CN109330824B - A height-adjustable mechanical leg for lower limb rehabilitation - Google Patents

Abstract

The invention discloses a height-adjustable lower limb rehabilitation mechanical leg, which comprises a frame assembly and a hip joint assembly. The frame assembly includes a base panel and a frame side plate; the frame side plate has a U-shaped groove opening upward and Lifting guide rail; the hip joint component includes: lower mounting plate, upper mounting plate, lifting electric push rod and hip joint power component, the hip joint component also includes lifting slider, and the lifting slider is matched with the lifting guide rail; hip joint power component It includes: a bearing seat, a hip reducer, a bearing end cover, a reducer connecting plate, two positioning blocks, a hip joint limit block, and a hip joint output shaft; the hip joint output shaft protrudes from a U-shaped groove and connects to the thigh joint assembly. The height of the invention is adjustable, and the thigh part of the rehabilitation mechanical leg can be rotated 180 degrees in the sagittal plane, so as to achieve the function of one rehabilitation mechanical leg performing alternate rehabilitation training on the left and right legs of the patient.

Description

A height-adjustable mechanical leg for lower limb rehabilitation

technical field

The invention relates to the technical field of rehabilitation medical equipment, in particular to a height-adjustable lower limb rehabilitation mechanical leg.

Background technique

As of 2017, the number of elderly people over the age of 60 in the country exceeded 240 million, and it is expected to exceed 300 million in 2025. With age, the probability of carrying chronic diseases such as cardiovascular and cerebrovascular diseases increases. Every year, there are 1.2 to 1.5 million new stroke patients, 800 to 1 million deaths, and about 75% of survivors become disabled, resulting in poor limb function. The number of handicapped patients has increased correspondingly, and they have basically lost the ability to walk, including a large number of retired soldiers. According to the data provided by the World Health Organization, tens of millions of people are injured or disabled due to traffic accidents every year, and a large number of sudden accidents will also lead to an increase in the number of patients with physical disabilities. The "Social Blue Book: Analysis and Forecast of China's Social Situation in 2014" pointed out that the number of elderly people who have lost the ability to take care of themselves is as high as 37 million, and they have become a group of people in urgent need of medical assistance in our country.

At present, the number of rehabilitation practitioners and beds in my country's medical and health industry is increasing year by year. According to the international standard of 8 rehabilitation therapists per 100,000 population, the shortage of rehabilitation medical personnel and therapists in my country is hundreds of thousands. The contradiction between the large number of patients with limb dysfunction and the large gap in rehabilitation professionals in my country needs to be resolved urgently.

Research on the plasticity of the central nervous system has brought good news to patients with limb dysfunction. Patients can promote the self-repair and functional reorganization of the nervous system through specific training, and the plasticity of the nervous system will also lay a theoretical foundation for the combination of robotics and clinical rehabilitation.

Based on the existing clinical rehabilitation methods, rehabilitation robots can assist patients to complete rehabilitation training automatically, accurately and intelligently. However, most of the existing rehabilitation trainers have single functions, and the rehabilitation trainers with strong functions are very expensive. Families can't afford it, and it has poor adaptability to patients of different heights and builds.

Existing rehabilitation trainers all carry out simultaneous rehabilitation training to both legs, but some patients only have one leg paralyzed, and the other leg also needs to be trained accordingly, and the price of the trainer that can carry out rehabilitation training to both legs at the same time is also similar. More expensive than trainers for rehabilitating one leg.

Contents of the invention

The object of the present invention is to overcome the defect of poor adaptability to patients of different heights and weights in the prior art, and provide a height-adjustable lower limb rehabilitation training leg that can adapt to patients of various heights and weights.

To achieve the above object, the present invention is achieved according to the following technical solutions:

A height-adjustable lower limb rehabilitation mechanical leg is characterized in that it includes: a frame assembly and a hip joint assembly, and the frame assembly includes a base panel and a frame side plate vertically arranged on one side of the base panel; The hip joint assembly is arranged on the inside of the side plate of the frame, and the side plate of the frame has a U-shaped groove opening upward, and the inside of the side plate of the frame is fixedly arranged with Parallel lifting guide rails; the hip joint assembly includes a lower mounting plate, an upper mounting plate, a lifting electric push rod and a hip joint power assembly installed on the lower mounting plate and the upper mounting plate, and the lifting electric push rod The fixed end of the lifting electric push rod is connected to the base panel, and the push rod end of the lifting electric push rod is connected to the upper mounting plate; the hip joint assembly also includes a lifting slider fixedly connected to the upper mounting plate and the lower mounting plate , the lifting slider is adapted to connect with the lifting guide rail; the hip joint power assembly includes a bearing seat, a hip reducer, a bearing end cover, a reducer connecting plate, a positioning block, a hip joint limit block, a hip joint The output shaft, the bearing seat is fixedly installed on the upper mounting plate, the hip reducer is installed on the bearing seat through bearing erection, the bearing end cover is covered on the bearing seat, and the speed reducer The connecting plate of the hip joint is fixedly installed on the shell of the hip reducer, the two positioning blocks are relatively fixedly installed on the connecting plate of the reducer, and the limiting block of the hip joint is installed on the end cover of the bearing. The hip joint output shaft is installed at the output end of the hip reducer; the angle between the two positioning blocks is 180°, and the hip joint output shaft is connected to the thigh joint after protruding from the U-shaped groove components.

