CN106691775A - Novel rehabilitation training seat - Google Patents
Novel rehabilitation training seat Download PDFInfo
- Publication number
- CN106691775A CN106691775A CN201611136229.3A CN201611136229A CN106691775A CN 106691775 A CN106691775 A CN 106691775A CN 201611136229 A CN201611136229 A CN 201611136229A CN 106691775 A CN106691775 A CN 106691775A
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- Prior art keywords
- knee joint
- seat
- motion
- cushion support
- thigh
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- 230000033001 locomotion Effects 0.000 claims abstract description 74
- 210000000629 knee joint Anatomy 0.000 claims abstract description 70
- 230000007246 mechanism Effects 0.000 claims abstract description 69
- 210000004394 hip joint Anatomy 0.000 claims abstract description 47
- 230000009471 action Effects 0.000 claims abstract description 6
- 210000000689 upper leg Anatomy 0.000 claims description 45
- 210000003127 knee Anatomy 0.000 claims description 25
- 244000309466 calf Species 0.000 claims description 12
- 230000001360 synchronised effect Effects 0.000 claims description 9
- 210000001699 lower leg Anatomy 0.000 claims description 6
- 210000002414 leg Anatomy 0.000 claims description 5
- 235000004443 Ricinus communis Nutrition 0.000 claims description 4
- 210000003423 ankle Anatomy 0.000 claims description 3
- 239000004744 fabric Substances 0.000 claims description 3
- 210000001624 hip Anatomy 0.000 claims description 3
- 230000010534 mechanism of action Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 abstract description 4
- 230000036544 posture Effects 0.000 abstract description 3
- 210000003141 lower extremity Anatomy 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000035876 healing Effects 0.000 description 4
- 238000011084 recovery Methods 0.000 description 4
- 230000008450 motivation Effects 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 208000012661 Dyskinesia Diseases 0.000 description 1
- 208000035286 Spontaneous Remission Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000035475 disorder Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000001771 impaired effect Effects 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/024—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0218—Drawing-out devices
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0244—Hip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0119—Support for the device
- A61H2201/0138—Support for the device incorporated in furniture
- A61H2201/0149—Seat or chair
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
- A61H2201/1642—Holding means therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/08—Trunk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/102—Knee
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
- A61H2205/106—Leg for the lower legs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2205/00—Devices for specific parts of the body
- A61H2205/12—Feet
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a novel rehabilitation training seat which comprises a U-shaped seat cushion support and a controller. A lumbar vertebra movement device is arranged at the rear end of the seat cushion support, a left knee joint movement device and a right knee joint movement device are symmetrically arranged at the front end of the seat cushion support, and a left hip joint movement device and a right hip joint movement device are symmetrically arranged on the left side and the right side of the seat cushion support; a movement platform device with three degrees of freedom is arranged below the seat cushion support, and the integral seat can be driven by the movement platform device to move on horizontal planes; the controller is used for coordinating actions of the lumbar vertebra movement device, the left knee joint movement device, the right knee joint movement device, the left hip joint movement device, the right hip joint movement device and the movement platform device with the three degrees of freedom. The novel rehabilitation training seat has the advantages that the novel rehabilitation training seat is simple in structure, convenient to operate and moderate in cost and is combined with software, accordingly, coordinated movement can be carried out among various mechanisms, various walking postures of people under different conditions can be simulated, and rehabilitation training effects can be greatly improved.
Description
Technical field
The present invention relates to field of medical device, particularly a kind of seat for lower limb to be carried out with rehabilitation training.
Background technology
In China, the functional disorder for producing by factors such as contingency, disease and organism aging processes every year or the trouble of deformity
Person is increasing.Clinical practice proved, science rehabilitation training is carried out to lower extremity motor function impaired patients, can be compensated and be recovered
The function that limbs lose, further improves the self care ability of patient, improves its quality of life.However, in actual life,
Due to treatment technology, difficult point, doubtful point are more in itself, the misunderstanding that tradition is recognized rehabilitation in addition, often due to training method is improper,
And cause patient to aggravate and irreversible dyskinesia.Meanwhile, it is simple that some patients can only receive household at home
Rehabilitation training fully relies on spontaneous remission, and its effect is not satisfactory, or even misses the best opportunity of rehabilitation.
