CN103315876B - Pelvis mechanism for gait rehabilitation training - Google Patents

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 pelvic mechanism for gait rehabilitation training

technical field

The invention relates to the field of rehabilitation medical equipment, in particular to a pelvic mechanism which can be used for gait rehabilitation training.

Background technique

In recent years, the aging of the population has intensified, various unhealthy lifestyles, traffic accidents, and work-related injuries have continued to increase. Patients with walking dysfunction caused by stroke, spinal injury, or accidents have become a common group in modern society. In addition to the use of drugs and surgery for such patients, they mainly rely on physical therapy, that is, rehabilitation training.

The pelvis of the human body is connected with the lumbar spine, and the hip joint is formed with the femur at the bottom. It is a bridge between the spine and the lower limbs. One ring moves, and the hip joint is used as the axis to move relative to the lower limbs. The pelvis of a normal human body has six degrees of freedom, which are the three rotational degrees of freedom of torsion, pitch and roll at the hip joint, and the three degrees of freedom of movement of the pelvis in the left, right, front and rear, and up and down directions during walking. Studies have shown that the pelvis plays an important role in balancing the human body in various daily activities such as walking, dressing, bathing, and exercising. When the pelvis produces abnormal motion trajectories, it will directly affect the movement characteristics of the gait. According to the principle of neural facilitation technology, strengthening the pelvic control ability can promote the motor function of the lower limbs, and pelvic training can improve the balance ability on both sides of the body and speed up the recovery efficiency of hemiplegic patients. Most of the existing lower limb rehabilitation robots do not have a pelvic mechanism. Patients are greatly restrained during the training process and cannot move their bodies freely. The importance of balance training for the rehabilitation of hemiplegic patients is ignored, which affects the rehabilitation process.

Contents of the invention

The purpose of the present invention is to solve the shortcomings of the above-mentioned prior art, and provide a pelvic mechanism for gait rehabilitation training, which can reduce the restraint of the patient, enable the patient to move the pelvis freely, and satisfy the up and down, left and right, twisting, Five degrees of freedom, including roll and pitch, improve the comfort of the training process, train the balance ability while training the walking function of the lower limbs, and achieve better training effects.

In order to achieve the above object, the present invention adopts following technical scheme:

A pelvic mechanism for gait rehabilitation training, comprising a base, two rockers, a connection box, a cover plate, a swing piece, four extension shafts, two support plates and two support arms; It is characterized in that: the rocker is hinged with the connection box and the base, the cover plate is covered on the connection box, the swing member is located under the lower part of the connection box and is movably connected with the connection box, the swing member There are two adjustable extension shafts on each side, and the extension shafts are fixedly connected through a support plate and a support arm; the base is connected to the robot, and 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 to meet the torsion, roll and pitch movements of the pelvis.

The hinged structure of the rocker, the connection box and the base is: there is a hole at the top and bottom of the two ends of the rocker, and two deep groove ball bearings and a thrust ball are sequentially installed in each hole. Bearings, deep groove ball bearings will rotate with the fixed shaft on the base and connection box to reduce friction, and thrust ball bearings are used to bear the force in the vertical direction.

The structure of the movable connection between the oscillating member and the connection box is: the oscillating member is connected with the connection box through two joint bearings, the upper end of the joint bearing is fixed with the connection box through a joint bearing seat and a joint bearing sleeve, and the lower end is A locking bolt is connected with the swing member, and the joint bearing can rotate around the center in four directions to realize the torsion, roll and pitch movement of the pelvis. Two joint bearings arranged longitudinally side by side can increase the load-bearing capacity of the mechanism and limit the torsion and pitch movement The range will not be too large, so as not to cause injury to the patient; there is a gap between the swinging member and the connection box, and the range of rolling motion can be adjusted by adjusting the size of the gap.

The extension shaft is inserted into the holes on both sides of the swing member, the extension shaft is fixed to the support plate by bolts, the support arm is fixed on the support plate by bolts and clamped on both sides of the patient’s pelvis; the extension shaft can be stretched outwards, adjusted The distance between the two supporting arms connected to it is adapted to the body shapes of different patients. After the distance is adjusted, the extension shaft is fixed by bolts to prevent sliding.

Compared with the prior art, the present invention has the following obvious outstanding substantive features and significant technological progress:

The invention has simple structure and convenient use. When in use, the support arm is clamped on both sides of the patient's pelvis. During the patient's gait rehabilitation training, the pelvic mechanism can ensure the five degrees of freedom of the patient's pelvis, including up and down, left and right, twist, roll and pitch, so that the patient's pelvis Unrestrained, able to move freely, train the patient's balance function while training the walking function of the legs. At present, most of the existing lower limb rehabilitation robots do not have a pelvic mechanism, and the training process has a great constraint on the patient. The patient cannot move his body freely, and the balance function cannot be trained, which affects the rehabilitation efficiency.

Description of drawings

Figure 1 is a schematic diagram of the pelvic mechanism used for gait rehabilitation training.

Fig. 2 is an A-A sectional view of the pelvic mechanism.

Fig. 3 is a sectional view of the rocker.

Detailed ways

Typical embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

Embodiment one:

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

Embodiment two:

Referring to Figure 2 and Figure 3, this embodiment is basically the same as Embodiment 1, the special feature lies in the hinged structure of the rocker (2) with the connection box (3) and the base (1) Yes: there is a hole at both ends of the rocker (2), and each hole is sequentially equipped with two deep groove ball bearings (9) and a thrust ball bearing (10), and the deep groove ball bearing (9) It will rotate with the fixed rotating shaft 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.

