CN102670381A - Full-automatic lower limb rehabilitation treatment instrument - Google Patents

Full-automatic lower limb rehabilitation treatment instrument Download PDF

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CN102670381A
CN102670381A CN2012101771591A CN201210177159A CN102670381A CN 102670381 A CN102670381 A CN 102670381A CN 2012101771591 A CN2012101771591 A CN 2012101771591A CN 201210177159 A CN201210177159 A CN 201210177159A CN 102670381 A CN102670381 A CN 102670381A
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motor
treatment
mechanical arm
lower limb
swing
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CN102670381B (en
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唐刚
徐俭
王冬梅
魏高峰
苌道方
宓为建
王成焘
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Shanghai Maritime University
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Shanghai Maritime University
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Abstract

本发明涉及一种全自动下肢康复治疗仪器，包括电机、齿轮传动机构、两个机械臂、可伸缩的支撑架、大腿小腿以及膝关节固定器，单片机，传动轴、装饰盖,电机和齿轮传动装置通过联轴器相连，大齿轮通过键来将电动机的转动转化为主动轴的转动。主动轴和导杆机构接触部分焊接，来传递转矩。导杆机构各杆铰接。其中电机用来提供动力，带动小齿轮的运转，小齿轮带动大齿轮使其做圆周运动，大齿轮轴的端部与导杆机构的一端焊接，将轴的圆周转动转通过导杆机构转化为两个机械臂的摆动，从而带动小腿的上下摆动，单片机可以比较好的控制术后病人的运动时间和运动强度。使病人得到最有效，最科学的治疗。

Figure 201210177159

The invention relates to a fully automatic lower limb rehabilitation treatment instrument, which includes a motor, a gear transmission mechanism, two mechanical arms, a telescopic support frame, a thigh calf and a knee joint fixer, a single-chip microcomputer, a transmission shaft, a decorative cover, a motor and a gear transmission The devices are connected through a coupling, and the large gear converts the rotation of the motor into the rotation of the drive shaft through a key. The contact part of the driving shaft and the guide rod mechanism is welded to transmit the torque. Each rod of the guide rod mechanism is hinged. The motor is used to provide power to drive the small gear, and the small gear drives the large gear to make a circular motion. The end of the large gear shaft is welded to one end of the guide rod mechanism, and the circular rotation of the shaft is converted through the guide rod mechanism into The swing of the two mechanical arms drives the lower leg to swing up and down, and the single-chip microcomputer can better control the exercise time and intensity of the postoperative patient. So that patients get the most effective and scientific treatment.