In recent years, healing robot starts gradually to substitute traditional with its automation, precision and intelligentized feature
Artificial physics are treated.Healing robot can be divided into two kinds of auxiliary type and therapeutic type, and therapeutic type lower limb rehabilitation robot can be drawn
It is divided into single-degree-of-freedom and multiple degrees of freedom lower limb rehabilitation robot；Wherein, single-degree-of-freedom lower limb rehabilitation training technology people motion is single,
Its range of application is only limitted to the rehabilitation in local joint, it is impossible to realize the coordinated movement of various economic factors in each joint of leg, and training effect is not good；It is many
Joint leg training technology people can help the patient to carry out diversified main passive exercise, and the situation according to patient determines individual character
The training mode of change.However, the rehabilitation equipment of domestic hospitals application is mostly single-degree-of-freedom recovery training appliance for recovery at present, for more certainly
Import overseas equipment is then relied primarily on by recovery training appliance for recovery, it is expensive.
The content of the invention
The technical problem to be solved in the invention is to provide a kind of moderate cost, the links of patient's lower limb can be entered
The multiple degrees of freedom rehabilitation training seat of row coordinated operation, to meet the rehabilitation training demand of vast lower limb patient.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
Novel rehabilitation trains seat, including for the U-shaped Chain cushion support for patient's sitting and lying, after Chain cushion support
End is provided with the lumbar vertebrae telecontrol equipment that lumbar vertebra rehabilitation training is carried out for patient, and being symmetrically arranged at the front end with for Chain cushion support supplies to suffer from
Person carries out the left motion of knee joint device and right motion of knee joint device of shank, knee joint and ankle rehabilitation training, and seat is sat
The left and right sides of pad support is symmetrically arranged with carries out thigh, the left hip joint telecontrol equipment of hip joint healing training and the right side for patient
Hip joint telecontrol equipment；The Three Degree Of Freedom fortune for driving whole seat to move in the horizontal plane is provided with below Chain cushion support
Moving platform device；The seat is also included for coordinating lumbar vertebrae telecontrol equipment, left motion of knee joint device, right motion of knee joint dress
Put, the controller of left hip joint telecontrol equipment, right hip joint telecontrol equipment and Three-degree-of-freedom motion platform device action.
Above-mentioned Novel rehabilitation trains seat, the left motion of knee joint device include pedal, calf motion with
And huckle motion, pedal is arranged on the bottom of calf motion, the top of calf motion and thigh
Connected by knee joint bearing between the front end of portion's motion, huckle motion passes through hip joint with Chain cushion support
Bearing is connected.
Above-mentioned Novel rehabilitation trains seat, the calf motion include foot-operated connecting plate, knee joint swing arm and
Knee joint swing arm driving mechanism, one end of the knee joint swing arm is connected with the output shaft of knee joint swing arm driving mechanism, and knee is closed
The other end and foot-operated connecting plate middle part for saving swing arm are hinged；The top of the foot-operated connecting plate is connected to greatly by knee joint bearing
The front end of leg exercise mechanism, the bottom of foot-operated connecting plate connects pedal by connection member.
Above-mentioned Novel rehabilitation training seat, the huckle motion includes knee brace expansion plate, is fixedly installed
Horizontal guide rail slide block assembly and positioning knee brace expansion plate and horizontal guide rail on U-shaped Chain cushion support flank are slided
The knee joint position adjustments night bolt of block assembly；The horizontal segment of the knee brace expansion plate and horizontal guide rail slide block assembly
Be slidably matched, the top of foot-operated connecting plate is connected on knee brace expansion plate by knee joint bearing, knee joint swing arm and
The hinged place of knee joint swing arm driving mechanism output shaft is arranged on the vertical section bottom of L-type knee brace expansion plate.