Further, the hip joint power assembly also includes a hip joint motor installed on the lower mounting plate, a hip driving pulley coaxially connected with the output shaft of the hip joint motor and a metering driving pulley, which are mounted on the The metering driven wheel on the lower mounting plate, the metering encoder coaxially connected with the metering driven wheel, and the hip driven pulley coaxially arranged with the hip reducer, the hip driving pulley and the The hip driven pulley is connected through a transmission belt, and the metering driving wheel is connected with the metering driven wheel through a transmission belt.

Further, a torque sensor is arranged between the output end of the hip reducer and the output shaft of the hip joint.

Further, the bearing end cover has a first limit block installation hole and a second limit block installation hole, and the hip joint limit block is installed through bolts. When the positioning block is at the uppermost end, the first limit block The installation hole of a limit block and the second limit block are located on both sides of the limit block of the hip joint.

Further, an installation base plate is installed on the lower side of the base panel through two U-shaped brackets, the fixed end of the lifting electric push rod is installed on the installation base plate, and the lifting push rod is connected from the bottom of the base panel. Through the gap.

Further, the lower limb rehabilitation mechanical leg further includes a knee joint transmission assembly connected to the thigh joint assembly, a calf joint assembly connected to the knee joint transmission assembly, and an ankle joint assembly connected to the calf joint assembly.

Further, the thigh joint assembly includes a thigh shell, the calf joint assembly includes a calf shell, the thigh shell has two knee joint limit mounting holes, the calf shell has a knee joint limit chute, and one knee Joint limiting blocks are fixed in different knee joint limiting installation holes by bolts according to training needs, and the knee joint limiting blocks rotate relatively in the knee joint limiting chute along with the rotation of the lower leg shell.

Further, the rack assembly also includes a plurality of columns arranged parallel to the side panels of the rack and a plurality of beams connected between the columns, the base panel, the side panels of the rack, the columns and the beams will The rack assembly is configured as a frame structure.

Further, universal wheels are installed on the four corners of the base panel, and feet are installed on the underside of the base panel.

Compared with the prior art, the present invention has the following advantages:

1. In the present invention, rehabilitation training can be carried out by placing the rehabilitation mechanical legs next to vehicles such as hospital beds and chairs. The rehabilitation mechanical legs can be lifted and lowered along the lifting guide rail through the telescopic lifting of the electric push rod, thereby adjusting the overall height of the rehabilitation mechanical legs, adapting to hospital beds, Patients with different heights on different carriers such as seats do not need to adjust the carrier or replace the carrier, reducing the risk of changing the carrier.

2. The rehabilitation mechanical leg is more inclusive of the working objects. The rehabilitation mechanical leg can meet the training requirements of patients with one leg and two legs at the same time. The rehabilitation mechanical leg can move the rehabilitation mechanical leg 180 degrees in the sagittal plane through the hip joint power component Rotate, and by installing the knee joint limit block in different knee joint limit installation holes on the thigh shell, it meets the requirements for the rotation angle of the calf relative to the thigh during the rehabilitation training of the left leg and the right leg, so that a rehabilitation mechanical leg can The function of alternately performing rehabilitation training on the left and right legs of the patient ensures the service function of the rehabilitation mechanical legs while increasing the space occupancy rate and reducing manufacturing costs.

3. Rehabilitation mechanical legs have more richness in working modes. Since the design of rehabilitation mechanical legs has the characteristics of small size, less space, and easy movement, it can provide new training methods through modular combination. The combination of two rehabilitation mechanical legs is beneficial to patients. Rehabilitation training is performed on both legs at the same time, and it also has the function of a sitting and lying lower limb rehabilitation robot.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

1 is a perspective view of a height-adjustable lower limb rehabilitation mechanical leg according to an embodiment of the present invention;

Fig. 2 is another perspective view of the height-adjustable lower limb rehabilitation mechanical leg of the embodiment of the present invention;

Fig. 3 is a partial structural perspective view of an embodiment of the present invention;

Fig. 4 is a structural diagram of the limiting part of the hip joint according to the embodiment of the present invention;

Fig. 5 is a structural diagram of a bearing end cover according to an embodiment of the present invention;

Fig. 6 is a structural diagram of the limiting part of the knee joint according to the embodiment of the present invention.

