CN207341899U - A kind of Multifunctional rehabilitation exercise equipment - Google Patents

Abstract

The utility model discloses a multifunctional rehabilitation training equipment, which comprises an exoskeleton device and a wheelchair device. The exoskeleton device can be placed on the wheelchair or used independently from the wheelchair. The exoskeleton device includes a foot support board, a calf support board, a thigh Support plate and lumbar support plate, the rear of the foot support plate is hinged with the lower end of the calf support plate through the ankle joint, the upper end of the calf support plate is hinged with the lower end of the thigh support plate, and the upper end of the thigh support plate is connected with the waist support plate through the hip joint Hinged, the thigh support plate and the calf support plate are respectively fixed with leg fixing parts for fixing the legs. This practical lower limb rehabilitation training system combines wheelchair technology and exoskeleton technology. It relies on the detachable wearable exoskeleton on the wheelchair to assist the user to exercise the lower limbs and promote the recovery of the patient's nerve function. The exoskeleton device is equipped with a limit mechanism, which can Limit the knee and hip.

Description

A kind of multifunctional rehabilitation training equipment

technical field

The utility model relates to the field of exoskeleton mechanisms and wheelchairs, in particular to a multifunctional rehabilitation training equipment.

Background technique

With the development of science and technology, more and more people are able to survive after a stroke, but at the same time, corresponding sequelae remain among these patients, and a considerable part of them is human motor dysfunction. Effective rehabilitation can be obtained if treated in time, but due to the lack of necessary rehabilitation knowledge and rehabilitation equipment, patients may permanently lose sensory and motor functions.

At present, many research institutions have begun to conduct research on lower limb rehabilitation equipment. However, the traditional sports rehabilitation centered on the therapist inevitably has many disadvantages. With the development of modern robotics, robotics has obvious benefits in providing long-term stable motion input compared to traditional rehabilitation training. Compared with traditional rehabilitation training, the significance of robot-assisted sports rehabilitation training is that it can not only liberate the treatment personnel from the one-on-one heavy treatment process of doctors and patients, but also provide patients with a better rehabilitation training plan by inputting quantitative exercise. , has great potential and superiority in improving the training effect, and can provide a platform for the research on the mechanism of sports rehabilitation.

Medical rehabilitation exoskeleton technologies at home and abroad have not yet been combined with wheelchairs, and cannot balance the weight and center position of the body.

Utility model content

The purpose of this utility model is to provide a multifunctional rehabilitation training equipment for solving the problems existing in the prior art. The rehabilitation training equipment is provided with a limiting mechanism, which can limit the knee and hip and prevent the user from falling , can assist the user to exercise the lower limbs, and promote the recovery of the patient's neurological function.

In order to achieve the above object, the technical solution adopted by the utility model is: a multifunctional rehabilitation training equipment, including an exoskeleton device, and the exoskeleton device includes a foot support board, a calf support board, a thigh support board and a waist support board , the rear part of the foot support plate is hinged with the lower end of the calf support plate through the ankle joint, the upper end of the calf support plate is hinged with the lower end of the thigh support plate, the upper end of the thigh support plate is hinged with the waist support plate through the hip joint, and the thigh support Leg fixing parts for fixing the legs are respectively fixed on the plate and the calf support plate;

The outer side of the upper part of the calf support plate is provided with a limit adjustment plate and a main bevel gear driven by a drive motor to rotate, the drive motor is fixedly mounted on the limit adjustment plate, and the main bevel gear is meshed with a first driven bevel gear. gear and the second driven gear, the second driven gear is fixedly sleeved at one end of a connection shaft A; the other end of the connection shaft A passes through the calf support plate and is connected with the lower part of the thigh support plate through a bearing, and the connection shaft A is connected to the lower leg support plate. The calf support plate is fixedly connected; the first driven gear is vacantly sleeved on one end of a connecting shaft B, the limit adjustment plate is vacantly sleeved on the other end of the connection shaft B, and the two sides of the upper part of the limit adjustment plate extend outward respectively. The first protruding rod, the first protruding rod is evenly provided with a plurality of first limit holes, and a second protruding rod is symmetrically extended on both sides of the lower part of the thigh support plate, and the second protruding rod is provided with the first protruding rod. A limit hole corresponds to a number of second limit holes, a limit rod is pierced in the corresponding first limit hole and the second limit hole, and the upper end of the limit adjustment plate is also connected to the thigh support plate by a fixed rod. The lower part is fixedly connected; both sides of the upper part of the calf support plate are evenly provided with a plurality of limit grooves, and when the driving motor drives the second driven gear to rotate, the second driven gear drives the calf support plate to rotate backwards. Therefore, the limit rod is clamped in the limit groove to limit the movement of the calf support plate.

