Sitting-Standing-Sitting Leg Muscle Strength Rehabilitation Training Device

Abstract

The sitting-standing-sitting leg muscle strength rehabilitation training device of the present invention belongs to the technical field of leg rehabilitation medical devices, and solves the technical problems in the prior art such as high rehabilitation training cost, time-consuming wearing, and inability to monitor the rehabilitation treatment effect of patients in real time; the present invention includes a base, a power source, and a lead screw sliding table; the present invention can realize a training method with the patient as the main and the robot as the auxiliary. Through standardized repetitive movements, it exercises the leg muscles and restores the lower limb motor function. It not only conforms to the movement law of human sitting and standing conversion, but also can stably assist the patient to complete the sitting-standing-sitting leg muscle strength rehabilitation training.

Description

Technical Field

[0001] The present invention belongs to the technical field of leg rehabilitation medical devices, and particularly relates to a sitting-standing-sitting leg muscle strength rehabilitation training device, that is, by means of a mechanical structure, an auxiliary force is provided to the human hip to help the human body switch from a sitting state to a standing state, so as to realize the rehabilitation training of the lower limb leg muscle strength. Background Art

[0002] With the aggravation of social aging in China, the number of stroke hemiplegia patients and patients with lower limb injuries caused by accidents such as traffic accidents is gradually increasing, and the use value of rehabilitation equipment is becoming more and more important. Most domestic rehabilitation hospitals still rely on traditional manual rehabilitation methods or simple rehabilitation medical equipment for leg rehabilitation treatment, which not only has low rehabilitation efficiency, but also has a large labor intensity for therapists, restricting the training time of patients. And rehabilitation training devices, with their characteristics of automation, precision and intelligence, are gradually replacing therapists to complete some rehabilitation training tasks and are becoming a new hot spot in the research field of rehabilitation medical devices.

[0003] However, the existing technologies have the following technical defects:

[0004] (1) The traditional rehabilitation treatment of patients with limb dysfunction mainly relies on one-on-one manual training by therapists, which is difficult to meet the requirements of high-intensity, targeted and repetitive rehabilitation training. Moreover, the cost of manual training is relatively high, and the rehabilitation evaluation is mostly subjective evaluation, and the rehabilitation treatment effect of patients cannot be monitored in real time.

[0005] (2) When using functional electrical stimulation technology to stimulate the damaged muscles of patients or relevant parts of the elderly, although it can successfully assist the patients to stand up, it is necessary to provide different stimulation currents and pulse widths for different patients and the elderly to formulate personalized rehabilitation programs.

[0006] (3) Lower limb exoskeleton rehabilitation robots can only be used for specific patients to assist in rehabilitation treatment due to their high cost, their own weight and the time-consuming wearing.

[0007] (4) When some assisted standing systems assist patients in the sitting-standing-sitting process, it is necessary for the upper limbs to provide necessary auxiliary force to maintain body stability and balance. How to coordinate the relationship between the auxiliary force provided by the human body autonomously and the auxiliary force provided by the robot has not been well solved at present. Summary of the Invention

[0008] The purpose of the present invention is to provide a sitting-standing-sitting leg muscle strength rehabilitation training device to solve the technical problems of high cost of rehabilitation training, time-consuming wearing and inability to monitor the rehabilitation treatment effect of patients in real time existing in the prior art.

[0009] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0010] The sitting-standing-sitting leg muscle strength rehabilitation training device of the present invention includes a base, a power source, and a lead screw and slide table mechanism;

[0011] The base includes four footrests, sheet metal, four thin film pressure sensors I, columns, and two armrests; the four footrests are respectively fixedly connected to the four corners at the bottom of the sheet metal, the four thin film pressure sensors I are fixedly connected to the front side of the sheet metal, the four columns are respectively fixedly connected to the sheet metal, and the two armrests are respectively fixedly connected to the left and right sides of the sheet metal;

[0012] The power source includes a stepper motor II, a worm and worm gear reducer, a right angle bracket II, a key, a bearing seat, a ball bearing, a stepped shaft, a flat key, two Z-shaped brackets, a coupling II, an angle encoder, a right angle bracket IV, and a right angle bracket V;