Above-mentioned Novel rehabilitation trains seat, and the knee joint swing arm driving mechanism is fixedly mounted on Chain cushion support bottom
The front end in face, knee joint swing arm driving mechanism top is provided with thigh concordant with Chain cushion support, for placing thigh
Backing plate, the outer end of thigh backing plate is fixed on knee brace expansion plate.
Above-mentioned Novel rehabilitation trains seat, and the left hip joint telecontrol equipment is including being plugged on Chain cushion support flank
Thigh side stand, regulation thigh and hip joint motion state thigh oscillating arm mechanisms and be arranged on Chain cushion support bottom
It is used for the hip joint drive mechanism for driving thigh oscillating arm mechanisms to act on face；The rear end of the thigh side stand passes through hip joint axle
Hold and be hinged with the rear end of Chain cushion support flank, upper end and the thigh side stand middle part of thigh oscillating arm mechanisms are hinged, thigh pendulum
The lower end of arm mechanism is connected with the output shaft of hip joint drive mechanism.
Above-mentioned Novel rehabilitation training seat, the lumbar vertebrae telecontrol equipment includes backrest, regulation backrest and Chain cushion support
Between angle backrest oscillating arm mechanisms and drive the lumbar vertebrae drive mechanism of backrest oscillating arm mechanisms action；The both sides of the backrest set
Flap is equipped with, the bottom of flap is hinged by hip joint bearing with the rear end of Chain cushion support flank, lumbar vertebrae drive mechanism is consolidated
Mounted in the back side of backrest, the output shaft of lumbar vertebrae drive mechanism connects one end of backrest oscillating arm mechanisms, backrest oscillating arm mechanisms for Dingan County
The other end is hinged by lumbar vertebrae bearing with backrest flap.
Above-mentioned Novel rehabilitation training seat, the Three-degree-of-freedom motion platform device includes lower platform and the present chair of even cloth
Three groups of fan-shaped actuators below pad support, the top of the fan-shaped actuator is hinged on seat by universal joint bearing seat with hinge
On cushion bracket bottom face, the bottom of fan-shaped actuator is fixed on lower platform by lower folding single-degree-of-freedom hinge, lower platform
Castor assembly is provided with the bottom surface of correspondence fan-shaped actuator.
Above-mentioned Novel rehabilitation training seat, the fan-shaped actuator includes guide rails assembling plate, upright guide rail slide block assembly, silk
Bar, cylinder barrel, motor and synchronous pulley component；The bottom of the guide rails assembling plate is fixed on lower platform by lower fold-hinges
On, upright guide rail slide block assembly is fixedly mounted on guide rails assembling plate top, and cylinder barrel slides equipped with upright guide rail slide block assembly；Institute
State motor to be fixedly mounted on the motor mounting plate of guide rails assembling plate, screw mandrel be arranged in parallel and pass through with motor output shaft
Synchronous pulley component is connected, and the top of screw mandrel is connected with cylinder barrel bottom, and top and the universal joint bearing seat with hinge of cylinder barrel are hinged.
Above-mentioned Novel rehabilitation training seat, the synchronous pulley component includes driving wheel, follower and Timing Belt, the master
Driving wheel is vertically mounted on the motor output shaft end through motor mounting plate, and follower is vertically mounted on the silk through motor mounting plate
Thick stick bottom, is connected between driving wheel and follower by Timing Belt.
As a result of above technical scheme, the invention technological progress is as follows.
The present invention be a kind of sitting and lying formula multiple degrees of freedom rehabilitation training seat, simple structure, easy to operate, moderate cost, with
Software is combined, and makes the coordinated movement of various economic factors between each mechanism, to simulate people's various walking postures in varied situations, greatly improves
Rehabilitation training effect.
Brief description of the drawings
Fig. 1 is general assembly structural representation of the invention；
Fig. 2 is the structural representation of seat of the present invention；
Fig. 3 is the side back sight structural representation of seat of the present invention；
Fig. 4 is the structural representation of Three-degree-of-freedom motion platform device of the present invention；
Fig. 5 is the opposite side schematic diagram of Three-degree-of-freedom motion platform device of the present invention；
Fig. 6 is single group fan-shaped actuator structural representation of the invention.