Further, the outer side of the upper part of the thigh support plate is provided with a limit adjustment plate and a main bevel gear driven by a drive motor to rotate, the drive motor is fixedly mounted on the limit adjustment plate, and the main bevel gear is meshed with a second A driven gear and a second driven gear, the second driven gear is fixedly sleeved at one end of a connection shaft A; the other end of the connection shaft A passes through the hip joint and is connected to the lower part of the hip joint through a bearing, and the connection shaft A It is fixedly connected with the hip joint; the first driven gear is vacantly sleeved on one end of a connecting shaft B, the limit adjustment plate is vacantly sleeved on the other end of the connection shaft B, and the two sides of the upper part of the limit adjustment plate extend outward respectively. The first protruding rod, the first protruding rod is evenly provided with a plurality of first limit holes, and a second protruding rod is symmetrically extended on both sides of the lower part of the hip joint, and the second protruding rod is provided with the first protruding rod. The limit holes correspond to the number of second limit holes, and limit rods are perforated in the corresponding first limit holes and second limit holes, and the upper end of the limit adjustment plate is also fixed to the lower part of the hip joint through a fixing rod connection; both sides of the upper part of the thigh support plate are evenly provided with a plurality of limit grooves, and in the state where the driving motor drives the second driven gear to rotate, the second driven gear drives the thigh support plate to rotate backwards, so that The limit rod is clamped in the limit groove to limit the movement of the thigh support plate.

Further, the exoskeleton device also includes a gait detection system, and the gait detection system includes a controller, a gyro sensor located at the waist, an inclination sensor at the knee joint, and a pressure sensor at the foot; , the inclination sensor and the pressure sensor transmit the motion information received to the central sensor and compare it with the normal attitude, and adjust it by controlling the drive motor through the controller.

Further, the leg fixing structure includes thigh straps detachably arranged on the thigh support plate and calf straps detachably arranged on the calf support plate.

Further, a foot fixing plate is detachably provided on the foot supporting plate.

Further, the lumbar support plate includes a first lumbar support plate, a second lumbar support plate and a connecting plate, the first lumbar support plate and the second lumbar support plate are provided with long holes, and the connecting plate is provided with round holes, In the state of adjusting the first lumbar support plate and the second lumbar support plate to the required length, by attaching the connecting plate to the first lumbar support plate and passing through the connecting plate, the first lumbar support plate and the second lumbar support plate sequentially through the bolts Fix between the first lumbar support board and the second lumbar support board behind the support board.

Further, the rehabilitation training equipment also includes a wheelchair device that can be used to install the exoskeleton device. The wheelchair device includes a U-shaped card slot and a cross-shaped card block. The exoskeleton device is fixed on the wheelchair through the card slot and the card block. on the device.

Further, the calf support plate includes a second calf support plate and a first calf support plate with a hollow structure inside, a plurality of long holes are evenly opened on the first calf support plate along its length direction, and the second calf support plate There is a round hole in the lower part, and the lower part of the second calf support plate is sleeved in the first calf support plate, and the length of the calf support plate can be adjusted and the first calf support plate can be fixed by passing bolts through the round hole and different long holes and the position between the second calf support board, the lower part of the first calf support board is hinged with the ankle joint.

Further, the thigh support plate includes a second thigh support plate and a first thigh support plate with a hollow structure inside, a long hole is opened on the first thigh support plate, and the lower part of the second thigh support plate is evenly spaced along the vertical direction. A plurality of round holes are provided, and the lower part of the second thigh support plate is sleeved in the first thigh support plate. By passing bolts through the long holes and different round holes on the second thigh support plate, the height of the thigh support plate can be adjusted. length and fix the position between the first thigh support plate and the second thigh support plate.

