CN103315876A

CN103315876A - Pelvis mechanism for gait rehabilitation training

Info

Publication number: CN103315876A
Application number: CN2013102371586A
Authority: CN
Inventors: 郭帅; 谢春生; 程泓井; 马光伟
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 2013-06-17
Filing date: 2013-06-17
Publication date: 2013-09-25
Anticipated expiration: 2033-06-17
Also published as: CN103315876B

Abstract

The invention discloses a pelvic mechanism that can be used for gait rehabilitation training. The mechanism consists of a base, a rocker, a connection box, a cover plate, a swing piece, an extension shaft, a support plate, and a support arm; the base can move up and down along the upright of the robot to realize the freedom of moving up and down at the pelvis; The connection box can swing left and right around the base through the rocker to realize the left and right movement freedom of the patient's pelvis; the swing member can rotate around the connection box through two joint ball bearings to meet the torsion, roll and pitch movements of the pelvis. The invention can effectively reduce the restraint of the patient, enable the patient to freely move the pelvis, improve the comfort of the training process, train the balance ability while training the walking function of the lower limbs, and achieve better training effect.

Description

A kind of pelvis mechanism for the gait rehabilitation training

Technical field

The present invention relates to the rehabilitation medical instrument field, particularly relate to a kind of pelvis mechanism that can be used for the gait rehabilitation training.

Background technology

In recent years, aged tendency of population aggravation, various unsound life style and vehicle accident, industrial injury etc. constantly increase, and the patient of the walking function obstacle that is caused by apoplexy, spinal injury or contingency etc. has become the common colony of modern society.Except adopting medicine and operative treatment, what mainly rely on is naturopathy, namely carries out rehabilitation training to this class patient.

Link to each other with lumbar vertebra on the pelvis of human body, lower and femur consists of hip joint, it is the bridge between spinal column and the lower limb, the weight of health is delivered to lower limb by pelvis, the vibrations of lower limb also are uploaded to spinal column by pelvis, therefore, it both encircled as one of spinal column and moved, and did with respect to lower extremity movement take hip joint as axle again.Normal human's pelvic area has six-freedom degree, be respectively the reversing of hip joint place, pitching and three rotational freedoms of inclination and walking process midpelvis about, front and back and the one-movement-freedom-degree of three directions up and down.Studies show that, play important balanced action in the various daily routines such as pelvis is walked at human body, wears the clothes, had a bath, motion, when pelvis produces improper movement locus, will directly have influence on the motion feature of gait.According to the neural facilitation know-why, strengthen the motor function that the pelvis control ability can promote lower limb, the training of pelvis can improve the balanced capacity of health both sides, accelerates hemiplegic patient's rehabilitation efficient.Existing lower limb rehabilitation robot majority does not have pelvis mechanism, and the patient is subject to very large constraint in training process, and the health of freely activity oneself has been ignored the importance of balance training to hemiplegia patient, has affected the rehabilitation process.

Summary of the invention

The object of the invention is to solve the deficiency that above-mentioned prior art exists, a kind of pelvis mechanism for the gait rehabilitation training is provided, can reduce the constraint to the patient, make the patient can the freely-movable pelvis, satisfy pelvis about, about, reverse, five degree of freedom such as inclination and pitching, improve the comfort level of training process, balance training ability in training lower limb walking function reaches better training effect.

For achieving the above object, the present invention has adopted following technical proposals:

A kind of pelvis mechanism for the gait rehabilitation training comprises a pedestal, two rocking bars, a connecting box, a cover plate, a swing component, four outrigger shafts, two gripper shoes and two support arms; It is characterized in that: described rocking bar and described connecting box and described pedestal are hinged, described cover plate covers on connecting box, described swing component is positioned at the below of connecting box bottom and is flexibly connected with connecting box, and the both sides of swing component respectively have the outrigger shaft of two position-adjustables, this outrigger shaft to be fixedly connected with a support arm by a gripper shoe; Pedestal is connected with robot, can move up and down along the column of robot, realizes the degree of freedom that moves up and down at pelvis place; Connecting box can rock from side to side around pedestal by rocking bar, to realize the move left and right degree of freedom at patient's pelvis place; Swing component can rotate to satisfy the reversing of pelvis, inclination and elevating movement around connecting box.

The structure that described rocking bar and described connecting box and described pedestal are hinged is: respectively there is up and down a hole at the two ends of described rocking bar, two deep groove ball bearings and a thrust ball bearing are housed in each hole successively, deep groove ball bearing will be rotatably assorted with fixing rotating shaft on pedestal and the connecting box, reduce friction, thrust ball bearing is used for bearing the power of vertical direction.