Wherein：1. left motion of knee joint device, 101. pedals, 102. connection members, 103. foot-operated connecting plates, 104. knees
Joint swing arm, 105. thigh backing plates, 106. knee joint swing arm driving mechanisms, 107. knee joint bearings；108. knee braces are stretched
Contracting plate, 109. knee joint position adjustments night bolts, 110. horizontal guide rail slide block assemblies；
2. left hip joint telecontrol equipment, 201. hip joint bearings, 203. thigh side stands, 204. thigh oscillating arm mechanisms, 205. hips
Joint driving mechanism；
3. lumbar vertebrae telecontrol equipment, 301. backrest oscillating arm mechanisms, 302. backrests, 303. reductor torsion output shafts, 304. lumbar vertebraes drive
Motivation structure, 305. reductors, 306. lumbar vertebrae bearings；
4. right hip joint telecontrol equipment；
5. Three-degree-of-freedom motion platform device, 501. universal joint bearing seat with hinge, 502. lower platforms, 503. castor assemblies, 504.
Hinge, 508. guide rails assembling plates, 509. cylinder barrels, 510. motors, 511. Timing Belts, 512. followers, 513. upright guide rail sliding blocks
Component, 514. screw mandrels, 515. motor mounting plates, 516. driving wheels；
6. right motion of knee joint device, 7. Chain cushion support.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of Novel rehabilitation trains seat, and its overall structure is as shown in figure 1, including Chain cushion support 7, lumbar vertebrae sportswear
Put 3, left motion of knee joint device 1, right motion of knee joint device 6, left hip joint telecontrol equipment 2, right hip joint telecontrol equipment 4,
Three-degree-of-freedom motion platform device 5 and controller；Chain cushion support 7 is U-shaped Chain cushion support, for being sat for patient
It is sleeping；Other each devices can respectively carry out the adjustment of length and/or angle under the control of the controller.The present invention is used for suffering from
When person carries out rehabilitation training, controller can train demand input training directive according to Rehabilitation, and control other devices to coordinate
Action, is further driven to each joint coordination motion of patient's lower limb, so as to reach the purpose of training patient.In addition, of the invention
The rehabilitation training under different walking states can be also carried out, for example, makes human body sensory to inclining, jolt etc..
Left motion of knee joint device 1 and right motion of knee joint device 6 are symmetrical arranged, before being respectively positioned on Chain cushion support 7
End, for carrying out shank, knee joint and ankle rehabilitation training for patient.
The structure of left motion of knee joint device 1 is as shown in Fig. 2 including pedal 101, calf motion and thigh
Portion's motion, pedal 101 is arranged on the bottom of calf motion, and top and the huckle of calf motion are transported
Connected by knee joint bearing 107 between the front end of motivation structure, huckle motion is connected with Chain cushion support 7.
Calf motion includes foot-operated connecting plate 103, knee joint swing arm 104 and knee joint swing arm driving mechanism
106；Huckle motion includes that knee brace expansion plate 108, horizontal guide rail slide block assembly 110 and knee joint position are adjusted
Section night bolt 109, knee brace expansion plate 108 is T-type structure.
Wherein, one end of knee joint swing arm 104 is connected with the output shaft of knee joint swing arm driving mechanism 106, knee joint pendulum
Arm 104 is arranged on the vertical of L-type knee brace expansion plate 108 with the hinged place of the output shaft of knee joint swing arm driving mechanism 106
Section bottom；The other end of knee joint swing arm 104 is hinged with the middle part of foot-operated connecting plate 103, and the top for riding connecting plate 103 passes through knee
Oscillating bearing 107 is connected to the corner of L-type knee brace expansion plate 108.When using, knee joint swing arm 104 is in knee joint
Foot-operated connecting plate 103 oscillating bearing 107 of staying with one's parents in order to make them happy is driven to rotate under the driving of swing arm driving mechanism 106, to adjust thigh and shank
Angle.