[0013] The output shaft of the stepper motor II is connected to the worm of the worm and worm gear reducer through a key, the base of the stepper motor II is connected to the housing of the worm and worm gear reducer through bolts and nuts, the worm and worm gear reducer is connected to one side of the stepped shaft through a key, and the worm and worm gear reducer is respectively bolted to the outer sides of the two left columns through the right angle bracket II. The other side of the stepped shaft is connected to the angle encoder through the coupling II. The angle encoder is fixedly connected to the right angle bracket IV, the right angle bracket IV is fixedly connected to the right angle bracket V, and the right angle bracket V is respectively bolted to the two right columns. The ball bearing is located inside the bearing seat. The bearing seat at one end of the stepped shaft is respectively connected to the two left columns through bolts, and the bearing seat at the other end of the stepped shaft is respectively connected to the two right columns through bolts. The two Z-shaped brackets are respectively located on both sides of the flat key at the center of the stepped shaft, and each Z-shaped bracket is fixedly connected to the stepped shaft. The cross beam is respectively bolted to the two Z-shaped brackets;

[0014] The lead screw and slide table includes a seat cushion, a thin film pressure sensor II, a moving platform, a ball screw, a coupling III, a stepper motor III, a wire-pulling displacement sensor, a right angle bracket VI, two cross beams, and a right angle bracket VII;

[0015] The base of the stepper motor III is fixedly connected to the cross beam. The output shaft of the stepper motor III is connected to the ball screw through the coupling III. The two sides of the ball screw are respectively bolted to the cross beam. The nut is fixedly connected to the moving platform. The seat cushion is fixedly connected to the moving platform. Four thin film pressure sensors II are provided on the seat cushion. The moving platform is bolted to one side of the wire-pulling displacement sensor through the right angle bracket VII. The other side of the wire-pulling displacement sensor is bolted to the cross beam through the right angle bracket VI.

[0016] Furthermore, the material of the column is aluminum profile.

[0017] Furthermore, the material of the armrest is aluminum alloy tube.

[0018] Furthermore, the rotation angle range of the cross beam is from 0° to 90°.

[0019] Furthermore, the present invention further includes a backrest rotation mechanism, which includes a stepping motor I, a right-angle bracket I, a coupling I, a backrest, a rotating shaft, and a right-angle bracket III; the right-angle bracket III and the right-angle bracket IV are of the same structure;

[0020] The output shaft of the stepping motor I is connected to the rotating shaft through the coupling I, the rotating shaft is fixedly connected to the backrest, the stepping motor I is fixedly connected to the right-angle bracket I, the right-angle bracket I and the right-angle bracket III are fastened by bolts and nuts, and the right-angle bracket III is fixedly connected to the cross beam.

[0021] Furthermore, the present invention further includes a controller, which is respectively connected to the stepping motor I, the stepping motor II, the angle encoder, the thin-film pressure sensor I, the thin-film pressure sensor II, the stepping motor III, and the wire-drawing displacement sensor, and the controller controls the operation of each electronic component through PLC programming or a single-chip microcomputer.

[0022] The beneficial technical effects of the present invention are as follows:

[0023] 1. A thin-film pressure sensor is installed on the sheet metal of the base to measure the foot pressure during the patient's sitting-standing-sitting process; a thin-film pressure sensor is installed on the seat cushion to measure the hip pressure during the patient's sitting-standing-sitting process. The missing leg muscle strength during the sitting-standing-sitting conversion process of the patient is calculated through the Newton-Euler inverse dynamics algorithm, and a precise auxiliary force is provided by the device. At the same time, armrests are designed on the base, which can prevent the patient from tipping over during the sitting-standing-sitting process, and the hands can exert force to assist in standing up, maximizing the patient's active force;

[0024] 2. An angle encoder is installed on one side of the stepped shaft to accurately measure the rotation angle of the cross beam in the radial plane, and further obtain the knee joint angle change. A wire-drawing displacement sensor is installed outside the moving platform to accurately measure the displacement of the moving platform during linear motion, so as to accurately compensate for the displacement of the seat cushion supporting the hip during the patient's sitting-standing-sitting process;

