motion.

The calf support 62 is an element for supporting the calf, and the members 62a and 62b coupled to the respective members 61a and 61b of the thigh support 61 by the shaft 65, respectively, and the aforementioned angles. It consists of the semicircular band 62c which connects the members 62a and 62b.

The semi-circular band 62c serves to support the calf and keeps the gap between the thigh support and the calf support constant.

Foot support 63 is coupled to the end of the calf support to act to support the foot, consisting of a support (63a) and wings (63b) and calf support coupling member (63c) fixed to both sides of the support, calf, At the end of the support, an angle adjusting plate 62d is formed to adjust the contact pressure by the tightening screw 67, and the ankle joint is moved at an appropriate pressure according to the displacement of the calf by the action of the shaft 66 and the tightening screw. It can be configured to help or fix the ankle.

Each end of the rod and the trunk of the calf support are joined by a two degree of freedom joint 68. The two degree of freedom joint according to the embodiment is connected to the calf support 62 using shafts 68b and 68c arranged at right angles to the direction of movement at each end using a connecting member 68a of the "H" shape. It is a structure for connecting the rod 50, it is possible to smoothly transfer the forward and backward reciprocating linear motion of the moving block to the upper structure while transmitting the left and right rotational movement of the rod as it is.

Each member constituting the thigh support and the calf support in the above is a foldable pipe structure and configured to be variable in length by the fixing screw 69 to adjust to the thigh and calf length according to the user's height difference. , The band 80 is formed to support the calf or thigh in the middle of each support, and a cradle 90 may be installed to allow the user to train in a comfortable state.

In addition, the structure is configured to be trained in a variety of ways, the control unit is configured together so that the exercise mode can be controlled by a program, it is implemented in a configuration to attach a sensor to control the range of motion of the mechanism. In this embodiment, the first angle sensor 100 is mounted on the shaft 65 connecting the thigh support and the calf support so as to control the movement range of the device, and measure the movement angle of the knee joint and limit the range. The second angle sensor 110 is coupled to the spline shaft 31 to measure the rotation angle of the hip joint and obtain information for limiting the range.

Figures 3a and 3b is for explaining the operation of the rehabilitation exercise device for a composite joint exercise according to the above configuration, using the keypad or the remote control for the program control, the maximum angle, the maximum rotation angle, the maximum flexion to fit the training situation of the user If you select and operate the stretching motion with the speed and time set, the reciprocating motor rotates until it reaches the set angle within the maximum angle range (0 ~ 135 °), and when the maximum angle is reached, the first angle sensor Sensing this and the controller repeats the process of the reverse rotation operation to provide a continuous movement for a predetermined time unless stopped within the set angle range.

4A and 4B illustrate a state of rotational motion. When the rotational motion is operated, the motor for rotational motion rotates until it reaches a set angle within a maximum rotational angle (typically -45 to 45 °) and reaches a set angle. The second angle sensor detects this and the control unit provides the hip joint rotation movement continuously for a predetermined time unless the second angle sensor repeats the reverse rotation operation and stops it within the set angle range.

The linear flexion motion and rotational motion can be performed separately as well as separately. Such complex joint motion can be performed only by the existing flexion motion of the knee by the conventional linear motion or by the flexion motion and hip motion of the knee. The training effect can be maximized as compared to the rehabilitation exercise equipment that is separately performed.

The present invention by the above configuration can be simultaneously exercise the knee joint and the hip joint, it is configured to enable a three-dimensional movement consisting of a combination of a linear motion and a rotational motion can improve the exercise effect.

In addition, the present invention consists of a four-segment link structure in which the ball screw shaft, the rod, and the superstructure are connected by two degree of freedom and three degree of freedom joints, so that the linear and rotational movements are smooth, and the effect of the hip joint can be effectively performed. Will be.

Claims (5)

A base member having a long length; Drive means having a structure in which a reciprocating shaft and a rotating shaft are installed in parallel with each other in the longitudinal direction of the base member, and the reciprocating shaft and the rotating shaft are coupled to respective motors installed in one housing of the base member; A moving block coupled to the reciprocating shaft and reciprocating along the rotating shaft along the rotational direction of the reciprocating shaft; A thigh support coupled to one side end of the base member with a joint having one side end having three degrees of freedom with respect to the base member; A calf support having one side of the body coupled to the other end of the thigh support; A foot support coupled to an end of the calf support; Passing through the body of the moving block so as to be dependent on the movement of the moving block, the end of one element is bitten by the rotary shaft, the end of the other element is coupled to the guide shaft by sliding treatment, the end of each element is the body of the calf support Rehabilitation for complex joints, including two parallel rods coupled to the joint with two degrees of freedom to provide linear and rotary motions alone or simultaneously to superstructures including thigh supports, calf supports and foot supports Fitness equipment. According to claim 1, The reciprocating shaft is composed of a ball screw shaft coupled to the motor is coupled to the retainer in the moving block by being configured to be able to reciprocate the moving block forward and backward movement, characterized in that configured for the joint movement. According to claim 1, wherein the rotary shaft is made of a spline shaft and rehabilitation exercise mechanism for a composite joint exercise, characterized in that consisting of a structure connected to the motor by a worm gear. According to claim 1, wherein the left and right base member contact of the moving block is attached to the support rollers rehabilitation exercise mechanism for composite joint movement, characterized in that configured to roll in the grounded state on the base member. The joint according to any one of claims 1, 2, 3 or 4, wherein the joint having three degrees of freedom is coupled to one end of the universal joint in the form of a socket on an axis installed perpendicular to the base bearing of the base, and the universal joint. The other end of the structure is coupled to the thigh support, the joint having two degrees of freedom is connected to the calf support and the rod by a shaft arranged to be orthogonal to each direction of movement at each end of the connecting member having a "H" shape Rehabilitation exercise device for a composite joint exercise, characterized in that consisting of.

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