The bottom of foot-operated connecting plate 103 connects pedal 101 by connection member 102.In the present invention, connection member 102
Top and the bottom of foot-operated connecting plate 103 be correspondingly arranged on some location holes, in connection member 102 and foot-operated connecting plate 103
Location hole by unit bolt nut fasten and position length.When specifically used, can be adjusted according to patient's lower-leg length and connected
The relative position of part 102 and foot-operated connecting plate 103, is then fastened by unit bolt nut.
Horizontal guide rail slide block assembly 110 is fixedly installed on the U-shaped flank of Chain cushion support 7, and L-type knee brace stretches
The horizontal segment of plate 108 is slidably matched with horizontal guide rail slide block assembly 110, and knee joint position adjustments night bolt 109 is worn and is connected on L-type
Between the horizontal segment and horizontal guide rail slide block assembly 110 of knee brace expansion plate 108, for positioning knee brace expansion plate
108 and horizontal guide rail slide block assembly 110.When specifically used, can be according to patient thigh's length adjustment knee brace expansion plate 108
Length of the horizontal segment in horizontal guide rail slide block assembly, it is solid using knee joint position adjustments night bolt 109 after position suitable
It is fixed.
In the present invention, knee joint swing arm driving mechanism 106 is fixedly mounted on the front end of the bottom face of Chain cushion support 7, knee
The top of joint swing arm driving mechanism 106 is provided with the thigh backing plate 105 concordant with Chain cushion support 7, and thigh backing plate is used to put
Thigh is put, the outer end of thigh backing plate 105 is fixed on knee brace expansion plate 108.
Left hip joint telecontrol equipment 2 and right hip joint telecontrol equipment 4 are symmetrical arranged, respectively positioned at Chain cushion support 7
The left and right sides, for carrying out thigh, hip joint healing training for patient.
The structure of left hip joint telecontrol equipment 2 as shown in Figures 2 and 3, including thigh side stand 203, thigh oscillating arm mechanisms
204 and hip joint drive mechanism 205.Wherein, thigh side stand 203 is inverted U-shaped structure, is directly plugged on Chain cushion support
On 7 flank, the rear end of thigh side stand 203 is hinged by hip joint bearing 201 with the rear end of Chain cushion support flank；Greatly
The upper end of leg oscillating arm mechanisms 204 is hinged with the middle part of thigh side stand 203, and lower end and the hip joint of thigh oscillating arm mechanisms 204 drive
The output shaft connection of mechanism 205, hip joint drive mechanism 205 is arranged on the bottom face of Chain cushion support 7；Thigh swing arm machine
Structure 204 drives thigh side stand 203 to be moved around hip joint bearing 201 under the driving of hip joint drive mechanism 205, so as to realize
Rehabilitation training to thigh and hip joint.
Lumbar vertebrae telecontrol equipment 3 is arranged on the rear end of Chain cushion support 7, for carrying out lumbar vertebra rehabilitation training for patient, its
Structure is as shown in Fig. 2 including backrest 302, backrest oscillating arm mechanisms 301 and lumbar vertebrae drive mechanism 304.Wherein, the two of backrest 302
Side is provided with flap, and the bottom of flap is hinged by hip joint bearing 201 with the rear end of Chain cushion support flank；Lumbar vertebrae drives
Mechanism 304 is fixedly mounted on the back side of backrest, and the output shaft of lumbar vertebrae drive mechanism 304 connects one end of backrest oscillating arm mechanisms 301,
The other end of backrest oscillating arm mechanisms 301 is hinged by lumbar vertebrae bearing 306 with backrest flap.Backrest oscillating arm mechanisms 301 are driven in lumbar vertebrae
Backrest is driven to be rotated around hip joint bearing 201 under the driving of motivation structure 304, to adjust between backrest and Chain cushion support 7
Angle, meets rehabilitation training demand of the patient to lumbar vertebrae position.
In the present embodiment, the structure of lumbar vertebrae drive mechanism 304 is as shown in figure 3, including motor and reductor 305, drive
The output shaft connection reductor input shaft of dynamic motor, reductor torsion output shaft is connected with one end of backrest oscillating arm mechanisms 301.