Among the figure: 10, base panel, 11, frame side plate, 111, U-shaped groove, 12, lifting guide rail, 13, lower mounting plate, 14, upper mounting plate, 15, lifting electric push rod, 16, lifting slide Block, 17, bearing seat, 18, hip reducer, 19, bearing end cover, 20, reducer connecting plate, 21, hip joint limiting block, 22, positioning block, 23, hip joint output shaft, 24, hip joint Motor, 25, hip driving pulley, 26, metering driving wheel, 27, metering driven wheel, 28, metering encoder, 29, hip driven pulley, 30, first limit block mounting hole, 31, second limit Block installation hole, 32, U-shaped frame, 33, installation base plate, 34, column, 35, beam, 36, universal wheel, 37, foot, 38, side reinforcement plate, 39, column channel steel, 40, thigh Shell, 401, knee joint limit mounting hole, 41, calf shell, 411, knee joint limit chute, 42, knee joint limit block, 2, thigh joint assembly, 3, knee joint transmission assembly, 4, calf joint Components, 5, ankle components.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention, and these drawings are all simplified The schematic diagram only illustrates the basic structure of the present invention in a schematic manner, so it only shows the components related to the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, but not all of them.

The present invention is described in further detail now in conjunction with accompanying drawing. A specific embodiment of a height-adjustable lower limb rehabilitation mechanical leg of the present invention as shown in FIGS. 1-5 includes a frame assembly and a hip joint assembly. The frame side plate 11 of one side; The extending direction of the shaped groove 111 is parallel to the lifting guide rail 12; the hip joint assembly includes: the lower mounting plate 13, the upper mounting plate 14, the lifting electric push rod 15 and the hip joint power assembly installed on the lower mounting plate 13 and the upper mounting plate 14 The fixed end of the lifting electric push rod 15 is connected on the base panel 10, and the push rod end of the lifting electric push rod 15 is connected with the upper mounting plate 14; the hip joint assembly also includes a fixed connection with the upper mounting plate 14 and the lower mounting plate 13 Lifting slider 16, the lifting slider 16 is matched and connected with the lifting guide rail 12; the hip joint power assembly includes: a bearing seat 17 fixedly installed on the upper mounting plate 14, a hip reducer installed on the bearing seat 17 through a bearing 18. The bearing end cover 19 covered on the bearing seat 17, the reducer connecting plate 20 fixedly installed on the shell of the hip reducer 18, the two positioning blocks 22 relatively fixedly installed on the reducer connecting plate 20, installed on The hip joint limit block 21 on the bearing end cover 19 and the hip joint output shaft 23 installed on the output end of the hip reducer 18; the angle between the two positioning blocks 22 is 180°; the hip joint output shaft 23 is formed from the U-shaped groove 111 stretches out and connects the thigh joint assembly 2. Driven by the lifting electric push rod 15 , the hip joint output shaft 23 moves up and down in the U-shaped groove 111 .

1 and 3, the hip joint power assembly also includes a hip joint motor 24 installed on the lower mounting plate 13, a hip drive pulley 25 and a metering drive pulley 26 that are coaxially connected to the output shaft of the hip joint motor 24, The bearing is erected on the metering driven wheel 27 on the lower mounting plate 13, the metering encoder 28 coaxially connected with the metering driven wheel 27 and the hip driven pulley 29 coaxially arranged with the hip reducer 18, the hip driving pulley 25 and the hip The driven pulley 29 is connected by a transmission belt; the metering driving wheel 26 is connected with the metering driven wheel 27 by a transmission belt. A torque sensor is arranged between the output end of the hip reducer 18 and the output shaft 23 of the hip joint. The metering encoder 28 is used to measure the rotational speed of the hip joint motor 24, and the torque sensor is used to measure the torque between the output shaft of the hip reducer 18 and the hip joint output shaft 23 in real time, so as to control the mechanical leg to stop in time when the torque is large .