Figure 201210177159

Description

A kind of full-automatic lower limb rehabilitation therapeutic equipments
Technical field
The present invention relates to machinery, automatization, electrical engineering technical field, specifically relate to a kind of full-automatic lower limb rehabilitation therapeutic equipments.
Background technology
Process and step that lower limb recover: lower-limb muscular strength training, exercise therapy purpose: mainly be the muscular strength that strengthens lower limb, increase mobility.Perform the operation back the 3rd day to leaving hospital: sit on the bed after 30 minutes, assisting patients utilizes assistor to stand in bed is other, and at least 15 minutes at every turn, one day 4-6 time.After sufferer can be stood firm, the therapist assisted it to use assistor correctly to walk.First day: 10 meters of the walkings of can leaving the bed, once a day; At the out-of-bed activity first time, must there be the people to assist from the side, avoid postural hypotension or undue force to fall.Second day: 10 meters of the walkings of can leaving the bed, every day 2-3 time.The 3rd day: can allow down the walking of leaving the bed as far as possible in muscle power.
Have the patient behind a lot of lower extremity surgeries to tend to not move for a long time, but after rehabilitation, many positions functional deterioration need adjustment for a long time, could recover original state.And at present only Drug therapy and rehabilitation instrument targetedly, Drug therapy often all can only be to alleviate less patient suffering, can't make patients ' recovery; And the use of rehabilitation instrument often all needs looking after and instructing of medical personnel, and these all need expensive medical expense.Much human is therefore abandoning cure all, causes amyotrophy, limbs stiff, and part loses or all loses the ability of walking about, and becomes family burden, has had a strong impact on household's life.Also have choose oneself to carry out rehabilitation training, the result is often because of the improper effect that does not reach the treatment that returns to one's perfect health of training burden control.
Summary of the invention
To the problems referred to above; Main purpose of the present invention is to provide a kind of and correctly accomplishes various rehabilitations alone in order to help the injured or disabled patient of lower limb to be in; Save expensive medical expense; Not needing household's the moment to look after, is not family burden, more can reach the full-automatic lower limb rehabilitation therapeutic equipments of best therapeutic effect.
The present invention solves above-mentioned technical problem through following technical proposals: a kind of full-automatic lower limb rehabilitation therapeutic equipments; Said rehabilitation instrument comprises motor, gear drive, mechanical arm, bracing frame, knee joint fixator, single-chip microcomputer, guide-bar mechanism, leg joint holder and trim; Described mechanical arm is divided into the mechanical arm of the right and left; Said motor links to each other through shaft coupling with gear drive, and motor is fixed through four bolts and retractable supports frame, and mechanical arm, leg joint holder and trim three adopt loose bolt to be connected; The trim border has groove; And said groove and mechanical arm leave the space that necessarily can make the normal swing of mechanical arm, and the single-chip microcomputer of controlling whole therapeutic equipments is installed in the inside of whole therapeutic equipments
In specific embodiment of the present invention, support frame as described above is the retracted support frame.
In specific embodiment of the present invention, said retracted support frame is divided into epimere and hypomere, and hypomere is the fixed foraminous support of being with, and epimere is the bar with foraminous column type that removably connects with hypomere.
A kind of method of using above-mentioned full-automatic lower limb rehabilitation therapeutic equipments, said method comprises the steps:
(1), will need rehabilitation patient's knee joint to be placed on the knee joint fixator, will need rehabilitation patient's lower limb to be fixed on the leg joint holder then;
(2), plug total plug, press the standby button on the bracing frame again, regulate the pivot angle and the treatment time of rotating speed of motor, mechanical arm through the remote control unit of therapeutic equipments, come joint angles, velocity of rotation and the time of strict Control Training;
(3), open the switch of remote control unit, carry out rehabilitation, arrived the treatment time of setting after, motor can stop operating automatically; Anything is arranged during this time, can motor shut down by scram button on the bracing frame;
(4), pull out power supply, treatment end.
In specific embodiment of the present invention, the concrete implementation method of above-mentioned steps (2) is following:
Energized, patient according to practicalness and the physical recovery situation of self, selects different training strength through the keyboard on the remote control unit, and the button on the keyboard comprises the selection of treatment time; The selection of treatment intensity; The selection of swing speed; The setting of different mode can be according to the general patient's of actual survey rehabilitation intensity; Like the amplitude of fluctuation of the different limbs that the recovery stage allowed and speed etc.; Set rotating speed and the pivot angle that tallies with the actual situation accordingly through single-chip microcomputer, wherein, the rotation number of turns that the pivot angle of mechanical arm is set motor through single-chip microcomputer realizes.
In specific embodiment of the present invention, the selection of treatment time is set to ladder at each quarter, and treatment intensity is the pivot angle of corresponding mechanical arm, and the selection of treatment intensity is set to four kinds of patterns: a horizontal plane is a benchmark, downward 30 degree, 45 degree, 60 degree, 90 degree; Swing speed is corresponding rotating speed of motor, and the selection of swing speed can be provided with three kinds of pattern: dead slow speed 1rad/s, middling speed 1.5rad/s, quick 2rad/s equally.
Positive progressive effect of the present invention is: full-automatic lower limb rehabilitation therapeutic equipments provided by the invention has the following advantages:
1, full-automatic lower limb rehabilitation equipment is equivalent to the one family doctor, can help patient just can receive scientific and reasonable rehabilitation at home, and is easy to operate simple.
2, development and Design the remote control unit of therapeutic equipments (gauge tap, rotating speed, corner, time), joint angles, velocity of rotation and time that can strict Control Training.
3, the structure and the drive system of instrument have been carried out comprehensive design, the retracted support frame can satisfy different patients' demand.Equipped motor on the machine, can change the output of motor, thereby regulated the frequency of swing through design to SCM program; Simultaneously, can be through changing the rotational angle of mechanical arm, the amplitude of regulating swing finally realizes the operation of automatization's science of rehabilitation instrument.
4, having designed an emergency stop device can avoid guaranteeing personnel's in use safety because of mechanical disorder causes injury of human.
Description of drawings
Fig. 1 is the explosive view of rehabilitation instrument provided by the invention.
Fig. 2 is the installation diagram of rehabilitation instrument provided by the invention.
Fig. 3 is the overall schematic after the assembling of rehabilitation instrument provided by the invention.
The specific embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to specify technical scheme of the present invention.
Fig. 1 is the explosive view of rehabilitation instrument provided by the invention, and Fig. 2 is the installation diagram of rehabilitation instrument provided by the invention, and Fig. 3 is the overall schematic after the assembling of rehabilitation instrument provided by the invention.Shown in Fig. 1-3; Bag of the present invention is drawn together: a kind of full-automatic lower limb rehabilitation therapeutic equipments; Said rehabilitation instrument comprises motor 1, gear drive 2, mechanical arm 3, bracing frame 4, knee joint fixator 5, single-chip microcomputer 6, guide-bar mechanism 7, leg joint holder 8 and trim 9, and described mechanical arm 3 is divided into the mechanical arm 31,32 of the right and left, and said motor 1 and gear drive 2 link to each other through shaft coupling; Motor is fixing through four bolts and retractable supports frame 41; Motor 1 just drives pinion rotation, and pinion and gear wheel external toothing are through gear drive; Pinion drives the gear wheel rotation on the one hand, also can reach the purpose of deceleration on the other hand.Gear wheel adopts interference fit to be connected with power transmission shaft 7 through general flat key.Gear wheel drives power transmission shaft and rotates.The end of axle and the welding of an end of guide-bar mechanism; The end of axle and guide-bar mechanism can not be relatively rotated; Power transmission shaft is converted into the swing of two mechanical arms with the rotation of self through guide-bar mechanism, thereby drives swinging up and down of shank, and mechanical arm 31,32 adopts loose bolt to be connected with leg joint holder 8 and trim; Guarantee the normal swing of mechanical arm, simultaneously fixing trim cover.Trim 9 borders have groove, and with mechanical arm one fixed gap are arranged, and leave the space that can make the normal swing of mechanical arm.Trim retracted support frame and various holder are used for fixing corresponding each position of postoperative patient and can be according to the height of patient's concrete condition adjustable support frame.Single-chip microcomputer can reasonable control postoperative patient movement time and exercise intensity.It is the most effective that patient is obtained, the treatment of science.
In specific embodiment of the present invention, support frame as described above 4 is the retracted support frame.
