CN101829005B - A foot pedal device for gait rehabilitation robot with metatarsal joints - Google Patents

Abstract

The invention aims to provide a gait rehabilitation robot footrest device with metatarsal joints, comprising a front foot plate, a rear foot plate, a motor and a cord, wherein the motor comprises an ankle motor, a metatarsal motor, encoders, an approach switch, a supporting plate arranged at one side of the rear foot plate, a supporting head arranged on the supporting plate, a large pulley arranged on the metatarsal motor, a cord post arranged below the front foot plate and a spring connected with the cord post and the ankle motor; both the ankle motor and the metatarsal motor are arranged below the rear foot plate; the ankle motor is connected with the rear foot plate through a connecting block fixed to the bottom of the rear foot plate; the encoders are respectively arranged at high-speed ends of the ankle motor and the metatarsal motor, and the other end of the metatarsal motor is provided with the large pulley; and the cord rounds the cord post, the supporting head and the large pulley. The invention more conforms to the real motion state of feet, achieves a better rehabilitation training effect and is suitable for various crowds, and the training of various motion modes can be finished through changing gait data.

Description

A foot pedal device for gait rehabilitation robot with metatarsal joints

technical field

The invention relates to a medical rehabilitation robot device.

Background technique

In recent years, rehabilitation robots have shown more and more advantages in scientific and effective rehabilitation training for patients. Early rehabilitation training can not only maintain the joint range of motion and prevent joint contracture, but also significantly improve the final recovery of the patient's motor function. Among them, passive movement training is a basic method in the rehabilitation training therapy of limb motor function.

The existing gait rehabilitation robots generally realize the simulation of human gait through the swing of thigh and calf and the rotation of ankle, ignoring the role of human foot metatarsal joints in gait. A perfect set of gaits must allow the patient to walk easily and for extended periods of time. The metatarsal joint plays a very important role in the stance phase, the time when the lower extremity is in contact with the ground and bears gravity, which accounts for about 60-65% of the entire gait cycle. During the stance phase, the center of gravity of the human body moves from the heel to the toes, and the plantar force is manifested as a double peak curve.

Contents of the invention

The object of the present invention is to provide a gait rehabilitation robot foot pedal device with metatarsal joints, which has simple structure and low cost, and can be used in patient rehabilitation training.

The purpose of the present invention is achieved like this:

A kind of gait rehabilitation robot pedal device with metatarsal joints of the present invention is characterized in that: comprise front plate, rear foot plate, motor and rope, motor comprises ankle motor and metatarsal bone motor, also comprises encoder, proximity switch, installation Support plate on the side of the rear foot plate, support head mounted on the support plate, large pulley mounted on the metatarsal motor, rope post mounted under the front plate of the foot, spring connecting the rope post to the ankle motor, ankle motor and metatarsal The motors are all located under the rear foot plate. The ankle motor is connected to the rear foot plate through the connection block fixed at the bottom of the rear foot plate. The encoders are respectively installed at the high-speed end of the ankle motor and the metatarsal motor. The other end of the metatarsal motor is installed with a large pulley, and the rope is passed around the rope. Columns, support heads and large pulleys.

A foot pedal device for a gait rehabilitation robot with metatarsal joints of the present invention may also include:

Protective frames are respectively installed around the front foot plate and the rear foot plate, and instep straps and heel baffles are respectively installed above and behind the rear foot plate.

The advantage of the present invention is that it is more in line with the real motion state of the feet, thereby achieving better rehabilitation training effect, adapting to various groups of people, and changing gait data to complete training in various motion modes.

Description of drawings

Fig. 1 is the front view of overall mechanism of the present invention;

Fig. 2 is the top view of overall mechanism of the present invention;

Fig. 3 is a front view and a left view of the supporting column part;

Fig. 4 is a partial sectional view of the hinge;

Fig. 5 is a perspective view of the present invention.

Detailed ways

The present invention is described in more detail below in conjunction with accompanying drawing example:

Referring to Figures 1-5, the entire mechanism includes a front footboard part, a rear footboard part, a support column, a motor transmission part, and a signal detection part. The front foot plate is welded in two parts, and the bottom of the front foot plate 2 is welded with a detection block 19, which can change its output signal potential when the distance from the proximity switch 18 is less than a certain range. The rope column 1 is fixed on the front end of the front foot plate, and its left end protrudes and has grooves for connecting ropes. A spring 17 is connected between the rope column 1 and the top plate 15, which provides pre-tightening force and power for the front foot board to return to the motion for the rope. The front foot plate periphery is fixed with protective frame 3, sticks out the front foot plate to prevent the patient's pin. The periphery of the same rear foot plate 9 is also fixed with a protective frame 8 . The heel baffle 20 can slide back and forth on the rear foot plate to adapt to feet of different sizes. Use tightening bolt 21 after adjustment and just can be fixed on rear foot plate. There are 4 holes left on the heel guard to fix the straps to bind the ankle. Instep strap 5 is divided into left and right two parts and is fixed on the protective frame 8 on both sides. The protective frame 8 provides 7 fixing holes, and according to the size of the patient's feet, adjust the straps on the instep to select a suitable hole to fix. Ankle motor 10 is hinged with the connecting block at the bottom of the rear foot plate, so that the rear foot plate can be driven to rotate. Ankle motor is fixed on the motor base 16 by flange. The motor base 16 is fixed on the top plate 15 , and then fixed on the connecting head 14 . The connector 14 is used to connect with the gait rehabilitation robot. The metatarsal motor 11 is fixed on the connecting head 14 through the motor base 12 and the connecting block 13 . The large pulley 23 is fixed on the output shaft of the metatarsal motor, and the left end relies on the small end cap 23 for positioning. Encoders 24 are respectively installed at the high-speed ends of the two motors to detect motor speed signals and feed them back to the control system. The proximity switch 18 is fixed by a right-angle plate 33 fixed on the bottom of the rear foot plate, and is in the same vertical plane with the detection block 19 . The proximity switch 18 is used to reflect whether the front foot plate and the rear foot plate are on the same plane.

