CN108294913A - Lower limbs active-passive rehabilitation training aids - Google Patents

Abstract

An active and passive rehabilitation training device for lower limbs, comprising a base, a left and right thigh support mechanism, a left and right calf support mechanism, a foot support, an external controller and two foldable supports. The present invention adopts an exoskeleton-type foldable structure, and can simulate and design a bracket that can fit the curve of the leg according to different lower limb sizes through the telescopic thigh and calf support mechanism. In the transmission system, dual stepper motors are used to drive and control the hip joint, and then a stepper motor is used to connect with the roller screw to control the ankle joint. It can realize the continuous passive rehabilitation training of three joints linkage of hip, knee and ankle, and can also complete the rehabilitation training of single ankle joint through stepping motor. The present invention serves patients who need rehabilitation training for their lower limbs. The combination of active and passive modes facilitates objective rehabilitation evaluation for doctors and facilitates the improvement and determination of treatment plans.

Description

Active and passive rehabilitation training device for lower limbs

technical field

The invention relates to a rehabilitation training device, in particular to an active and passive rehabilitation training device for lower limbs.

Background technique

The joint function rehabilitation device is an orthopedic rehabilitation medical device. It is based on the theory of continuous passive motion (Continues Passive Motion, referred to as CPM). Recovery training, in clinical application, it is safe and practical, painless, patient's willingness to accept, wide range of joint motion, effectively eliminate joint adhesion and necrotic joint survival, wound healing and swelling, and promote self-repair of articular cartilage damage, which is conducive to the transformation of periosteum transplantation Advantages of forming hyaline articular cartilage.

At present, most CPM machines cannot perform joint training of the three joints of the hip, knee and ankle at the same time, which has certain limitations and is not conducive to the rehabilitation training of the three joints of the lower limbs; in addition, most CPM machines mainly focus on passive training, and active training is not added; At the same time, the lower limb training lacks real-time feedback, and the evaluation cannot be quantified; it is bulky, inconvenient to move, time-consuming and laborious, and brings a lot of inconvenience to patients and medical staff.

Contents of the invention

The object of the present invention is to provide an active and passive rehabilitation training device for lower limbs in order to solve the above problems.

In order to achieve the above object, the present invention is achieved through the following technical solutions:

An active and passive rehabilitation training device for lower limbs, comprising:

Base, built-in left and right stepping motors and roller screw drive mechanism;

Left and right thigh support mechanisms, one end of which is respectively connected to the left and right stepping motors in the base;

The left and right calf support mechanisms, one end of which is movably connected with the other end of the left and right thigh support mechanisms;

The foot rest, the left and right sides of which are respectively movably connected with the other end of the left and right calf support mechanisms, and are connected by transmission with the roller screw drive mechanism;

The external controller is respectively connected with the left and right stepping motors and the wires of the roller screw drive mechanism to control the movement of the connected mechanism and display real-time data.

The left and right thigh support mechanisms each include a front support plate of the thigh, a rear support plate of the thigh, and a thigh telescopic rod connected between the front support plate of the thigh and the rear support plate of the thigh, and the length of the entire thigh support mechanism is adjusted by adjusting the length of the thigh telescopic rod The front supporting plate of the left and right thighs is also connected with the transmission of the left and right stepping motors respectively.

The left and right calf support mechanisms each include a front support plate for the shank, a rear support plate for the shank, and a calf telescopic link connected between the front support plate and the rear support plate for the shank. The length of the entire shank support mechanism is adjusted by adjusting the length of the shank telescopic link. The left and right shank front supporting plates are also movably connected with the left and right thigh rear supporting plates respectively, and the left and right shank rear supporting plates are also movably connected with the left and right sides of the foot support respectively.

The roller screw drive mechanism includes a screw stepping motor, a roller screw, a positioning slider and an ankle joint control rod, the roller screw is connected to the screw stepping motor, and the positioning slider is connected to the roller screw. Threaded connection, one end of the ankle joint control rod is movably connected with the positioning slide block, and the other end is movably connected with the foot support.

It also includes two foldable brackets, and the two foldable brackets are symmetrically installed on both sides of the base.

The beneficial effects of the present invention are:

1. It adopts exoskeleton structure design, which is light and portable (foldable), which greatly saves storage space;

2. There are telescopic rods for the thigh and telescopic rod for the calf, which can simulate and design a supporting mechanism that can fit the curve of the thigh and calf according to the size of the lower limbs of different people, so as to relieve the discomfort of patients during training;

3. It can realize the joint rehabilitation training of three joints of hip, knee and ankle, toe flexion and dorsiflexion of single ankle joint and other complex rehabilitation training;

4. With multi-mode mixing function, it can realize precise control of similar rehabilitation trainers, record training parameters and display real-time joint range of motion, so as to carry out objective, quantitative and real-time rehabilitation evaluation, which is beneficial to the determination and improvement of doctors' treatment plans.

Description of drawings

Fig. 1 is a schematic diagram of the front view structure of the present invention.

Fig. 2 is a schematic diagram of an exploded structure of the present invention.

Fig. 3 is a schematic diagram of a partial structure of the present invention.

Detailed ways

The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

Referring to Fig. 1, referring to Fig. 2 and Fig. 3, the active and passive rehabilitation training device for lower limbs of the present invention includes a base 1, a left and right thigh support mechanism 2, a left and right calf support mechanism 3, a foot support 4, an external controller 5 and two A collapsible stand6.

The base 1 is provided with a left and right stepping motor 7 and a roller screw drive mechanism 8 .