In specific embodiment of the present invention, said retracted support frame is divided into epimere 41 and hypomere 42, and hypomere 42 is the fixed foraminous support of being with, and epimere 41 is the bar with foraminous column type that removably connects with hypomere 42.
A kind of method of using above-mentioned full-automatic lower limb rehabilitation therapeutic equipments, said method comprises the steps:
(1), will need rehabilitation patient's knee joint to be placed on the knee joint fixator 5, will need rehabilitation patient's lower limb to be fixed on the leg joint holder 8 then;
(2), plug total plug, press the standby button on the bracing frame 42 again, regulate the pivot angle and the treatment time of rotating speed of motor, mechanical arm through the remote control unit of therapeutic equipments, come joint angles, velocity of rotation and the time of strict Control Training.
(3), open the switch of remote control unit, carry out rehabilitation, arrived the treatment time of setting after, motor (1) can stop operating automatically; Anything is arranged during this time, can motor shut down by scram button on the bracing frame 42;
(4), pull out power supply, treatment end.
In specific embodiment of the present invention, the concrete implementation method of above-mentioned steps (2) is following:
Energized, patient according to practicalness and the physical recovery situation of self, selects different training strength through the keyboard on the remote control unit.Button on the keyboard comprises the selection (can be set to ladder at each quarter) of treatment time; The selection of treatment intensity (pivot angle of corresponding mechanical arm) (can be set to four kinds of patterns: a horizontal plane is a benchmark, downward 30 degree, 45 degree, 60 degree, 90 degree); The selection of swing speed (corresponding rotating speed of motor) (three kinds of pattern: dead slow speed 1rad/s, middling speed 1.5rad/s, quick 2rad/s can be set equally).The setting of different mode can be according to the general patient's of actual survey rehabilitation intensity, like the amplitude of fluctuation of the different limbs that the recovery stage allowed and speed etc., sets rotating speed and the pivot angle that tallies with the actual situation accordingly through single-chip microcomputer.Wherein, the pivot angle of mechanical arm is realized through the rotation number of turns of single-chip microcomputer setting motor.
Wherein motor 1 is used to provide power; Drive the running of gear wheel; Gear wheel driven gear axle moves in a circle it, and the end welding of the end of gear shaft and guide-bar mechanism is changeed the swing that is converted into two mechanical arms through guide-bar mechanism with the circumference rotation of axle; Thereby drive swinging up and down of shank, retracted support frame and various holder are used for fixing corresponding each position of postoperative patient and can be according to the height of patient's concrete condition adjustable support frame.Single-chip microcomputer can reasonable control postoperative patient movement time and exercise intensity.It is the most effective that patient is obtained, the treatment of science.
Realize that step of the present invention is following:
1, sets up the lower limb model of human body, do early-stage preparations for various apparatuses are installed later on.
2, carry out Dynamics Simulation Analysis with Adams software.Adams is the application software that virtual prototype is analyzed on the one hand, can use this software easily the virtual machine system to be carried out statics, kinesiology and dynamic analysis.On the other hand, be again that virtual prototype is analyzed developing instrument, program structure that it is open and multiple interfaces can become the secondary development tool platform that the specific type virtual prototype is analyzed.
3, lower limb each several part utilization finite element Ansys is carried out force analysis, and combine human body actual, confirm which kind of degree of stimulation which position receives and make rehabilitation efficacy best.
4, the various required apparatuses of development and Design, motor, gear drive, two mechanical arms, retracted support frame, thigh, shank and knee joint fixator, members such as single-chip microcomputer.
5, the result of utilization the 3rd step analysis; On apparatus, equip motor, gear drive, two mechanical arms, retracted support frame, thigh, shank and knee joint fixator, members such as single-chip microcomputer carry out the practical operation test; And finished product is carried out perfect, to achieve function separately.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description and the description just explains principle of the present invention, and under the prerequisite that does not break away from spirit and scope of the invention, the present invention also has various changes and modifications; These variations and improvement all fall in the scope of the invention that requires protection, and the present invention requires protection domain to be defined by appending claims and equivalent thereof.