[0025] 3. A backrest rotation mechanism is designed on the basis of the seat cushion, which can stably assist in supporting the back strength of the patient during the sitting-standing-sitting process and play a role in preventing tipping over;

[0026] 4. According to the principle of combining rehabilitation medicine theory with rehabilitation robots, under the action of the control system, through the mechanical structure, an appropriate amount of auxiliary force is provided for the patient to enable the crossbeam to make a rotational movement in the radial plane, and the cushion on the lead screw slide can move along the direction of the crossbeam, enabling patients with lower limb dysfunction to perform sit-stand-sit rehabilitation training within a range of 90 degrees from the initial sitting position. At the same time, the backrest also makes a rotational movement along with the patient's sit-stand-sit process, playing a role in assisting in supporting the patient's back, and thus realizing the function of leg muscle strength rehabilitation training;

[0027] The present invention can provide long-term and stable rehabilitation training with appropriate intensity, accurately detect and feedback the movement information of the training patient for real-time control. During the sit-stand-sit process, the patient can exert their own active force to participate in it to the greatest extent, realizing a training method with the patient as the main and the robot as the auxiliary; the present invention exercises the leg muscles and restores the lower limb motor function through standardized repetitive movements, which not only conforms to the movement law of human sit-stand conversion, but also can stably assist the patient to complete the sit-stand-sit leg muscle strength rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic structural diagram of the sit-stand-sit leg muscle strength rehabilitation training device of the present invention;

[0029] Figure 2 It is an axonometric view of the sit-stand-sit leg muscle strength rehabilitation training device of the present invention;

[0030] Figure 3 It is another schematic structural diagram of the sit-stand-sit leg muscle strength rehabilitation training device of the present invention;

[0031] Among them, 1. Footrest, 2. Sheet metal, 3. Thin film pressure sensor I, 4. Column, 5. Armrest, 6. Stepper motor I, 7. Right-angle bracket I, 8. Coupling I, 9. Backrest, 10. Rotating shaft, 11. Stepper motor II, 12. Worm and worm gear reducer, 13. Right-angle bracket II, 14. Key, 15. Bearing seat, 16. Ball bearing, 17. Step shaft, 18. Flat key, 19. Z-shaped bracket, 20. Coupling II, 21. Right-angle bracket III, 22. Angle encoder, 23. Right-angle bracket IV, 24. Right-angle bracket V, 25. Lead screw slide, 26. Cushion, 27. Thin film pressure sensor II, 28. Moving platform, 29. Ball screw, 30. Coupling III, 31. Stepper motor III, 32. Wire-pulling displacement sensor, 33. Right-angle bracket VI, 34. Crossbeam, 35. Right-angle bracket VII. DETAILED DESCRIPTION OF THE INVENTION

[0032] The present invention will be further described below with reference to the accompanying drawings.

[0033] See the appendix Figures 1 - 3, the sit-stand-sit leg muscle strength rehabilitation training device of the present invention includes a base, a power source, and a lead screw and slide mechanism 25;

[0034] The base includes four footrests 1, a sheet metal 2, four thin film pressure sensors I 3, columns 4, and two armrests 5; the four footrests 1 are respectively fixedly connected to the four corners of the bottom of the sheet metal 2, the four thin film pressure sensors I 3 are all fixedly connected to the front side of the sheet metal 2, the four columns 4 are respectively fixedly connected to the sheet metal 2, and the two armrests 5 are respectively fixedly connected to the left and right sides of the sheet metal 2;

[0035] The power source includes a stepping motor II 11, a worm and worm gear reducer 12, a right angle bracket II 13, a key 14, a bearing seat 15, a ball bearing 16, a stepped shaft 17, a flat key 18, two Z-shaped brackets 19, a coupling II 20, an angle encoder 22, a right angle bracket IV 23, and a right angle bracket V 24;

