CN111419629B - Knee joint self-adaptive rehabilitation device - Google Patents
Knee joint self-adaptive rehabilitation device Download PDFInfo
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- CN111419629B CN111419629B CN202010116344.4A CN202010116344A CN111419629B CN 111419629 B CN111419629 B CN 111419629B CN 202010116344 A CN202010116344 A CN 202010116344A CN 111419629 B CN111419629 B CN 111419629B
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- slider
- knee joint
- revolute pair
- connecting rod
- rod
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 45
- 238000012549 training Methods 0.000 claims abstract description 31
- 230000033001 locomotion Effects 0.000 claims abstract description 16
- 238000013016 damping Methods 0.000 claims abstract description 12
- 230000003044 adaptive effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 3
- 210000000689 upper leg Anatomy 0.000 claims description 3
- 230000001105 regulatory effect Effects 0.000 claims description 2
- 208000012659 Joint disease Diseases 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 8
- 210000003141 lower extremity Anatomy 0.000 description 5
- 206010060820 Joint injury Diseases 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000025978 Athletic injury Diseases 0.000 description 1
- 206010062575 Muscle contracture Diseases 0.000 description 1
- 206010034464 Periarthritis Diseases 0.000 description 1
- 206010041738 Sports injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 206010003246 arthritis Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000000988 bone and bone Anatomy 0.000 description 1
- 208000006111 contracture Diseases 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 230000009916 joint effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 201000003068 rheumatic fever Diseases 0.000 description 1
- 210000001519 tissue Anatomy 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
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
-
- 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
- A61H2201/1238—Driving means with hydraulic or pneumatic drive
- A61H2201/1246—Driving means with hydraulic or pneumatic drive by piston-cylinder systems
-
- 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
- A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
- A61H2201/1436—Special crank assembly
-
- 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
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)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a knee joint self-adaptive rehabilitation device. The movable shaft comprises a movable shaft, two ends of the movable shaft are respectively connected with a frame to form a first movable pair and a second movable pair, one end of a crank is rotationally connected with the movable shaft through the first movable pair, the other end of the crank is rotationally connected with a sliding block through the second movable pair, the sliding block is rotationally connected with a swinging rod through the third movable pair, the swinging rod is rotationally connected with the frame through the third movable pair, one end of a connecting rod is rotationally connected with the swinging rod through the fourth movable pair, the other end of the connecting rod is rotationally connected with the second sliding block through the fifth movable pair, the second sliding block is rotationally connected with the frame through the fourth movable pair, one end of a cylinder is rotationally connected with the second sliding block, and the other end of the cylinder is fixedly connected with the frame. The knee joint rehabilitation training device can adjust the training angle and the damping force according to the knee joint disease degree and the rehabilitation training stage, and has the advantages of strong self-adaption, convenience in use, stable movement and the like.
Description
Technical Field
The invention relates to the technical field of medical machinery, in particular to a medical auxiliary rehabilitation instrument, and specifically relates to a knee joint self-adaptive rehabilitation device.
Background
Along with the continuous development and progress of society, the aging trend is more serious, and common diseases in the bone joints of middle-aged and elderly people comprise diseases such as painful rheumatic arthritis, scapulohumeral periarthritis, gonarthritis and the like. Second, as people participate in outdoor activities and more strenuous sporting events, people are unaware of accidents in the event during these activities and events. According to the sports injury statistical result, the highest proportion of human body injury parts is joint injury, and the high proportion of knee joint injury is at the top of the list, so that the research on the knee joint rehabilitation apparatus has great significance. The knee joint rehabilitation of people after knee joint injury or the knee joint exercise of the old can be performed by means of the passive knee joint rehabilitation device at ordinary times. Especially, the problems of adhesion of tissues and the like of the knee joint of a patient after operation can occur, so that the knee joint is more difficult to recover due to contracture of muscles, and the design and the manufacture of the knee joint recovery apparatus are particularly important under the condition. Under the condition that the manpower cost of the modern society is higher and higher, medical instruments which can accord with knee joint rehabilitation bring good news to the whole society.
The existing knee joint rehabilitation device is regulated by controlling a driver, and if the driver fails, secondary injury to the knee joint is caused, so that injury to the knee joint is aggravated. Therefore, there is a need to design a knee joint adaptive rehabilitation device to solve the above problems.