Claims (6)

1.一种全自动下肢康复治疗仪器，其特征在于：所述康复治疗仪器包括电机（1）、齿轮传动装置（2）、机械臂（3）、支撑架（4）、膝关节固定器（5）、单片机（6）、导杆机构（7）、腿关节固定器（8）和装饰盖（9），所述的机械臂（3）分为左右两边的机械臂（31）、（32），所述电机（1）和齿轮传动装置（2）通过联轴器相连，电机通过四个螺栓与可伸缩支撑架（41）固定，机械臂（31）、（32）、腿关节固定器（8）和装饰盖（9）三者采用松螺栓连接，装饰盖（9）边界开有凹槽，且所述凹槽和机械臂留有一定可使机械臂正常摆动的空隙，控制整个治疗仪器的单片机（6）安装在整个治疗仪器的内部。 1. A fully automatic lower limb rehabilitation treatment instrument, characterized in that: the rehabilitation treatment instrument includes a motor (1), a gear transmission (2), a mechanical arm (3), a support frame (4), a knee joint fixator ( 5), a single-chip microcomputer (6), a guide rod mechanism (7), a leg joint fixer (8) and a decorative cover (9), and the mechanical arm (3) is divided into left and right mechanical arms ( 31 ), ( 32 ), the motor (1) and the gear transmission (2) are connected through a coupling, the motor is fixed with the telescopic support frame (41) by four bolts, the mechanical arm (31), (32), leg joint fixer (8) and the decorative cover (9) are connected by loose bolts, the border of the decorative cover (9) has a groove, and there is a certain gap between the groove and the mechanical arm, which can make the mechanical arm swing normally, and control the whole treatment. The single-chip microcomputer (6) of the instrument is installed inside the whole treatment instrument. 2.根据权利要求1所述的全自动下肢康复治疗仪器，其特征在于：所述支撑架（4）为可伸缩的支撑架。 2. The fully automatic lower limb rehabilitation treatment apparatus according to claim 1, characterized in that: the support frame (4) is a telescopic support frame. 3.根据权利要求2所述的全自动下肢康复治疗仪器，其特征在于：所述可伸缩的支撑架分为上段（41）和下段（42），下段（42）为固定的带有孔的支架，上段（41）为与下段（42）可拆卸连接的带有孔的圆柱型的杆。 3. The fully automatic lower limb rehabilitation treatment instrument according to claim 2, characterized in that: the telescopic support frame is divided into an upper section (41) and a lower section (42), and the lower section (42) is a fixed one with holes For the bracket, the upper section (41) is a cylindrical rod with holes detachably connected to the lower section (42). 4.一种使用权利要求1-3所述的全自动下肢康复治疗仪器的方法，其特征在于：所述方法包括如下步骤： 4. A method of using the full-automatic lower limb rehabilitation treatment apparatus according to claim 1-3, characterized in that: said method comprises the steps of: （1）、将需要康复病人的膝关节放在膝关节固定器（5）上，然后将需要康复病人的腿固定在腿关节固定器（8）上； (1) Put the knee joint of the patient who needs rehabilitation on the knee joint immobilizer (5), and then fix the leg of the patient who needs rehabilitation on the leg joint immobilizer (8); （2）、插上总插头，再按下支撑架（42）上的待机按钮，通过治疗仪器的遥控装置来调节好电机的转速、机械臂的摆角、以及治疗时间，来严格控制训练的关节角度、转动速度及时间； (2), plug in the main plug, and then press the standby button on the support frame (42), adjust the motor speed, the swing angle of the mechanical arm, and the treatment time through the remote control device of the treatment instrument to strictly control the training time Joint angle, rotation speed and time; （3）、打开遥控装置的开关，进行康复治疗，到了设定的治疗时间后，电 机（1）会自动停止转动；期间有任何事情，可以按支撑架（42）上急停按钮随时使电机停止运转； (3) Turn on the switch of the remote control device to carry out rehabilitation treatment. After the set treatment time, the motor (1) will automatically stop rotating; if there is anything during the period, you can press the emergency stop button on the support frame (42) to use it at any time. The motor stops running; （4）、拔掉电源，治疗结束。 (4), unplug the power, the treatment is over. 5.根据权利要求4所述的所述的全自动下肢康复治疗仪器的方法，其特征在于：步骤（2）的具体实现方法如下： 5. The method of the fully automatic lower limb rehabilitation treatment instrument according to claim 4, characterized in that: the specific implementation method of step (2) is as follows: 接通电源，病人通过遥控装置上的键盘，根据自身的实际精神与身体恢复状况，选择不同的训练强度，键盘上的按键包括治疗时间的选择；治疗强度的选择；摆动速度的选择，不同模式的设定可以根据实际调查一般病人的复健强度，如不同的恢复阶段所允许的肢体的摆动幅度与速度等，通过单片机设定相应的符合实际情况的转速与摆角，其中，机械臂的摆角通过单片机设定电机的转动圈数来实现。 When the power is turned on, the patient selects different training intensities according to their actual mental and physical recovery conditions through the keyboard on the remote control device. The keys on the keyboard include the selection of treatment time; the selection of treatment intensity; the selection of swing speed, different modes The setting can be based on the actual investigation of the rehabilitation intensity of general patients, such as the swing amplitude and speed of the limbs allowed in different recovery stages, etc., and the corresponding rotation speed and swing angle in line with the actual situation can be set through the single-chip microcomputer. Among them, the mechanical arm The swing angle is realized by setting the number of rotations of the motor by the single-chip microcomputer. 6.根据权利要求4所述的所述的全自动下肢康复治疗仪器的方法，其特征在于：治疗时间的选择设置为每一刻钟一个阶梯，治疗强度为对应机械臂的摆角，治疗强度的选择设置为四种模式：一水平面为基准，向下30度，45度，60度，90度；摆动速度为对应电机的转速，摆动速度的选择同样设置三种模式：微速1rad/s、中速1.5rad/s、快速2rad/s。  6. The method of the fully automatic lower limb rehabilitation treatment apparatus according to claim 4, characterized in that: the selection of the treatment time is set to a step every quarter of an hour, the treatment intensity is the swing angle of the corresponding mechanical arm, and the treatment intensity Choose to set four modes: a horizontal plane as the reference, downward 30 degrees, 45 degrees, 60 degrees, 90 degrees; the swing speed is the speed of the corresponding motor, and the choice of swing speed is also set in three modes: micro speed 1rad/s, medium speed Fast 1.5rad/s, fast 2rad/s. the
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