CN202128671U - Phalanx knuckle rehabilitating mechanism of pedal type tread rehabilitation trainer - Google Patents

Abstract

The purpose of this utility model is to provide the rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer, including a bent bar, a vertical rocker pillar, a phalanx joint rehabilitation mechanism, a connecting rod, a base plate, a crank, a torque motor, and a vertical rocker pillar Fixed on the front end of the base plate, the torque motor is fixed on the rear end of the base plate, the upper end of the bending rod is connected with the vertical rocker pillar, the lower end of the bending rod is connected with the connecting rod, the connecting rod is connected with the crank, the crank is connected with the torque motor, and the phalange joint rehabilitation mechanism Linked to each other with the connecting rod, there are two bent rods, connecting rods, phalangeal joint rehabilitation mechanism, and cranks, which are symmetrically located on both sides of the vertical rocker pillar. The utility model has the advantages of simple structure and convenient use, and has the driving ability of four joints of the thigh, the lower leg, the ankle and the metatarsal bone. It is suitable for rehabilitation training for patients with paralysis caused by cardiovascular and cerebrovascular diseases and lower limb injuries caused by accidents, and also for patients with gait deformity. The range and speed of movement can be changed according to the actual situation of the patient, and the application range is wide.

Description

Rehabilitation mechanism of phalanx joint of pedal type gait rehabilitation trainer

technical field

The utility model relates to a device for patient rehabilitation training.

Background technique

Medical theory and practice have proved that patients with limb injuries caused by cerebral palsy sequelae or accidents must perform limb training in order to restore limb function and prevent muscle "disuse" atrophy and joint stiffness. In recent years, rehabilitation trainers have shown more and more advantages in scientific and effective rehabilitation training for patients. Early rehabilitation training can not only maintain the joint range of motion and prevent joint contracture, but also significantly improve the final recovery of the patient's motor function. Among them, passive movement training is a basic method in the rehabilitation training therapy of limb motor function.

The existing gait rehabilitation robots generally realize the simulation of human gait through the swing of thigh and calf and the rotation of ankle, ignoring the role of human foot metatarsal joints in gait. A perfect set of gaits must allow the patient to walk easily and for extended periods of time. The metatarsal joint plays a very important role in the stance phase, the time when the lower extremity is in contact with the ground and bears gravity, which accounts for about 60-65% of the entire gait cycle. During the stance phase, the center of gravity of the human body moves from the heel to the toes, and the plantar force is manifested as a double peak curve. Adding metatarsal joints to the gait rehabilitation robot can make the gait curve closer to the real gait curve of humans on the one hand, and can make the plantar force conform to the characteristics of double peaks on the other hand.

Contents of the invention

The purpose of the utility model is to provide a pedal type gait rehabilitation trainer for the rehabilitation mechanism of the phalanx joint for the muscle and joint function training of patients with lower limb injuries.

The purpose of this utility model is achieved in that:

The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer of the utility model is characterized in that it comprises a curved rod, a vertical rocker pillar, a phalanx joint rehabilitation mechanism, a connecting rod, a bottom plate, a crank, a torque motor, and a vertical rocker pillar Fixed on the front end of the base plate, the torque motor is fixed on the rear end of the base plate, the upper end of the bending rod is connected with the vertical rocker pillar, the lower end of the bending rod is connected with the connecting rod, the connecting rod is connected with the crank, the crank is connected with the torque motor, and the phalange joint rehabilitation mechanism Linked to each other with the connecting rod, there are two bent rods, connecting rods, phalangeal joint rehabilitation mechanism, and cranks, which are symmetrically located on both sides of the vertical rocker pillar.

The utility model can also include:

1. The phalanx joint rehabilitation mechanism includes a front plate, a long spring shaft, a pulley, a hinge, a short spring shaft, a rear foot plate, a linear bearing connection block, a slider, a slide rail, a slide rail support frame, a front foot plate and a rear foot plate. The foot plates are connected by hinges, the bottom of the front foot plate is installed with a long spring shaft, the pulley is installed at one end of the long spring shaft, the bottom of the rear foot plate is equipped with a short spring shaft, the long spring shaft and the short spring shaft are connected by a spring, and the rear foot plate is connected by a linear bearing connection block The slide block is installed on the slide rail, and the slide rail is fixed on the slide rail supporting frame.

2. It also includes a limiting groove, the bottom of which is fixed on the base plate, and the upper part of the limiting groove cooperates with the pulley of the phalanx joint rehabilitation mechanism.

3. The bottom plate is a plane frame structure.

4. A protective frame is fixed around the front foot plate and the rear foot plate.

5. A supporting shaft is installed at the bottom of the rear foot plate, and the phalanx joint rehabilitation mechanism is connected with the connecting rod through the supporting shaft.