Three-degree-of-freedom motion platform device 5 is arranged on the lower section of Chain cushion support 7, for driving whole seat in level
Moved on face, its structure as shown in Figure 4 and Figure 5, including the three groups of fans of lower platform 502 and even cloth below Chain cushion support 7
Shape actuator, the top of fan-shaped actuator is hinged on the bottom face of Chain cushion support 7 by universal joint bearing seat with hinge 501,
Fan-shaped actuator top can be rotated and be swung by universal joint bearing seat with hinge；The bottom of fan-shaped actuator is by lower folding list
Free degree hinge 504 is fixed on lower platform 502, and fan-shaped actuator bottom can be swung by fold-hinges；Lower platform correspondence
Castor assembly 503 is provided with the bottom surface of fan-shaped actuator.
The structure of fan-shaped actuator is as shown in fig. 6, including guide rails assembling plate 508, upright guide rail slide block assembly 513, screw mandrel
514th, cylinder barrel 509, motor 510 and synchronous pulley component.Wherein, the bottom of guide rails assembling plate 508 is by lower fold-hinges 504
Be fixed on lower platform 502, upright guide rail slide block assembly 513 is fixedly mounted on the top of guide rails assembling plate 508, cylinder barrel 509 with it is perpendicular
Straight guide slide block assembly 513 slides equipped；Motor 510 is fixedly mounted on the motor mounting plate 515 perpendicular to guide rails assembling plate 508
On, screw mandrel 514 be arranged in parallel with the output shaft of motor 510, and by synchronous pulley component connection, the top of screw mandrel 514 and cylinder
The connection of 509 bottoms of cylinder, top and the universal joint bearing seat with hinge 501 of cylinder barrel 509 are hinged.
Synchronous pulley component includes driving wheel 516, follower 512 and Timing Belt 511, the right angle setting of the driving wheel 516
Through the motor output shaft end of motor mounting plate, follower 512 is vertically mounted on the leading screw bottom through motor mounting plate, main
Connected by Timing Belt 511 between driving wheel 516 and follower 512.
When the present invention is used, patient is sitting on Chain cushion support, and pin is put on the footrests, is adjusted according to lower-leg length first
Relative position between section connection member and foot-operated connecting plate, according to thigh length adjustment horizontal guide rail slide block assembly and knee joint
Relative position between support telescopic plate；Then rehabilitation training signal is input into by controller, controller just can be according to instruction
Actively adjust knee joint swing arm driving mechanism, the hip joint drive mechanism of hip joint telecontrol equipment, the waist of motion of knee joint device
The working condition of the lumbar vertebrae drive mechanism of vertebra telecontrol equipment and the motor of Three-degree-of-freedom motion platform device, so that patient's energy
The different walking postures of normal person are enough simulated, and coordinates each joint motions, so as to reach the purpose of training patient.
Claims (10)
1. Novel rehabilitation trains seat, it is characterised in that：Including for the U-shaped Chain cushion support for patient's sitting and lying（7）, seat
Cushion bracket（7）Rear end be provided with the lumbar vertebrae telecontrol equipment that lumbar vertebra rehabilitation training is carried out for patient（3）, Chain cushion support
（7）Be symmetrically arranged at the front end with the left motion of knee joint device that shank, knee joint and ankle rehabilitation training are carried out for patient（1）
With right motion of knee joint device（6）, Chain cushion support（7）The left and right sides be symmetrically arranged with for patient carry out thigh, hip close
Save the left hip joint telecontrol equipment of rehabilitation training（2）With right hip joint telecontrol equipment（4）；Chain cushion support（7）Lower section set
It is equipped with the Three-degree-of-freedom motion platform device for driving whole seat to move in the horizontal plane（5）；The seat is also included for assisting
Adjust lumbar vertebrae telecontrol equipment（3）, left motion of knee joint device（1）, right motion of knee joint device（6）, left hip joint telecontrol equipment
（2）, right hip joint telecontrol equipment（4）And Three-degree-of-freedom motion platform device（5）The controller of action.