1 and 3, the mechanical leg has two lifting guide rails 12 arranged parallel to each other, and the lifting guide rails 12 are fixedly installed on the inside of the frame side plate 11, and each lifting guide rail 12 is connected with a lifting slider 16, each lifting slider 16 are connected together by a side reinforcing plate 38, and the side reinforcing plate 38 and the column channel steel 39 fixed on the side reinforcing plate 38 both sides connect the upper mounting plate 14 and the lower mounting plate 13 together. The lifting electric push rod 15 moves up and down by driving the upper mounting plate 14 to move and then drives the whole body installed on the upper mounting plate 14 and the lower mounting plate 13 .

4 and 5, the bearing end cover 19 has a first limit block installation hole 30 and a second limit block installation hole 31, and the hip joint limit block 22 is installed by bolts. When the positioning block 22 is at the uppermost end, The mounting holes 30 of the first limiting block and the mounting blocks of the second limiting block 21 are located on both sides of the limiting block 21 of the hip joint.

1 and 3, the lower side of the base panel 10 is installed with an installation base plate 33 through two U-shaped frames 32, the fixed end of the lifting electric push rod 15 is installed on the installation base plate 33, and the lifting push rod is connected from the bottom of the base panel 10. Through the gap.

The height-adjustable lower limb rehabilitation mechanical leg of this embodiment also includes a knee joint transmission assembly 3 connected to the thigh joint assembly 2, a calf joint assembly 4 connected to the knee joint transmission assembly 3, and an ankle joint assembly connected to the calf joint assembly 4 5.

As shown in Figure 6, it is a structural diagram of the knee joint limit part of the present embodiment. The thigh joint assembly includes a thigh shell 40, and the calf joint assembly includes a calf shell 41. There are two knee joint limit mounting holes 401 on the thigh shell 40, and the calf shell 41 There is a knee joint limiting chute 411 on the top, and a knee joint limiting block 42 is fixed in different knee joint limiting mounting holes 401 by bolts according to training needs. Rotate in the limit chute 411 of the knee joint. During rehabilitation training, the calf shell 41 rotates relative to the thigh shell 40 within the angle defined by the knee joint limiter 42 and the knee joint limiter chute 411 . The knee joint limiting blocks 42 are installed in different knee joint limiting mounting holes 401 to meet the requirements of the exercise posture of the rehabilitation training legs for the rehabilitation training of the left leg and the right leg respectively.

In this embodiment, the rack assembly further includes a plurality of columns 34 arranged parallel to the side panels 11 of the rack. The frame assembly also includes a plurality of beams 35 connected between the columns 34, the base panel 10, the frame side panels 11, the columns 34 and the beams 35 construct the frame assembly into a frame structure. Universal wheels 36 are also installed at the four corners of the base panel 10 . An anchor 37 is also installed on the underside of the base panel 10 .

In the present invention, in order to ensure the stability of the operation of the rehabilitation mechanical leg, the hip joint component with the largest weight of the whole machine is designed on the inside of the frame side plate 11, and other joint components are arranged on the outside of the frame side plate 11. Specifically, the hip joint component and other mechanical leg components move up and down through the lifting electric push rod 15 to meet the different height requirements of patients, and the 180-degree rotation of the hip joint is realized through two positioning blocks 22 with an included angle of 180°.

When the rehabilitation mechanical leg of the present invention installs the hip joint limiter 21 in the first limiter installation hole, the rehabilitation training to the right leg is realized, and when the hip joint limiter 21 is installed in the second limiter installation hole, The rehabilitation training of the left leg can be realized, and at the same time, the knee joint limit block 42 is installed in different knee joint limit installation holes 401 on the thigh shell 40 to meet the needs of the rehabilitation training of the left leg or the right leg. If the patient only needs rehabilitation training on one leg, the user can adjust it as needed. If both legs of the patient need to undergo rehabilitation training, in order to save costs, the customer can also only purchase one rehabilitation mechanical leg, and realize the sequential training of the two legs by adjusting the installation position of the hip joint limiter 21 . It is also possible to purchase two rehabilitation training legs and perform rehabilitation training on both legs at the same time.

Put the rehabilitation mechanical legs next to the hospital bed, chair and other vehicles to carry out rehabilitation training. The rehabilitation mechanical legs can be lifted and lowered along the lifting guide rail 12 through the extension and contraction of the lifting electric push rod 15, so as to adjust the overall height of the rehabilitation mechanical legs and adapt to the hospital beds and seats. For patients with different heights on different carriers, there is no need to adjust the carrier, no need to replace the carrier, and reduce the risk of changing the carrier. Compared with the rehabilitation trainer with two mechanical legs and a seat, the invention has small volume, convenient movement, low price and higher market promotion value.

Although the present invention has been described in detail with general descriptions and specific examples above, it is obvious to those skilled in the art that some modifications or improvements can be made on the basis of the present invention. Therefore, the modifications or improvements made on the basis of not departing from the spirit of the present invention all belong to the protection scope of the present invention.