Compared with the prior art, the beneficial effects of the utility model are:

1. This utility model is a lower limb rehabilitation training system that combines wheelchair technology and exoskeleton technology. It relies on the detachable wearable exoskeleton on the wheelchair to assist the user in exercising the lower limbs and promote the recovery of the patient's nerve function; the exoskeleton device is equipped with a limited The position mechanism can limit the knee and hip;

2. The utility model can be worn on the outside of the operator's body, and can provide functions such as protection, body support, and auxiliary movement, and is an attempt at intelligent medical wearable equipment;

3. The utility model relies on various sensors to build a gait detection system, so that the patient's physiological condition information and the operation status of the exoskeleton equipment can be fed back in real time.

Description of drawings

Figure 1 is a schematic diagram of the structure of the exoskeleton device.

FIG. 2 is an enlarged schematic diagram of a local position at A in FIG. 1 .

Fig. 3 is a structural schematic diagram of the wheelchair device.

Fig. 4 is a schematic structural view of the combination of the exoskeleton device and the wheelchair device.

Fig. 5 is a flowchart of the gait detection system.

Marking among the figure: 1, foot support plate, 2, ankle joint, 3, calf support plate, 301, the first calf support plate, 302, the second calf support plate, 302-a, limit groove, 4, main Bevel gear, 5, thigh support plate, 501, the first thigh support plate, 501-a, the second protruding rod, 502, the second thigh support plate, 6, the first driven gear, 7, hip joint, 8, Waist support plate, 9, thigh straps, 10, limit rod, 11, drive motor, 12, fixed rod, 13, limit adjustment plate, 1311, the first protruding rod, 1311-a, the first limit hole , 14, the second driven gear, 1501, block, 1502, slot, 1503, armrest, 1504, backrest, 1505, remote control device, 1506, seat plate, 1507, support frame.

Detailed ways

Below in conjunction with accompanying drawing and specific embodiment the utility model is described in further detail.

As shown in the figure, a multifunctional rehabilitation training equipment includes an exoskeleton device. The exoskeleton device includes a foot support board 1, a calf support board 3, a thigh support board 5 and a waist support board 8, and the rear part of the foot support board 1 The lower end of ankle joint 2 is hinged with calf support plate 3, the upper end of calf support plate 3 is hinged with the lower end of thigh support plate 5, the upper end of thigh support plate 5 is hinged with waist support plate 8 through hip joint 7, thigh support plate 5 and The calf support plate 3 is respectively fixed with leg fixtures for fixing the legs, and the leg fixture structure includes a thigh strap 9 detachably arranged on the thigh support plate 5 and a thigh strap 9 detachably arranged on the calf support plate 3. Upper calf straps. The foot support plate 1 is detachably provided with a foot fixing plate 102 .

The outside of the top of the calf support plate 3 is provided with a limit adjustment plate 13 and a main bevel gear 4 driven by the drive motor 11 to rotate, the drive motor 11 is fixedly installed on the limit adjustment plate 13, and the main bevel gear 4 is engaged There are a first driven gear 6 and a second driven gear 14, and the second driven gear 14 is fixedly sleeved on one end of a connection shaft A; the other end of the connection shaft A passes through the calf support plate 3 and is supported by the bearing and the thigh The lower part of the plate 5 is connected, and the connecting shaft A is fixedly connected with the calf support plate 3; the first driven gear is idly sleeved on one end of a connecting shaft B, and the limit adjustment plate 13 is idly sleeved on the other end of the connecting shaft B, and the limit adjustment A first protruding rod 1311 is respectively extended outward on both sides of the upper part of the plate 13, and a plurality of first limiting holes 1311-a are evenly opened on the first protruding rod 1311, and the two sides of the lower part of the thigh support plate 5 are symmetrical. A second protruding rod 501-a is extended, and the second protruding rod 501-a is provided with a number of second limiting holes corresponding to the first limiting hole 1311-a. In the corresponding first limiting hole 1311 -a and the second limit hole are pierced with a limit rod 10, and the upper end of the limit adjustment plate 13 is also fixedly connected with the bottom of the thigh support plate 5 through a fixed rod 12; A plurality of limit grooves 302-a are provided, and when the driving motor 11 drives the second driven gear 14 to rotate, the second driven gear 14 drives the calf support plate 3 to rotate backward, so that the limit rod 10 is locked. The movement of the calf support plate 3 is limited by being provided in the limiting groove 302-a.