2. Novel rehabilitation according to claim 1 trains seat, it is characterised in that：The left motion of knee joint device（1）
Including pedal（101）, calf motion and huckle motion, pedal（101）It is arranged on calf motion
The bottom of mechanism, passes through knee joint bearing between the top of calf motion and the front end of huckle motion（107）
Connection, huckle motion and Chain cushion support（7）It is connected by hip joint bearing.
3. Novel rehabilitation according to claim 2 trains seat, it is characterised in that：The calf motion includes pin
Step on connecting plate（103）, knee joint swing arm（104）And knee joint swing arm driving mechanism（106）, the knee joint swing arm（104）
One end and knee joint swing arm driving mechanism（106）Output shaft connection, knee joint swing arm（104）The other end and foot-operated connection
Plate（103）Middle part is hinged；The foot-operated connecting plate（103）Top pass through knee joint bearing（107）It is connected to huckle motion
The front end of mechanism, rides connecting plate（103）Bottom pass through connection member（102）Connection pedal（101）.
4. Novel rehabilitation according to claim 3 trains seat, it is characterised in that：The huckle motion includes knee
Joint support expansion plate（108）, be fixedly installed on U-shaped Chain cushion support（7）Horizontal guide rail slide block assembly on flank（110）
And positioning knee brace expansion plate（108）With horizontal guide rail slide block assembly（110）Knee joint position adjustments night bolt
（109）；The knee brace expansion plate（108）Horizontal segment and horizontal guide rail slide block assembly（110）It is slidably matched, the company of riding
Fishplate bar（103）Top pass through knee joint bearing（107）It is connected to knee brace expansion plate（108）On, knee joint swing arm
（104）With knee joint swing arm driving mechanism（106）The hinged place of output shaft is arranged on knee brace expansion plate（108）Bottom
End.
5. Novel rehabilitation according to claim 4 trains seat, it is characterised in that：The knee joint swing arm driving mechanism
（106）It is fixedly mounted on Chain cushion support（7）The front end of bottom face, knee joint swing arm driving mechanism（106）Top is provided with
With Chain cushion support（7）Thigh backing plate concordant, for placing thigh（105）, thigh backing plate（105）Outer end be fixed on
Knee brace expansion plate（108）On.
6. Novel rehabilitation according to claim 1 trains seat, it is characterised in that：The left hip joint telecontrol equipment（2）
Including being plugged on Chain cushion support（7）Thigh side stand on flank（203）, regulation thigh and hip joint motion state it is big
Leg oscillating arm mechanisms（204）And it is arranged on Chain cushion support（7）It is used to drive thigh oscillating arm mechanisms on bottom face（204）Action
Hip joint drive mechanism（205）；The inverted U thigh side stand（203）Rear end pass through hip joint bearing（201）With seat
The rear end of cushion bracket flank is hinged, thigh oscillating arm mechanisms（204）Upper end and thigh side stand（203）Middle part is hinged, thigh
Oscillating arm mechanisms（204）Lower end and hip joint drive mechanism（205）Output shaft connection.
7. Novel rehabilitation according to claim 6 trains seat, it is characterised in that：The lumbar vertebrae telecontrol equipment（3）Including
Backrest（302）, regulation backrest and Chain cushion support（7）Between angle backrest oscillating arm mechanisms（301）And drive backrest pendulum
Arm mechanism（301）The lumbar vertebrae drive mechanism of action（304）；The backrest（302）Both sides be provided with flap, the bottom of flap leads to
Cross hip joint bearing（201）Rear end with Chain cushion support flank is hinged, lumbar vertebrae drive mechanism（304）It is fixedly mounted on backrest
The back side, lumbar vertebrae drive mechanism（304）Output shaft connection backrest oscillating arm mechanisms（301）One end, backrest oscillating arm mechanisms（301）
The other end pass through lumbar vertebrae bearing（306）It is hinged with backrest flap.
8. Novel rehabilitation according to claim 1 trains seat, it is characterised in that：The Three-degree-of-freedom motion platform device
（5）Including lower platform（502）With even cloth in Chain cushion support（7）Three groups of fan-shaped actuators of lower section, the fan-shaped actuator
Top pass through universal joint bearing seat with hinge（501）It is hinged on Chain cushion support（7）On bottom face, the bottom of fan-shaped actuator
By lower folding single-degree-of-freedom hinge（504）It is fixed on lower platform（502）On, on the bottom surface of lower platform correspondence fan-shaped actuator
It is provided with castor assembly（503）.