Claims (8)

1. a kind of height-adjustable lower limb rehabilitation machinery leg characterized by comprising rack components and hip joint component, it is described Rack components includes base panel (10) and the framework lateral plate (11) for being vertically set on the base panel (10) side；The hip The U-shaped groove with upward opening is arranged on the inside of the framework lateral plate (11), the framework lateral plate (11) in joint assembly (111), the lifting parallel with the extending direction of the U-shaped groove (111) is fixedly installed on the inside of the framework lateral plate (11) to lead Rail (12)；The hip joint component includes lower installation board (13), upper mounting plate (14), lifting electric putter (15) and is mounted on Hip joint Power Component on the lower installation board (13) and the upper mounting plate (14), lifting electric putter (15) are consolidated Fixed end is connected on base panel (10), and the push rod end of the lifting electric putter (15) is connect with the upper mounting plate (14)； The hip joint component further includes the lifting slider (16) being fixedly connected with the upper mounting plate (14) and lower installation board (13), institute It states lifting slider (16) and is adapted with the riser guide (12) and is connect；The hip joint Power Component include bearing block (17), Hip retarder (18), bearing (ball) cover (19), retarder connecting plate (20), locating piece (22), hip joint limited block (21), hip joint Output shaft (23), the bearing block (17) are fixedly mounted on the upper mounting plate (14), and the hip retarder (18) passes through axis Bolster, which is set, to be mounted on the bearing block (17), and bearing (ball) cover (19) lid closes the deceleration on the bearing block (17) Device connecting plate (20) is fixedly mounted on the shell of the hip retarder (18), the relatively fixed installation of two locating pieces (22) On the retarder connecting plate (20), the hip joint limited block (21) is mounted on the bearing (ball) cover (19), the axis There is the first limited block mounting hole (30) and the second limited block mounting hole (31), the hip joint limited block on socket end lid (19) (21) it is mounted at the first limited block mounting hole (30) or the second limited block mounting hole (31) by bolt, when the locating piece (22) when being located at the top, the first limited block mounting hole (30) and the second limited block mounting hole (31) are located at hip joint The two sides of limited block (21), the hip joint output shaft (23) are mounted on the output end of the hip retarder (18)；Described in two Angle between locating piece (21) is 180 °, and the hip joint output shaft (23) connects big after stretching out from the U-shaped groove (111) Leg joint component (2).

2. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the hip joint is dynamic Power component further includes the hip joint motor (24) being mounted on the lower installation board (13), defeated with the hip joint motor (24) The coaxially connected hip driving pulley (25) of shaft and metering driving wheel (26) are erected on the lower installation board (13) by bearing Metering driven wheel (27), slow down with the coaxially connected metering encoder (28) of metering driven wheel (27) and with the hip The hip driven pulley (29) of device (18) coaxial arrangement, the hip driving pulley (25) and the hip driven pulley (29) pass through transmission Band connection, the metering driving wheel (26) and the metering driven wheel (27) pass through transmission band connection.

3. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the hip retarder (18) torque sensor is provided between output end and the hip joint output shaft (23).

4. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the base panel (10) downside is equipped with a mounting base (33) by two U-shaped frames (32), the fixing end peace of the lifting electric putter (15) On the mounting base (33), and the lifting electric putter (15) is worn from the notch on the base panel (10) Out.

5. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the lower limb rehabilitation Pedipulator further includes the knee joint transmission component (3) connecting with the thigh joint assembly (2) and the knee joint transmission component (3) the calf joint component (4) connected, the ankle-joint component (5) being connect with the calf joint component (4).

6. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 5, which is characterized in that the big leg joint Component (2) includes thigh shell (40), and the calf joint component (4) includes shank shell (41), the thigh shell (40) It is upper that there are two knee joints hole (401) are mounted, there are knee joint limit sliding chutes (411) on the shank shell (41), a knee Joint limited block (42) needs to be bolted on different knee joints according to training and is mounted in hole (401), the knee Joint limited block (42) is with the rotation of shank shell (41) and relative to the rotation in the knee joint limit sliding chutes (411).

7. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the rack components The crossbeam for further including and the framework lateral plate (11) a plurality of column (34) disposed in parallel and being connected between the column (34) (35), the rack components is configured to frame by the base panel (10), framework lateral plate (11), column (34) and crossbeam (35) Structure.

8. a kind of height-adjustable lower limb rehabilitation machinery leg according to claim 1, which is characterized in that the base panel (10) four angles are equipped with universal wheel (36), are equipped with lower margin (37) on the downside of the base panel (10).