The outer side of the top of the thigh support plate 5 is provided with a limit adjustment plate and a main bevel gear driven by the drive motor to rotate, the drive motor is fixedly installed on the limit adjustment plate, and the first driven gear is meshed with the main bevel gear and the second driven gear, the second driven gear is fixedly sleeved at one end of a connection shaft A; the other end of the connection shaft A passes through the hip joint 7 and is connected to the lower part of the hip joint 7 through a bearing, and the connection shaft A and the hip joint The joint 7 is fixedly connected; the first driven gear is idly sleeved on one end of a connecting shaft B, the limit adjustment plate is idly sleeved on the other end of the connecting shaft B, and the two sides of the upper part of the limit adjustment plate extend outward respectively. A protruding rod, the first protruding rod is uniformly provided with a plurality of first limit holes, and a second protruding rod is symmetrically extended on both sides of the lower part of the hip joint 7, and the second protruding rod is provided with the same hole as the first protruding rod. The number of second limit holes corresponding to the limit holes is provided with limit rods in the corresponding first limit holes and second limit holes. Fixed connection; both sides of the upper part of the thigh support plate 5 are evenly provided with a plurality of limit grooves respectively, and when the driving motor 11 drives the second driven gear to rotate, the second driven gear drives the thigh support plate 5 backward Rotate, so that the limit rod is clamped in the limit groove to limit the movement of the thigh support plate 5 .

The exoskeleton device also includes a gait detection system, and the gait detection system includes a controller, a gyro sensor located at the waist, an inclination sensor at the knee joint, and a pressure sensor at the foot; The sensor transmits the received motion information to the central sensor and compares it with the normal posture, and then controls the drive motor to adjust through the controller.

The pressure sensor of the foot is composed of two groups of eight sensors on the left and right sides, namely the area of the first phalanx, the area of the other phalanges, the area of the first metatarsal joint, the area of the second and third metatarsal joints, the area of the fourth and fifth metatarsal joints, and the inner area of the sole of the foot , the lateral area of the sole of the foot, and the area of the heel bone.

The lumbar support plate 9 comprises a first lumbar support plate, a second lumbar support plate and a connecting plate, and both the first lumbar support plate and the second lumbar support plate are provided with long holes, and the connecting plate is provided with a circular hole. When the lumbar support plate and the second lumbar support plate reach the required length, the connecting plate is pressed against the first lumbar support plate and the bolts are sequentially penetrated into the connecting plate, the first lumbar support plate and the second lumbar support plate. The first lumbar support board and the second lumbar support board are fixed.

The rehabilitation training equipment also includes a wheelchair device that can be used for detachable installation of the exoskeleton device. The wheelchair device includes a U-shaped card slot 1502 and a cross-shaped card block 1501. The exoskeleton device is fixed by the card slot 1502 and the card block 1501. located on the wheelchair device. The wheelchair device also includes a backrest 1504, armrests 1503 on both sides, a remote control device 1505, a seat plate 1506 and a support frame 1507, the support frame 1507 is used to support the seat plate 1506, and the height of the seat plate 1506 can be adjusted by adjusting the support frame 1507.

The exoskeleton body can be placed inside the handle of the wheelchair, or it can be used separately from the wheelchair.

The calf support plate 3 comprises a second calf support plate 302 and a first calf support plate 301 with a hollow structure inside. The first calf support plate 301 is evenly provided with a plurality of long holes along its length direction. The second calf support plate 302 The lower part is provided with a circular hole, and the lower part of the second calf support plate 302 is sleeved in the first calf support plate 301, and the length of the calf support plate 3 is adjusted and the first calf support plate 3 is fixed by inserting bolts into the circular holes and different elongated holes. At the position between the calf support plate 301 and the second calf support plate 302 , the lower part of the first calf support plate 301 is hinged to the ankle joint 2 .