Described swing component with the structure that connecting box is flexibly connected is: described swing component links to each other with connecting box by two oscillating bearings, the upper end of oscillating bearing is fixed in connecting box by a joint bearing block and a joint shaft bearing sleeve, the lower end links to each other with swing component by a clamping screw, oscillating bearing can rotate on four sides around the center, realize the reversing of pelvis, inclination and elevating movement, adopt two oscillating bearings that vertically are arranged side by side, can increase mechanism bearing capacity and the restriction reverse with the scope of elevating movement not too large, in order to avoid the patient is damaged; Scope gapped between swing component and the connecting box, can regulate roll motion by the size of adjusting play.

Described outrigger shaft is inserted in the hole of swing component both sides, and outrigger shaft is fixed by bolt and gripper shoe, and support arm is bolted on the gripper shoe and is clamped in patient's pelvic on both sides; Outrigger shaft can outwards stretch, and regulates the distance between two support arms being attached thereto, to adapt to different patients' build, adjust distance afterwards by bolt with the fixing anti-skidding of outrigger shaft.

The present invention is compared with existing technology, has following apparent outstanding substantive distinguishing features and significant technological progress:

The present invention is simple in structure, and is easy to use.During use, support arm is held on patient's pelvic on both sides, about the process midpelvis mechanism that the patient carries out gait rehabilitation training can guarantee patient's pelvis, about, reverse, five degree of freedom such as inclination and pitching, patient's pelvic area is not carried the baby, can freely-movable, training patient's equilibrium function in training shank walking function.And present existing lower limb rehabilitation robot majority does not have pelvis mechanism, and training process is larger to patient's constraint, and the patient is the health of activity oneself freely, and equilibrium function can not get training, affects rehabilitation efficient.

Description of drawings

Fig. 1 is the schematic diagram for the pelvis mechanism of gait rehabilitation training.

Fig. 2 is that the A-A of pelvis mechanism is to cutaway view.

Fig. 3 is the rocking bar cutaway view.

The specific embodiment

Describe exemplary embodiments of the present invention in detail below in conjunction with accompanying drawing and preferred embodiment.

Embodiment one:

Referring to accompanying drawing 1, a kind of pelvis mechanism for the gait rehabilitation training comprises a pedestal (1), two rocking bars (2), a connecting box (3), a cover plate (4), a swing component (5), four outrigger shafts (6), two gripper shoes (7) and two support arms (8); It is characterized in that: described rocking bar (2) is hinged with described connecting box (3) and described pedestal (1), described cover plate (4) covers on connecting box (3), described swing component (5) is positioned at the below of connecting box (3) bottom and is flexibly connected with connecting box (3), and the both sides of swing component (5) respectively have the outrigger shaft (6) of two position-adjustables, this outrigger shaft (6) to be fixedly connected with a support arm (8) by a gripper shoe (7); Pedestal (1) is connected with robot, can move up and down along the column of robot, realizes the degree of freedom that moves up and down at pelvis place; Connecting box (3) can rock from side to side around pedestal (1) by rocking bar (2), to realize the move left and right degree of freedom at patient's pelvis place; Swing component (5) can rotate to satisfy the reversing of pelvis, inclination and elevating movement around connecting box (3).

Embodiment two:

Referring to accompanying drawing 2 and accompanying drawing 3, the present embodiment and embodiment one are basic identical, special feature is that described rocking bar (2) and the structure that described connecting box (3) and described pedestal (1) are hinged are: respectively there is up and down a hole at the two ends of described rocking bar (2), two deep groove ball bearings (9) and a thrust ball bearing (10) are housed in each hole successively, deep groove ball bearing (9) will be rotatably assorted with pedestal (1) and the upper fixing rotating shaft of connecting box (3), reduce friction, thrust ball bearing (10) is used for bearing the power of vertical direction.

Described swing component (5) with the structure that connecting box (3) is flexibly connected is: described swing component (5) links to each other with connecting box (3) by two oscillating bearings (11), the upper end of oscillating bearing (11) is fixed in connecting box (3) by a joint bearing block (12) and a joint shaft bearing sleeve (13), the lower end links to each other with swing component (5) by a clamping screw (14), oscillating bearing (11) can rotate on four sides around the center, realize reversing of pelvis, roll and elevating movement, adopt two oscillating bearings that vertically are arranged side by side (11), can increase mechanism bearing capacity and the restriction reverse with the scope of elevating movement not too large, in order to avoid the patient is damaged; Gapped between swing component (5) and the connecting box (3), the scope that can regulate roll motion by the size of adjusting play.

Described outrigger shaft (6) is inserted in the hole of swing component (5) both sides, and outrigger shaft (6) is fixing by bolt and gripper shoe (7), and support arm (8) is bolted on gripper shoe (7) upward and is clamped in patient's pelvic on both sides; Outrigger shaft (6) can outwards stretch, and regulates the distance between two support arms (8) be attached thereto, to adapt to different patients' build, adjust distance afterwards by bolt with the fixing anti-skidding of outrigger shaft (6).