Disclosure of Invention
(One) solving the technical problems
The invention aims to provide an instrument for rehabilitation training of a patient with knee joint injury. The rehabilitation training device can adjust the damping force required by training in real time according to the training plan of the doctor's advice. With the progress of rehabilitation stage, increase knee joint Qu Shenjiao training maximum gradually to reach recovered mesh.
(II) technical scheme
In order to solve the technical problems, the invention is realized by the following technical scheme: the utility model provides a knee joint self-adaptation rehabilitation device, by movable axle, crank, slider first, pendulum rod, torsional spring, connecting rod, slider second, frame, cylinder and four revolute pairs and five revolute pairs are constituteed, movable axle both ends constitute revolute pair first, revolute pair second with the frame respectively, movable axle middle part is provided with revolute pair first, and movable axle passes through revolute pair rotation connection cranked one end, the crank other end passes through revolute pair second and slider rotation connection, slider first and pendulum rod pass through revolute pair third sliding connection, the pendulum rod passes through revolute pair third and frame rotation connection, the one end that the slider first was kept away from to the pendulum rod passes through revolute pair fourth and one end swivelling joint of connecting rod, the connecting rod other end passes through revolute pair fifth and slider second and frame sliding connection, the one end that the frame was kept away from to the slider second is with the inner wall sliding connection of cylinder, cylinder and frame fixed connection.
In this embodiment: the movable shaft can move up and down along the axial direction, so that the training angle can be adjusted steplessly.
In this embodiment: the lengths of the swing rod and the connecting rod are adjustable.
In this embodiment: the torsion spring is installed at the joint of the swing rod and the connecting rod, and the arm angle of the torsion spring is 180 degrees.
In this embodiment: the piston moving direction in the cylinder is parallel to the second sliding block moving direction, and the air inflow of the cylinder can be adjusted to change the damping force required by training, so that the movement is stable.
Compared with the prior art, the invention has the following beneficial effects:
(1) The device has a simple structure, is convenient to control, and realizes the function of stepless adjustment of the training angle by the up-and-down movement of the movable shaft;
(2) Because the serial combined mechanism is adopted, the movement of the device is more stable than that of a single crank-slider mechanism, and the damage to the knee joint is effectively relieved;
(3) The range of the knee joint training angle can be adjusted according to the patient degree of the patient and the doctor's advice training plan, and the maximum training value of the knee joint Qu Shenjiao is gradually increased along with the progress of the rehabilitation stage, so that the purpose of rehabilitation is achieved;
(4) The output force of the air cylinder can be adjusted according to the patient degree of the patient and the training plan of the doctor's advice by adjusting the air inflow of the air cylinder, so that the required damping force is provided for the movement of the sliding block II, and the damping force required for training is adjusted in real time.
Drawings
FIG. 1 is an initial state of motion of the mechanism of the present invention;
FIG. 2 illustrates the knee joint Qu Shenjiao of the mechanism of the present invention in a state of motion where the maximum value of a1 is reached;
fig. 3 shows the knee joint Qu Shenjiao of the mechanism of the present invention in a state of motion at a maximum value of a 2.
Reference numerals: the movable shaft 1, the crank 2, the first slider 3, the swing rod 4, the torsion spring 5, the connecting rod 6, the second slider 7, the frame 8, the cylinder 9, the first revolute pair R1, the second revolute pair R2, the third revolute pair R3, the fourth revolute pair R4, the fifth revolute pair R5, the first movable pair P1, the second movable pair P2, the third movable pair P3 and the fourth movable pair P4.
Detailed Description
In order that those skilled in the art may better understand the technical solutions of the present invention, the following detailed description of the present invention with reference to the accompanying drawings is provided for exemplary and explanatory purposes only and should not be construed as limiting the scope of the present invention.