9. Novel rehabilitation according to claim 8 trains seat, it is characterised in that：The fan-shaped actuator is pacified including guide rail
Dress plate（508）, upright guide rail slide block assembly（513）, screw mandrel（514）, cylinder barrel（509）, motor（510）And synchronous pulley group
Part；The guide rails assembling plate（508）Bottom by lower fold-hinges（504）It is fixed on lower platform（502）On, upright guide rail is slided
Block assembly（513）It is fixedly mounted on guide rails assembling plate（508）Top, cylinder barrel（509）With upright guide rail slide block assembly（513）Slide
It is equipped；The motor（510）It is fixedly mounted on perpendicular to guide rails assembling plate（508）Motor mounting plate（515）On, screw mandrel
（514）With motor（510）Output shaft is be arranged in parallel and is connected by synchronous pulley component, screw mandrel（514）Top and cylinder barrel
（509）Bottom connects, cylinder barrel（509）Top and universal joint bearing seat with hinge（501）It is hinged.
10. Novel rehabilitation according to claim 9 trains seat, it is characterised in that：The synchronous pulley component includes master
Driving wheel（516）, follower（512）And Timing Belt（511）, the driving wheel（516）It is vertically mounted on through motor mounting plate
Motor output shaft end, follower（512）It is vertically mounted on the leading screw bottom through motor mounting plate, driving wheel（516）With it is passive
Wheel（512）Between pass through Timing Belt（511）Connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611136229.3A CN106691775A (en) | 2016-12-12 | 2016-12-12 | Novel rehabilitation training seat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611136229.3A CN106691775A (en) | 2016-12-12 | 2016-12-12 | Novel rehabilitation training seat |
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| Publication Number | Publication Date |
|---|---|
| CN106691775A true CN106691775A (en) | 2017-05-24 |
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ID=58936723
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611136229.3A Pending CN106691775A (en) | 2016-12-12 | 2016-12-12 | Novel rehabilitation training seat |
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| Country | Link |
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| CN (1) | CN106691775A (en) |
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| CN107007946A (en) * | 2017-06-06 | 2017-08-04 | 成都博士科技有限公司 | It is a kind of to be used for proton and the automatic chair of heavy particle therapy incidence cancer |
| CN108836753A (en) * | 2018-07-17 | 2018-11-20 | 河南省中医院（河南中医药大学第二附属医院） | Orthopedic rehabilitation nursing device |
| CN108836752A (en) * | 2018-07-17 | 2018-11-20 | 河南省中医院（河南中医药大学第二附属医院） | Novel orthopedic surgery nursing frame |
| CN110063871A (en) * | 2018-10-24 | 2019-07-30 | 河北省体育科学研究所 | A kind of knee joint training equipment and training method restored for knee injuries |
| CN110876663A (en) * | 2019-12-23 | 2020-03-13 | 深圳市尚荣医用工程有限公司 | Take intelligent wheelchair of low limbs rehabilitation training function |
| CN113386846A (en) * | 2021-06-29 | 2021-09-14 | 清华大学 | Adjustable sitting type skiing device |
| CN113476269A (en) * | 2021-06-22 | 2021-10-08 | 杭州极智医疗科技有限公司 | Knee joint rehabilitation training device |
| CN113855476A (en) * | 2021-09-02 | 2021-12-31 | 燕山大学 | Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof |
| CN114470646A (en) * | 2022-01-26 | 2022-05-13 | 广州科安康复专用设备有限公司 | Core muscle group training chair |
| WO2024010532A1 (en) * | 2022-07-06 | 2024-01-11 | Marovt D.O.O. | Device for stretching the lower limbs |
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| CN113855476A (en) * | 2021-09-02 | 2021-12-31 | 燕山大学 | Multi-posture lower limb rehabilitation robot based on parallel mechanism and control method thereof |
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