Embodiment three:

The present embodiment and embodiment one, embodiment two is basic identical, special feature is: during training, the auxiliary patient of therapist will be fixed in the terminal seat belt of support arm (8) and be worn on buttocks, support arm (8) is held on patient's pelvic on both sides, the patient carries out the level land according to the rehabilitation needs, step, the ramp, the various Walking Mode training such as obstacle, in training process, the patient is the health of activity oneself freely, the pelvis place need to carry out up and down and move left and right and reversing, roll and three rotations of pitching, structural design of the present invention can guarantee that each freedom of motion of patient's pelvis is unrestricted, the patient has carried out the training of balanced capacity in training shank walking function, and assurance patient's safety, accelerate the course of convalescence.

Embodiment four:

The present embodiment and embodiment one, embodiment two, embodiment three are basic identical, special feature is: the control system of can packing in connecting box (3), control the kinematic parameters such as range of movement, angle and intensity of each degree of freedom by control system, auxiliary patient carries out rehabilitation training, adjust kinematic parameter according to the different t raining period of patient, make the patient carry out the training mode of active, power-assist, the varying strength such as passive; By relevant parameters such as sensor measurement patient moving intensity, scopes, understand in real time patient's rehabilitation situation, the therapist can change flexibly according to the data that sensor records training program, more helps patient's rehabilitation.

Because the present invention is less to patient's constraint, about patient's pelvis can carry out, about, reverse, the motions such as inclination and pitching, keep the comfort level of patient's maximum, balance training ability in training lower limb walking function accelerates the course of convalescence.

The above only is the preferred embodiments of the present invention; be not so limit claim of the present invention; every equivalent structure transformation that utilizes description of the present invention and accompanying drawing content to do; or directly or indirectly be used in other correlative technology fields, all in like manner be included in the scope of patent protection of the present invention.

Claims

1. A pelvic mechanism for gait rehabilitation training, including a base (1), two rockers (2), a connection box (3), a cover plate (4), and a swing member (5) , four extension shafts (6), two support plates (7) and two support arms (8); characterized in that: the rocker (2) and the connection box (3) and the base ( 1) Hinged, the cover plate (4) is covered on the connection box (3), the swing piece (5) is located under the lower part of the connection box (3) and is movably connected with the connection box (3), the swing piece ( There are two adjustable extension shafts (6) on both sides of 5), and the extension shafts (6) are fixedly connected by a support plate (7) and a support arm (8); the base (1) is connected with the robot , can move up and down along the upright of the robot to realize the degree of freedom of up and down movement of the pelvis; the connection box (3) can swing left and right around the base (1) through the rocker (2) to realize the degree of freedom of left and right movement of the patient's pelvis; The swinging member (5) can rotate around the connection box (3) to meet the torsion, roll and pitch movements of the pelvis.

2. The pelvic mechanism for gait rehabilitation training according to claim 1, characterized in that the hinged structure of the rocker (2) with the connection box (3) and the base (1) is : There is a hole at both ends of the rocker (2), each hole is equipped with two deep groove ball bearings (9) and a thrust ball bearing (10), and the deep groove ball bearings (9) will Cooperate with the rotating shaft fixed on the base (1) and the connection box (3) to reduce friction, and the thrust ball bearing (10) is used to bear the force in the vertical direction.

3. The pelvic mechanism for gait rehabilitation training according to claim 1, characterized in that the structure in which the swing member (5) is movably connected to the connection box (3) is: the swing member (5) passes through two A joint bearing (11) is connected with the connection box (3), the upper end of the joint bearing (11) is fixed with the connection box (3) through a joint bearing seat (12) and a joint bearing sleeve (13), and the lower end is fixed with the connection box (3) through a The locking bolt (14) is connected with the swing member (5), and the joint bearing (11) can rotate around the center in four directions to realize the torsion, roll and pitch movements of the pelvis. Two joint bearings (11) arranged longitudinally side by side can be used to Increase the bearing capacity of the mechanism and limit the range of torsional and pitching motions so as not to cause injury to the patient; there is a gap between the swinging member (5) and the connection box (3), and the roll motion can be adjusted by adjusting the size of the gap range.

4. The pelvic mechanism for gait rehabilitation training according to claim 1, characterized in that: the extension shaft (6) is inserted into the holes on both sides of the swing member (5), and the extension shaft (6) passes through the bolt Fixed with the support plate (7), the support arm (8) is fixed on the support plate (7) by bolts and clamped on both sides of the patient’s pelvis; the extension shaft (6) can be stretched outward to adjust the two The distance between the support arms (8) is adapted to the body shapes of different patients. After the distance is adjusted, the extension shaft (6) is fixed by bolts to prevent sliding.