The swinging member (5) is movably connected with the connection box (3) as follows: the swinging member (5) is connected to the connection box (3) through two joint bearings (11), and the upper end of the joint bearing (11) passes through A joint bearing seat (12) and a joint bearing sleeve (13) are fixed together with the connection box (3), and the lower end is connected with the swing member (5) through a locking bolt (14), and the joint bearing (11) can rotate around the center Turn around to realize the torsion, roll and pitch movement of the pelvis. Two joint bearings (11) arranged longitudinally side by side can increase the load-bearing capacity of the mechanism and limit the range of torsional and pitch movements from being too large, so as not to cause harm to the patient. Injury; there is a gap between the swinging member (5) and the connection box (3), and the range of rolling motion can be adjusted by adjusting the size of the gap.

The extension shaft (6) is inserted into the holes on both sides of the swing member (5), the extension shaft (6) is fixed to the support plate (7) by bolts, and the support arm (8) is fixed to the support plate (7) by bolts And clamped on both sides of the patient's pelvis; the extension shaft (6) can be stretched outward, and the distance between the two supporting arms (8) connected to it can be adjusted to suit the body shape of different patients. After the distance is adjusted, the bolt will The extension shaft (6) is fixed to prevent sliding.

Embodiment three:

This embodiment is basically the same as Embodiment 1 and Embodiment 2. The special feature is that during training, the therapist assists the patient to wear the safety belt fixed at the end of the support arm (8) on the hip, and the support arm (8) is clamped on the On both sides of the patient's pelvis, the patient performs various walking patterns such as flat ground, steps, ramps, and obstacles according to the rehabilitation needs. During the training process, the patient can move his body freely, and the pelvis needs to move up and down, left and right, and twist , roll and pitch three rotations, the structural design of the present invention can ensure that the degrees of freedom of movement of the patient's pelvis are not restricted, and the patient can train the balance ability while training the walking function of the legs, and ensure the safety of the patient. recovery process.

Embodiment four:

This embodiment is basically the same as Embodiment 1, Embodiment 2, and Embodiment 3. The special feature is that a control system can be installed in the connection box (3), and the range of motion, angle and strength of each degree of freedom can be controlled by the control system. Exercise parameters, assist patients in rehabilitation training, adjust exercise parameters according to different training periods of patients, so that patients can perform active, assisted, passive and other training modes of different intensities; measure the patient's exercise intensity, range and other related parameters through sensors to understand patients in real time According to the rehabilitation status of the patient, the therapist can flexibly change the training program according to the data measured by the sensor, which is more conducive to the rehabilitation of the patient.

Because the invention has less restraint on the patient, the patient's pelvis can perform movements such as up and down, left and right, twisting, rolling and pitching, so as to maintain the patient's maximum comfort, train the balance ability while training the walking function of the lower limbs, and accelerate the process of rehabilitation .

The above is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural transformations made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technical fields, are all the same. The theory is included in the patent protection scope of the present invention. the

Claims (4)

1., for a pelvis mechanism for gait rehabilitation training, comprise a pedestal (1), two rocking bars (2), a connecting box (3), one piece of cover plate (4), a swing component (5), four outrigger shafts (6), two pieces of 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 of two position-adjustables (6), this outrigger shaft (6) to be fixedly connected with a support arm (8) by one piece of gripper shoe (7); Pedestal (1) is connected with robot, and can move up and down along the column of robot, what realize pelvis place moves up and down the free degree; Connecting box (3) can be rocked from side to side around pedestal (1) by rocking bar (2), moves left and right the free degree with what realize patient's pelvis place; Swing component (5) can rotate around connecting box (3) with the torsion meeting pelvis, inclination and elevating movement.

2. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that the structure that described rocking bar (2) and described connecting box (3) and described pedestal (1) are hinged is: the two ends of described rocking bar (2) respectively have a hole up and down, two deep groove ball bearings (9) and a thrust ball bearing (10) are housed in each hole successively, deep groove ball bearing (9) coordinates with pedestal (1) and the upper fixing axis of rotation of connecting box (3), reduce friction, thrust ball bearing (10) is for bearing the power of vertical direction.

3. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that the structure that described swing component (5) and connecting box (3) are flexibly connected is: described swing component (5) is connected with connecting box (3) by two oscillating bearings (11), together with the upper end of oscillating bearing (11) is fixed on connecting box (3) by a joint bearing block (12) and a joint shaft bearing sleeve (13), lower end is connected with swing component (5) by a clamping screw (14), oscillating bearing (11) can rotate around four sides, center, realize the torsion of pelvis, roll and elevating movement, adopt the oscillating bearing (11) that two longitudinal directions are arranged side by side, the bearing capacity of mechanism can be increased and the scope of restriction torsion and elevating movement, in order to avoid damage patient, there is gap between swing component (5) and connecting box (3), the scope of roll motion can be regulated by the size of adjusting play.

4. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that: described outrigger shaft (6) is inserted in the hole of swing component (5) both sides, outrigger shaft (6) is fixed by bolt and gripper shoe (7), and support arm (8) is bolted on gripper shoe (7) and goes up and be clamped in patient's pelvic on both sides; Outrigger shaft (6) can stretch out, the distance between two support arms (8) that adjustment is attached thereto, and to adapt to the build of different patient, by bolt, outrigger shaft (6) is fixed anti-sliding stop after adjustment distance.