One end of the left and right thigh support mechanism 2 is respectively connected with the left and right stepping motor transmission in the base, and one end of the left and right calf support mechanism 3 is respectively connected with the other end of the left and right thigh support mechanism. The other end of the supporting mechanism is movably connected, and is connected with the transmission mechanism of the roller screw drive mechanism. The external controller 5 is respectively connected with the left and right stepping motors and the electric wires of the roller screw drive mechanism to control the motion of the connected mechanism and display real-time data. Two foldable brackets are installed symmetrically on both sides of the base respectively.

Cooperate with referring to Fig. 2, left and right thigh supporting mechanism 2 among the present invention respectively comprises thigh front supporting board 21, thigh rear supporting board 22 and the thigh telescoping link 23 that is connected between thigh front supporting board, thigh rear supporting board, by adjusting thigh The length of the telescopic rod regulates the length of the whole thigh support mechanism; the left and right thigh front supporting plates are also respectively connected with the left and right stepping motor transmissions.

Referring to Fig. 2, the left and right calf supporting mechanisms 3 in the present invention each include a front supporting plate 31 for the shank, a rear supporting plate 32 for the shank, and a telescopic rod 33 for the calf connected between the front supporting plate and the rear supporting plate for the shank. The length of the telescopic rod regulates the length of the whole shank supporting mechanism; the left and right shank front supporting plates are also movably connected with the left and right thigh rear supporting plates respectively, and the left and right shank rear supporting plates are also movably connected with the left and right sides of the foot support respectively.

Referring to Fig. 3, the roller screw drive mechanism 8 in the present invention includes a screw stepper motor 81, a roller screw 82, a positioning slider 83 and an ankle joint control rod 84, and the roller screw and the screw screw step The motor transmission is connected, the positioning slide block is threadedly connected with the roller screw rod, one end of the ankle joint control rod is movably connected with the locating slide block, and the other end is movably connected with the foot support.

When the patient uses this trainer, press the adjustment switch 231 to fit the support of the thigh and calf curve according to the size of the lower limbs of different people, and use the fixing belt 24 to fix it at the same time. If there is a special need, the thigh fixing slot 25 can be used to put The upper fixation belt fixes the patient's thigh to relieve the patient's discomfort during training as much as possible.

Referring to Fig. 2, a group of transmission gears 11 are respectively arranged on both sides of the base 1, which cooperate with the transmission internal gear 211 in the front support plate 21 of the thigh to transmit the power of the stepping motor 7 in the base 1, and simultaneously A group of hip joint limit screws 12 are respectively arranged on both sides of the base, which cooperate with the hip joint limit groove 212 in the front support plate 21 of the thigh to limit the range of motion of the hip joint. Knee joint limiting slot 231 cooperates with the knee joint limiter 311 in the front supporting plate 31 of the calf to limit the range of motion of the knee joint, and the rear supporting plate 32 of the corresponding two sides is also provided with an ankle joint limiter. The groove 321 cooperates with the ankle joint limiter 41 on the foot rest 4, and limits the range of motion of the ankle joint; after limiting the normal range of motion of the three joints of the hip, knee and ankle, and ensuring the safety of the training, use the controller 5 to operate in different modes.

Referring to Fig. 3, the roller screw 82 is fixed on the bottom plate 13 of the base 1 through two bearings 821, and the moving slider 83 on the roller screw 82 is connected to the ankle joint control rod 84 through a pin 85 , and the ankle joint control rod 84 moves in the control rod chute 42 of the foot support 4 again. In summary, when the three stepping motors operate simultaneously, the thigh support mechanism 2 has a certain movement, and the foot support 4 also has a certain movement. Certainly variable movement.

Claims (5)

1. a kind of lower limbs active-passive rehabilitation training aids, it is characterised in that including：

Pedestal, built-in left and right stepper motor and roller bearing lead screw transmission mechanism；

Left and right thigh support mechanism, one end are connected with the left and right stepper motor transmission in pedestal respectively；

Left and right leg support mechanism, the other end of the one end respectively with left and right thigh support mechanism are movably connected；

Footrest, the other end of the left and right sides respectively with left and right leg support mechanism are movably connected, and with roller bearing screw rod transmission machine Structure transmission is connected；

External controller is connected with left and right stepper motor and roller bearing lead screw transmission mechanism electric wire respectively, bindiny mechanism of control institute It moves and shows real time data.

2. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：Left and right thigh support mechanism Include respectively supporting plate, thigh rear supporting plate and being connected to thigh telescopic rod before thigh between supporting plate, thigh rear supporting plate before thigh, leads to Overregulate the length of the entire thigh support mechanism of length adjustment of thigh telescopic rod；Supporting plate is also walked with left and right respectively before the thigh of left and right Stepper motor transmission is connected.

3. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：Left and right leg support mechanism Include respectively supporting plate, shank rear supporting plate and being connected to shank telescopic rod before shank between supporting plate, shank rear supporting plate before shank, leads to Overregulate the length of the entire leg support mechanism of length adjustment of shank telescopic rod；Supporting plate is also big with left and right respectively before the shank of left and right Leg rear supporting plate is movably connected, left and right shank rear supporting plate also respectively be movably connected at left and right sides of footrest.

4. lower limbs active-passive rehabilitation training aids according to claim 1, it is characterised in that：The roller bearing lead screw transmission mechanism Including lead screw stepper motor, roller bearing lead screw, positioning sliding block and ankle-joint control-rod, roller bearing lead screw is driven phase with lead screw stepper motor Even, positioning sliding block is connect with roller bearing wire rod thread, and one end and the positioning sliding block of ankle-joint control-rod are movably connected, the other end and foot Support is movably connected.

5. wanting the lower limbs active-passive rehabilitation training aids described in 1 according to right, it is characterised in that：Further include two Collapsible racks, Two Collapsible racks are respectively symmetrically mounted on the both sides of pedestal.