As shown in figure 1, the knee joint self-adaptive rehabilitation device consists of a movable shaft 1, a crank 2, a first slider 3, a swinging rod 4, a torsion spring 5, a connecting rod 6, a second slider 7, a frame 8, a cylinder 9, four moving pairs and five rotating pairs, wherein two ends of the movable shaft 1 respectively form a first moving pair P1 and a second moving pair P2 with the frame 8, the movable shaft 1 can move up and down under the guiding action of the first moving pair P1 and the second moving pair P2, the first rotating pair R1 is arranged in the middle of the movable shaft 1, the movable shaft 1 is rotationally connected with one end of the crank 2 through the first rotating pair R1, the other end of the crank 2 is rotationally connected with the first slider 3 through the second rotating pair R2, the first slider 3 is in sliding connection with the swinging rod 4 through the third moving pair P3, the swing rod 4 is rotationally connected with the frame 8 through the revolute pair III R3, the crank 2, the first slider 3 and the swing rod 4 form a swing guide rod mechanism, one end of the swing rod 4, far away from the first slider 3, is rotationally connected with one end of the connecting rod 6 through the revolute pair IV R4, a patient with knee joint binds the thigh of lower limbs on the swing rod 4 through a flexible piece, the shank is bound on the connecting rod 6 through a flexible piece, at the moment, the equivalent of the angle of the knee joint Qu Shenjiao degrees is that the connecting rod 6 and the swing rod 4 rotate through the revolute pair IV R4, the maximum value of the knee joint Qu Shenjiao is adjusted through adjusting the height of the movable shaft 1, the swing rod is in accordance with a doctor's advice training plan, and the patient can gradually increase the training maximum value of the knee joint Qu Shenjiao according to the rehabilitation condition. The other end of the connecting rod 6 is rotationally connected with the second slider 7 through the fifth rotating pair R5, the second slider 7 is in sliding connection with the frame 8 through the fourth moving pair P4, one end, far away from the frame 8, of the second slider 7 is in sliding connection with the inner wall of the air cylinder 9, the air cylinder 9 is fixedly connected with the frame 8, the output force of the air cylinder 9 is adjusted through adjusting the air inflow of the air cylinder 9, the required damping force is provided for the movement of the second slider 7, and the required damping force for training, namely the strength of training, is adjusted in real time according to a training plan of medical advice.
In this embodiment: the movable shaft 1 can move up and down along the axial direction, and the training angle can be adjusted steplessly.
In this embodiment: the lengths of the swing rod 4 and the connecting rod 6 are adjustable, so that the training requirements of different human lower limbs are met, and the comfort of the training process is improved.
In this embodiment: the torsional spring 5 is arranged at the joint of the swing rod 4 and the connecting rod 6, the arm angle of the torsional spring 5 is 180 degrees, and the torsional spring 5 reduces knee joint impact vibration, so that the movement is stable.
In this embodiment: the moving direction of the piston in the cylinder 9 is parallel to the moving direction of the sliding block II 7, and the air inflow of the cylinder 9 can be adjusted to change the damping force required by training, so that the movement is stable.
As shown in fig. 2, after the height H1 of the movable shaft 1 is set, the first pair of moving pairs P1 and the second pair of moving pairs P2 are fixed, the first pair of rotating pairs R1 is driven, and the maximum value of the relative rotation angle between the swing rod 4 and the connecting rod 6 is a1, that is, the maximum value of the knee joint Qu Shenjiao degrees is a1.
As shown in fig. 3, when the height H2 of the movable shaft 1 is set, the first pair of movable pairs P1 and the second pair of movable pairs P2 drive the first pair of movable pairs R1, and the maximum value a2 of the relative rotation angle between the swing rod 4 and the connecting rod 6, that is, the maximum value a2 of the knee joint Qu Shenjiao degrees.
The working principle of the invention is as follows: the crank 2, the first slide block 3 and the swing rod 4 form a swing guide rod mechanism, and the swing rod 4, the connecting rod 6 and the second slide block 7 form a crank slide block mechanism. In order to conveniently adjust the rehabilitation training angle as much as possible and reduce the variation of the rod length as much as possible, when the movable shaft 1 moves to a certain height, the output force of the air cylinder 9 is adjusted in the initial state, the required damping force is provided for the movement of the sliding block two 7, one end of the swinging rod 4 is collinear with the connecting rod 6, the other end of the swinging rod 4 is in a vertical state, and the movement is stable by the joint action of the torsion spring 5 and the air cylinder 9 added at the joint of the swinging rod 4 and the connecting rod 6. The lengths of the swing rod 4 and the connecting rod 6 are adjusted according to the lengths of different human lower limbs, the thighs of the human lower limbs are bound on the swing rod 4 through flexible pieces, the shanks are bound on the connecting rod 6 through flexible pieces, at the moment, the angle of Qu Shenjiao degrees of knee joints is equivalent to the angle of four rotation of the rotating pairs of the connecting rod 6 and the swing rod 4, the maximum value of Qu Shenjiao degrees of the knee joints is adjusted by adjusting the height of the movable shaft 1, the initial state is that the human lower limbs are in a straightening state when in actual use,
According to the training plan of doctor's advice, adjust the required damping force of training in real time, along with the gradual progress of recovered stage, increase knee joint Qu Shenjiao training maximum gradually to reach recovered purpose.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the invention are intended to be included within the scope of the invention.