The utility model has the advantages that: the utility model is simple in structure, easy to use, and has four joint driving capabilities of the thigh, the calf, the ankle and the metatarsal bone. It is suitable for rehabilitation training for patients with paralysis caused by cardiovascular and cerebrovascular diseases and lower limb injuries caused by accidents, and also for patients with gait deformity. The range and speed of movement can be changed according to the actual situation of the patient, and the application range is wide.

Description of drawings

Fig. 1 is the three-dimensional figure of the utility model;

Fig. 2 is the three-dimensional diagram 1 of the phalanx joint rehabilitation mechanism of the present invention;

Fig. 3 is a three-dimensional diagram 2 of the phalanx joint rehabilitation mechanism of the present invention;

Fig. 4 is the front view when the pulley is just in contact with the chute;

Fig. 5 is the front view when the bending angle of the front and rear pedals is the largest;

Figure 6 is the trajectory curve at the hinge.

Detailed ways

The utility model is described in more detail below in conjunction with accompanying drawing example:

1-6, a pedal type gait rehabilitation trainer phalanx joint rehabilitation mechanism. The phalanx joint rehabilitation mechanism is mainly the pedal part of the pedal type gait rehabilitation trainer. The main structure of the pedal type gait rehabilitation trainer includes a base plate, 2 sets of left and right gait mechanisms arranged symmetrically at 180°, 2 sets of left and right ankle joint movement mechanisms arranged symmetrically, 2 sets of left and right phalanx rehabilitation mechanisms, and a sling located at the rear of the mechanism A mechanism, a handle positioned at the front end, and a fence mechanism respectively fixed on the pillar and the front axle of the handle at the front and rear. Wherein, the bottom plate 5 is a plane frame structure, the front end is connected with a vertical rocker support 2, and the rear end is fixed with a torque motor 7. The gait mechanism is composed of a torque motor 7, a crank 6, two sets of crank linkage mechanisms 4 on the left and right, a bending rod 1 and two sets of phalanx joint rehabilitation mechanisms 3; Crank; one end of the curved rod 1 is connected to the vertical rocker pillar 2 through a bearing hinge, and the other end is connected to the connecting rod 4 through a connecting shaft and a bearing hinge; the other end of the connecting rod 4 is hinged to the crank 6; a certain position of the connecting rod 4 ( The present embodiment is set as a quarter) is hingedly connected with the phalanx joint rehabilitation mechanism 3. The torque motor is fixedly connected to the crank, and the torque motor drives the connecting rod and the rocker to swing through the crank, and then drives the pedal that is hingedly connected with the connecting rod, the rear end is hinged with the linear bearing, and the front end matches the chute of the limit part Do plane movement, so as to achieve gait rehabilitation movement.

The phalanx joint rehabilitation mechanism is composed of a front foot plate, a rear foot plate, a support column, a position limiting part, and a spring pull-back device, and the front foot plate and the rear foot plate are hinged together to form a revolving pair. It is characterized in that: the front foot plate part is mainly the front foot plate 8 formed by welding, and the surrounding is fixed with a protective frame; the bottom is fixedly connected with a long spring shaft 9; a section of the long spring shaft 9 has a groove for fixing the spring, and one end is connected to the pulley 10 are connected by bearing pins and bearing hinges. The rear foot plate part is mainly a welded rear foot plate 16, and its periphery is fixed with a protective frame; the protective frames on both sides can fix the instep straps; The set screw is fixed on the front and rear pedals, and the contact part between the front foot plate and the rear foot plate is an oblique angle with a certain angle on the top and a right angle on the bottom half, so as to achieve the purpose of limiting in one direction. The front portion of the rear pedal is fixedly connected with a short spring shaft 12; one end of the short spring shaft 12 has a groove, and the long spring shaft 9 and the short spring shaft 12 are connected by a spring through the groove, so that the pedal is kept flat; The lower part of the foot plate 16 is fixedly connected with the ear 17 by set screws; the ear 17 and the linear bearing connecting block 18 are connected by a pin shaft and a bearing hinge; the linear bearing connecting block 18 is fixedly connected with the slider 16 of the linear bearing; on track 20. The linear bearing part is the slide block 19 and the slide rail 20 of the linear bearing, and the rear side of the rear pedal is connected with the linear bearing to complete the motion track of the ankle joint. The front and back of the slide rail 20 are fixedly connected to the slide rail support frame 21 by fastening screws respectively; the slide rail support frame 21 is fixedly connected on the floor of the mechanism. The support column part is composed of a support block 13 and a support shaft 14 connected together by a bearing hinge. On the connecting rod of the supporting shaft 14 side connection mechanism. The position limiting part is a limiting groove 15 composed of a position limiting groove and a support frame welded together, the bottom of the bracket of the limiting groove 15 is fixedly connected with the bottom plate 5 of the mechanism by a set screw, the position of the limiting groove 15 The limit groove is matched with the pulley 10, and when the pedal reaches the limited position, it cooperates with the joint, the pulley contacts the chute, moves in the chute, and makes the front pedal move around the axis of the hinge, so that the front pedal 8 and The back pedal 16 forms a certain slight angle to achieve the bending effect of the phalanx joint in the support period; the groove surface of the position-limiting groove forms a certain angle to achieve a true reflection of the phalanx bending angle.