As shown in Figure 3, it is the support column part, which is welded on the left side of the rear foot plate. The support head 6 is welded on the support plate 7 and has a gap at one end. Bearing shaft 28 passes support head 6, and the right-hand end is positioned with shaft end retaining ring. Small pulley 25 is enclosed within on the bearing 26. The rope 4 that one end is wound on the large pulley 22 goes around the small pulley 25 and is connected to the rope column 1, thereby transmitting the power of the metatarsal motor 11 to drive the front foot plate to rotate. The spacer 27 acts as a positioning bearing. The top of the support head is wrapped with a shield 29 to prevent the rope from coming out.

As shown in Figure 4, the front foot plate 2 and the rear foot plate 9 are hinged together. The front foot plate is double-convex, and the rear foot plate is concave. In conjunction with Figure 1, it can be seen that the upper half of the contact portion of the front foot plate and the rear foot plate is a rounded corner, and the lower half is a right angle. The front foot plate can only be rotated counterclockwise by the position shown in Figure 1 like this, can not rotate clockwise. There are through holes in the overlapping parts of the front foot plate and the rear foot plate. The hinge shaft 30 is passed through the through hole, and bearings 31 are installed at both ends to reduce rotational friction. The set screws on the double lugs on the front foot plate limit the relative rotation of the hinge shaft to the front foot plate. The retaining ring 32 plays a positioning role for the hole.

The front foot plate and the rear foot plate are hinged together through the hinge shaft 30 and the bearing 31. The hinge shaft and the front foot plate are positioned with set screws. Limitation purpose.

When the invention works, the upper computer converts the predetermined gait data into control signals to control the rotation of the ankle motor and the metatarsal motor, and then drives the rotation of the corresponding joints of the patient's foot. When the patient performs gait rehabilitation training, the whole swing phase and the early stage of the stance phase (heel ground to metatarsal bone ground), the cooperation of the metatarsal motor and the preload spring at the bottom of the front foot plate makes the front foot plate and the rear foot plate on the same plane. At this stage, the plantar force is mainly concentrated on the heel. In the middle of the support phase (heel off the ground to the other side of the heel on the ground), the front foot plate remains horizontal relative to the ground, and the relative rotation occurs with the rear foot plate, and the included angle changes from 180° to a minimum value. The angle change value can be changed according to the actual condition of the patient, so as to adapt to different groups of people. At this stage, the plantar force at the heel becomes smaller, and at the same time, the plantar force at the metatarsal bone increases to a maximum. At the end of the stance phase (before toe-off) the forefoot changes from being horizontal relative to the ground to being on the same plane as the rear. The angle relative to the rear foot plate changes from a minimum value to 180°. At this stage, the center of gravity of the human body shifts from one sole of the foot to the other, the plantar force at the metatarsal bone becomes smaller, and the plantar force at the heel on the other side increases. Throughout the gait cycle, the ankle motor drives the rear foot to rotate around the center of the motor to change the angle between the rear foot and the ground during the gait cycle.

The invention is used in gait rehabilitation training, and can carry out the movement of metatarsal joints and ankle joints. Adapt to a variety of people.

Claims (2)

1. gait rehabilitation robot footrest device that in carrying out gait rehabilitation training, can carry out the motion of metatarsal joints; It is characterized in that: comprise forefoot plate, back sole, ankle motor, metatarsal motor and rope; Also comprise encoder, near switch, be installed in back sole one side gripper shoe, be installed in supporting member on the gripper shoe, be installed in large pulley on the metatarsal motor, be installed in the spring of rope post, connecting rope post and the top board of forefoot plate below; Ankle motor and metatarsal motor all are positioned at the below of back sole, and the ankle motor connects the back sole through the contiguous block that is fixed in sole bottom, back, and encoder is installed in the speed end of ankle motor and metatarsal motor respectively; The other end of metatarsal motor is installed said large pulley; Rope is walked around rope post, supporting member and large pulley, and forefoot plate is hinged with the back sole, fixes through the L-square that is fixed in sole bottom, back near switch; Be welded with the detection block in the bottom of forefoot plate; Near switch with detect block and be in the same vertical, detect block and can change output signal potential during less than certain limit near switch near the distance of switch, be used for reflecting near switch whether forefoot plate in the same plane with the back sole; Sole rotates around the ankle motor center after the ankle driven by motor, with the angle on sole after changing in the gait cycle and ground.

2. a kind of gait rehabilitation robot footrest device that in carrying out the gait rehabilitation training, can carry out the motion of metatarsal joints according to claim 1; It is characterized in that: described forefoot plate and rear foot panel area are installed protective frame respectively, above the sole of back, with the rear instep bandage and heel baffle plate are installed respectively.

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