Claims (3)
1. The utility model provides a knee joint self-adaptation rehabilitation device, by movable axle (1), crank (2), slider one (3), pendulum rod (4), torsional spring (5), connecting rod (6), slider two (7), frame (8), cylinder (9) and four pairs of movements and five revolute pairs constitute, its characterized in that: the two ends of the movable shaft (1) are respectively connected with the frame (8) to form a first revolute pair (P1) and a second revolute pair (P2), the middle part of the movable shaft (1) is provided with a first revolute pair (R1), one end of the crank (2) is rotationally connected with the first slider (3) through the first revolute pair (R1), the other end of the crank (2) is rotationally connected with the first slider (3) through the second revolute pair (R2), the first slider (3) is slidably connected with the swinging rod (4) through the third revolute pair (P3), one end of the swinging rod (4) far away from the first slider (3) is rotationally connected with one end of the connecting rod (6) through the fourth revolute pair (R4), the other end of the connecting rod (6) is rotationally connected with the second slider (7) through the fourth revolute pair (R5), one end of the second slider (7) far away from the first slider (8) is slidably connected with the inner wall (9) of the frame (8) through the third revolute pair (P3), the swinging rod (4) is fixedly connected with the lower end (8) of the air cylinder (9) along the axial direction, the lower training stage (6) can be realized, the knee joint patient binds the lower limb thigh on the swing rod (4) through the flexible piece, and the shank is bound on the connecting rod (6) through the flexible piece, and knee joint flexion and extension angle is connecting rod (6) and swing rod (4) through revolute pair four (R4) pivoted angle, and through the maximum value of adjusting knee joint Qu Shenjiao of adjusting the height of movable axle (1), through the air input of adjusting cylinder (9), provides required damping force for slider two (7) motion.
2. The knee joint adaptive rehabilitation apparatus according to claim 1, wherein: the lengths of the swing rod (4) and the connecting rod (6) are adjustable.
3. The knee joint adaptive rehabilitation apparatus according to claim 1, wherein: the moving direction of the piston in the air cylinder (9) is parallel to the moving direction of the sliding block II (7), and the air inflow of the air cylinder (9) is regulated to change the damping force required by training, so that the movement is stable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010116344.4A CN111419629B (en) | 2020-02-25 | 2020-02-25 | Knee joint self-adaptive rehabilitation device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010116344.4A CN111419629B (en) | 2020-02-25 | 2020-02-25 | Knee joint self-adaptive rehabilitation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111419629A CN111419629A (en) | 2020-07-17 |
| CN111419629B true CN111419629B (en) | 2024-09-13 |
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| CN202010116344.4A Active CN111419629B (en) | 2020-02-25 | 2020-02-25 | Knee joint self-adaptive rehabilitation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112168044B (en) * | 2020-09-15 | 2024-09-13 | 南昌大学 | Three-side rotating device with angle adjustment and small-amplitude reciprocation |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN212369253U (en) * | 2020-02-25 | 2021-01-19 | 南昌大学 | A new type of knee joint rehabilitation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201211298Y (en) * | 2008-06-20 | 2009-03-25 | 郑州大学 | Lower Limb Joint Rehabilitation Trainer |
| CN101836930B (en) * | 2010-04-14 | 2011-09-21 | 南京理工大学 | Supple Active and Passive Knee Joint Rehabilitation Training Device |
| KR101764587B1 (en) * | 2016-02-05 | 2017-08-10 | (주)케어테크 | Apparatus for recovering exercise of joint-rehabilitation exercise having duel sense |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN212369253U (en) * | 2020-02-25 | 2021-01-19 | 南昌大学 | A new type of knee joint rehabilitation device |
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