Figures 4, 5 and 6 are front views of the phalanx joint rehabilitation device in action at the phalanx joint. The front foot plate and the rear foot plate are hinged together through the hinge 11, and the hinge 11 is fixed on the front and rear foot plates by set screws. To achieve the purpose of one direction limit. The position limiting groove of the limiting groove 15 is matched with the pulley 10, the phalanx joint is aligned with the center line of the hinge, and when the pedal reaches the limited position, it cooperates with the joint, and the pulley contacts the chute and moves in the chute , make the front pedal move around the axis of the hinge, so that the front pedal 8 and the rear pedal 16 form a certain slight angle, because the phalanx joint is just opposite to the axis of the pedal bending, thus driving the phalanx joint movement. ACB in Figure 6 is the motion range of the phalanx joint. In this range, the front pedal and the rear pedal are bent at the center line of the fold, and have an angle, which changes with the movement of the mechanism. BA is the upper half ellipse. Above, there is no angle, where A is the position when the pulley just contacts the chute (Figure 4); B is the position when the chute and the pulley contact the front and rear pedals with the largest angle (Figure 5);

When the utility model works, the upper computer converts the predetermined gait data into control signals to control the rotation of the torque motor, and then drives the rotation of the corresponding joints of the patient. When the patient performs gait rehabilitation training, during the entire swing phase and the early stage of the stance phase (heel strike to metatarsal strike), the preloaded spring keeps the front and rear feet on the same plane. At this stage, the plantar force is mainly concentrated on the heel. In the middle of the support phase (heel off the ground to the other side of the heel on the ground), the front foot plate remains horizontal relative to the ground, and the relative rotation occurs with the rear foot plate, and the included angle changes from 180° to a minimum value. The angle change value is changed by the inclination angle of the position-limiting groove, so as to achieve the bending angle of the phalanx in the stance phase when a normal person walks. At this stage, the plantar force at the heel becomes smaller, and at the same time, the plantar force at the metatarsal bone increases to a maximum. At the end of the stance phase (before toe-off) the forefoot changes from being horizontal relative to the ground to being on the same plane as the rear. The angle relative to the rear foot plate changes from a minimum value to 180°. At this stage, the center of gravity of the human body shifts from one sole of the foot to the other, the plantar force at the metatarsal bone becomes smaller, and the plantar force at the heel on the other side increases. During the entire gait cycle, the connecting rod of the overall mechanism drives the pedals to move along the trajectory of the gait, and the rear part of the rear pedals is connected with the slider to make the pedals swing up and down around the support shaft, changing the rear pedals in the gait cycle. The angle with the ground to achieve gait movement at the ankle joint.

Claims (6)

1. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer is characterized in that it includes a bent bar, a vertical rocker pillar, a phalanx joint rehabilitation mechanism, a connecting rod, a base plate, a crank, a torque motor, and the vertical rocker pillar is fixed At the front end of the base plate, the torque motor is fixed on the rear end of the base plate, the upper end of the bending rod is connected with the vertical rocker pillar, the lower end of the bending rod is connected with the connecting rod, the connecting rod is connected with the crank, the crank is connected with the torque motor, and the phalangeal joint rehabilitation mechanism is connected with the Connecting rod is connected, and described bending rod, connecting rod, phalangeal joint rehabilitation mechanism, crank all have two and are symmetrically positioned at vertical rocker strut both sides. 2. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation training device according to claim 1, wherein the rehabilitation mechanism of the phalanx joint comprises a front plate, a long spring shaft, a pulley, a hinge, and a short spring shaft , rear foot plate, linear bearing connecting block, slider, slide rail, slide rail support frame, front foot plate and rear foot plate are connected by hinges, a long spring shaft is installed at the bottom of the front foot plate, a pulley is installed at one end of the long spring shaft, and the bottom of the rear foot plate is The short spring shaft is installed, the long spring shaft and the short spring shaft are connected by springs, the rear foot plate is connected to the slide block through the linear bearing connection block, the slide block is installed on the slide rail, and the slide rail is fixed on the slide rail support frame. 3. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer according to claim 2 is characterized in that: it also includes a spacer, the bottom of the spacer is fixed on the base plate, and the top of the spacer is connected to the phalanx joint. Cooperate with the pulleys of the rehabilitation mechanism. 4. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer according to claim 3, wherein the bottom plate is a plane frame structure. 5. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation trainer according to claim 4, wherein the protective frame is fixed around the front and rear feet. 6. The rehabilitation mechanism of the phalanx joint of the pedal type gait rehabilitation training device according to claim 5, characterized in that: the bottom of the rear foot plate is equipped with a support shaft, and the phalanx joint rehabilitation mechanism is connected with the connecting rod through the support shaft.

Images