The thigh support plate 5 comprises a second thigh support plate 502 and a first thigh support plate 501 with a hollow structure inside. An elongated hole is provided on the first thigh support plate 501, and the bottom of the second thigh support plate 502 is uniform along the vertical direction. A plurality of round holes are provided, and the lower part of the second thigh support plate 502 is sleeved in the first thigh support plate 501, and the thighs can be adjusted by inserting bolts into the long holes and different round holes on the second thigh support plate 502. The length of the support plate 5 and the position between the first thigh support plate 501 and the second thigh support plate 502 are fixed.

The adjustment angle of the limit mechanism of the hip is 21° to the left and 27° to the right based on the plumb line, and the adjustment angle of the limit mechanism of the knee is 71° to the left and 71° to the right based on the plumb line. °.

The adjustable range of the leg size adjustment mechanism is 0-70cm, and the adjustable range of the waist size adjustment mechanism is 0-30cm.

In the limiting mechanism of the hip and the knee, torsion springs are installed on both sides of the waist respectively to realize limiting the adduction and abduction of the hip joint.

Claims (9)

1. A multifunctional rehabilitation training equipment, comprising an exoskeleton device, the exoskeleton device comprising a foot support plate (1), a calf support plate (3), a thigh support plate (5) and a waist support plate (8), The rear part of the foot support plate (1) is hinged to the lower end of the calf support plate (3) through the ankle joint (2), and the upper end of the calf support plate (3) is hinged to the lower end of the thigh support plate (5). The upper end of the plate (5) is hinged with the waist support plate (8) through the hip joint (7), and the thigh support plate (5) and the calf support plate (3) are respectively fixed with leg fixing parts for fixing the legs , characterized by: The outside of the upper part of the calf support plate (3) is provided with a limit adjustment plate (13) and a main bevel gear (4) driven by a drive motor (11) to rotate, and the drive motor (11) is fixedly installed on the limit On the position adjustment plate (13), the first driven gear (6) and the second driven gear (14) mesh with the main bevel gear (4), and the second driven gear (14) is fixedly sleeved on a connecting shaft One end of A; the other end of the connection shaft A passes through the calf support plate (3) and connects with the lower part of the thigh support plate (5) through a bearing, and the connection shaft A is fixedly connected with the calf support plate (3); the first driven gear (6) The empty sleeve is on one end of a connecting shaft B, and the limit adjustment plate (13) is empty sleeved on the other end of the connecting shaft B. The upper sides of the limit adjustment plate (13) respectively extend outwards with a first The protruding rod (1311), the first protruding rod (1311) is evenly opened with a plurality of first limiting holes (1311-a), and a second protruding hole is symmetrically extended on both sides of the lower part of the thigh support plate (5). Rod (501-a), the second protruding rod (501-a) is provided with second limiting holes corresponding to the number of first limiting holes (1311-a), and the corresponding first limiting holes (1311 -a) and the second limit hole are pierced with a limit rod (10), and the upper end of the limit adjustment plate (13) is also fixedly connected with the lower part of the thigh support plate (5) through a fixed rod (12); Both sides of the upper part of the plate (3) are evenly provided with a plurality of limit grooves (302-a), and when the driving motor (11) drives the second driven gear (14) to rotate, the second driven gear (14) Drive the calf support plate (3) to rotate backward, so that the limit rod (10) is clamped in the limit groove (302-a) to limit the movement of the calf support plate (3). 2. A kind of multifunctional rehabilitation training equipment according to claim 1, characterized in that: The outer side of the upper part of the thigh support plate (5) is provided with a limit adjustment plate and a main bevel gear driven by a drive motor, the drive motor is fixedly mounted on the limit adjustment plate, and the main bevel gear is meshed with a second A driven gear and a second driven gear, the second driven gear is fixedly sleeved at one end of a connecting shaft A; the other end of the connecting shaft A passes through the hip joint (7) and passes through the bearing and the hip joint (7) The lower part is connected, the connecting shaft A is fixedly connected with the hip joint (7); the first driven gear is vacantly sleeved on one end of a connecting shaft B, the limit adjustment plate is vacantly sleeved on the other end