Lower Limb Rehabilitation Trainer
A technology for trainers and lower limbs, applied in passive exercise equipment, physical therapy, etc., can solve the problems of lower limb rehabilitation training devices that do not use ropes for lower limbs, and achieve the effect of improving the range of motion, improving flexibility, and occupying a small space
Active Publication Date: 2017-11-21
HARBIN ENG UNIV
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Problems solved by technology
[0005] None of the lower limb rehabilitation training devices introduced in the above-mentioned relevant literature uses rope traction to simultaneously realize the exercise training of adduction, abduction, internal rotation and external rotation of the lower limbs.
Method used
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Embodiment Construction
[0017] The present invention is described in more detail below in conjunction with accompanying drawing example:
[0018] combine Figure 1~3 , the lower limb rehabilitation trainer of the present invention is made up of support system frame 1, four sets of soft cable traction systems, two sets of moving plate devices, two sets of screw nut mechanisms, and a set of swivel devices. The support system frame 1 is constructed of profiles and can be moved arbitrarily as required. The four sets of flexible cable traction systems are composed of No. 1 permanent magnet DC torque motor 3 and No. 2 permanent magnet motor respectively equipped with No. 1 photoelectric encoder 2, No. 2 photoelectric encoder 29, No. DC torque motor 28, No. 3 permanent magnet DC torque motor 34, No. 4 permanent magnet DC torque motor 23, No. 1 capstan 4, No. 2 capstan 30, No. 3 capstan 33, No. 4 respectively connected with each permanent magnet DC torque motor Winch 22, No. 1 flexible cable 6, No. 2 flexi...
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The object of the present invention is to provide lower limbs rehabilitation trainer, comprise frame, lead screw nut mechanism, moving plate mechanism, flexible cable driving device, tension sensor, binding device, swivel device, flexible cable driving device cooperates with leading screw nut mechanism Jointly control the movement of the upper moving platform of the binding device, the tension sensor is installed on the flexible cable, and the swivel device is connected with the support leg of the trainer. The frame of the present invention is a frame structure, and the cooperation of the lead screw nut mechanism and the flexible cable drive device improves the control accuracy of the robot on the one hand, and improves the compliance of the robot system on the other hand; through two sets of lead screw nut mechanisms, not only can improve The range of activities of rehabilitation training improves the intensity of lower limb muscle training, and facilitates the arrangement of traction cables, improving the flexibility of driving strategies. Standing on the swivel device with the supporting lower limbs can enhance the exercise coordination of the trainer and better meet the needs of rehabilitation training.
Description
technical field [0001] The invention relates to a rehabilitation machine, specifically a lower limb rehabilitation machine. Background technique [0002] Medical theory and practice have proved that patients with cerebral palsy sequelae or limb injuries caused by accidents need limb training in order to restore limb function and prevent muscle "disuse" atrophy and joint stiffness. In order to overcome the shortage of professional medical personnel and improve the effect of rehabilitation training, various rehabilitation training devices have emerged. Generally, active rehabilitation training devices are attached to the limbs of the trainee, and the limbs are driven by the expected movement trajectory to achieve the effect of rehabilitation training. . Elderly people have weak athletic ability, and through robot-assisted exercise training, they can improve their motor function. [0003] At present, the relevant literature at home and abroad mainly includes the following typ...
Claims
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IPC IPC(8): A61H1/02
Inventor 王克义唐小强魏亚茹赵文艳
Owner HARBIN ENG UNIV