of the connecting shaft B, and the upper part of the limit adjustment plate There is a first protruding rod extending outward on both sides of the hip joint, and a plurality of first limiting holes are evenly opened on the first protruding rod, and a second protruding rod is symmetrically extended on both sides of the lower part of the hip joint (7) , the second protruding rod is provided with a number of second limit holes corresponding to the first limit hole, and a limit rod is pierced in the corresponding first limit hole and second limit hole, and the limit adjustment plate The upper end is also fixedly connected to the lower part of the hip joint (7) through a fixed rod; the two sides of the upper part of the thigh support plate (5) are evenly provided with a plurality of limit grooves, and the driving motor (11) drives the second driven When the gear rotates, the second driven gear drives the thigh support plate (5) to rotate backward, so that the limit rod is clamped in the limit groove to limit the movement of the thigh support plate (5). 3. A kind of multifunctional rehabilitation training equipment according to claim 1, characterized in that: the exoskeleton device also includes a gait detection system, and the gait detection system includes a controller, a gyroscope sensor located at the waist , the inclination sensor at the knee joint, and the pressure sensor on the foot; in the state where the gyro sensor, inclination sensor and pressure sensor transmit the received motion information to the central sensor and compare it with the normal posture, the controller controls the drive motor to adjust . 4. The multi-functional rehabilitation training equipment according to claim 1, characterized in that: the leg fixing structure includes a thigh strap (9) detachably arranged on the thigh support plate (5) and a detachable The calf strap that is arranged on the calf support plate (3). 5. The multi-functional rehabilitation training equipment according to claim 1, characterized in that: the foot support plate (1) is detachably provided with a foot fixing plate (102). 6. The multifunctional rehabilitation training equipment according to claim 1, characterized in that: the lumbar support plate (8) includes a first lumbar support plate, a second lumbar support plate and a connecting plate, the first lumbar support plate and the second lumbar support plate are provided with long holes, and the connecting plate is provided with a round hole. When the first lumbar support plate and the second lumbar support plate are adjusted to the required length, the connecting plate is pressed against the first lumbar support plate. The lumbar support plate is passed through the connecting plate, the first lumbar support plate and the second lumbar support plate sequentially by bolts, and the first lumbar support plate and the second lumbar support plate are fixed between the first lumbar support plate and the second lumbar support plate. 7. The multifunctional rehabilitation training equipment according to claim 1, characterized in that: the rehabilitation training equipment also includes a wheelchair device that can be used to install an exoskeleton device, and the wheelchair device includes a U-shaped card slot (1502) and a cross-shaped block (1501), the exoskeleton device is fixed on the wheelchair device through the slot (1502) and the block (1501). 8. The multifunctional rehabilitation training equipment according to claim 1, characterized in that: the calf support plate (3) comprises a second calf support plate (302) and a first calf support plate ( 301), the first calf support plate (301) is uniformly provided with a plurality of long holes along its length direction, the lower part of the second calf support plate (302) is provided with round holes, and the lower part of the second calf support plate (302) covers Set in the first calf support plate (301), adjust the length of the calf support plate (3) and fix the first calf support plate (301) and the second calf support by passing bolts into round holes and different long holes Between the plates (302), the lower part of the first calf support plate (301) is hinged with the ankle joint (2). 9. The multifunctional rehabilitation training equipment according to claim 1, characterized in that: the thigh support plate (5) includes a second thigh support plate (502) and a first thigh support plate ( 501), the first thigh support plate (501) is provided with a long hole, the lower part of the second thigh support plate (502) is evenly provided with a plurality of circular holes along the vertical direction, the lower part of the second thigh support plate (502) Set in the first thigh support plate (501), adjust the length of the thigh support plate (5) and fix the first thigh support plate (5) The position between the thigh support board (501) and the second thigh support board (502).