[0036] The output shaft of the stepping motor II 11 is connected to the worm of the worm and worm gear reducer through a key, the base of the stepping motor II is connected to the housing of the worm and worm gear reducer through bolts and nuts, the worm and worm gear reducer 12 is connected to one side of the stepped shaft 17 through a key 14, and the worm and worm gear reducer 12 is respectively bolted to the outer sides of the two left columns 4 through the right angle bracket II 13. The other side of the stepped shaft 17 is connected to the angle encoder 22 through a coupling II 20. The angle encoder 22 is fixedly connected to the right angle bracket IV 23. The right angle bracket IV 23 is fixedly connected to the right angle bracket V 24. The right angle bracket V 24 is respectively bolted to the two right columns 4. The ball bearing 16 is located inside the bearing seat 15. The bearing seat at one end of the stepped shaft 17 is connected to the two left columns 4 through bolts respectively. The bearing seat at the other end of the stepped shaft 17 is connected to the two right columns 4 through bolts respectively. The two Z-shaped brackets 19 are respectively located on both sides of the flat key 18 at the center of the stepped shaft 17. Each Z-shaped bracket 19 is fixedly connected to the stepped shaft. The cross beam 34 is respectively bolted to the two Z-shaped brackets;

[0037] The lead screw and slide 25 includes a seat cushion 26, a thin film pressure sensor II 27, a moving platform 28, a ball screw 29, a coupling III 30, a stepping motor III 31, a wire-pulling displacement sensor 32, a right angle bracket VI 33, two cross beams 34, and a right angle bracket VII 35;

[0038] The base of the stepping motor Ⅲ 31 is fixedly connected to the cross beam 34. The output shaft of the stepping motor Ⅲ 31 is connected to the ball screw 29 through the coupling Ⅲ 30. Both sides of the ball screw 29 are bolted to the cross beam 34 respectively. The nut is fixedly connected to the moving platform 28. The cushion 26 is fixedly connected to the moving platform 28. Four thin film pressure sensors Ⅱ 27 are provided on the cushion 26. The moving platform 28 is bolted to one side of the wire-pulling displacement sensor 32 through the right-angle bracket Ⅶ 35. The other side of the wire-pulling displacement sensor 32 is bolted to the cross beam 34 through the right-angle bracket Ⅵ 33.

[0039] The material of the column 4 is aluminum profile.

[0040] The material of the armrest 5 is aluminum alloy tube.

[0041] Furthermore, the rotation angle range of the cross beam 34 is 0° - 90°.

[0042] Furthermore, the present invention further includes a backrest rotation mechanism. The backrest rotation mechanism includes a stepping motor Ⅰ 6, a right-angle bracket Ⅰ 7, a coupling Ⅰ 8, a backrest 9, a rotating shaft 10 and a right-angle bracket Ⅲ 21; the right-angle bracket Ⅲ 21 and the right-angle bracket Ⅳ 23 are of the same structure;

[0043] The output shaft of the stepping motor Ⅰ 6 is connected to the rotating shaft through the coupling Ⅰ 8. The rotating shaft 10 is fixedly connected to the backrest 9. The stepping motor Ⅰ 6 is fixedly connected to the right-angle bracket Ⅰ 7. The right-angle bracket Ⅰ 7 and the right-angle bracket Ⅲ 21 are fastened by bolts and nuts. The right-angle bracket Ⅲ 21 is fixedly connected to the cross beam 34.

[0044] Furthermore, the present invention further includes a controller. The controller is respectively connected to the stepping motor Ⅰ 6, the stepping motor Ⅱ 11, the angle encoder 22, the thin film pressure sensor Ⅰ 3, the thin film pressure sensor Ⅱ 27, the stepping motor Ⅲ 31 and the wire-pulling displacement sensor 32. The controller controls the operation of each electronic component through PLC programming or a single-chip microcomputer.

[0045] The working process of the present invention is as follows:

[0046] In the initial state, a patient with lower limb dysfunction sits steadily on the cushion 26, with the soles of the feet stepping on the thin film pressure sensor I 3. The stepping motor II 11 starts to work, and the power is transmitted through the worm and worm gear reducer 12, causing the cross beam 34 to make a rotational motion. The patient slowly stands along with the cross beam 34 in the radial plane. At the same time, the stepping motor III 31 on the lead screw slide 25 of the cross beam 34 drives the moving platform 28 to drive the cushion 26 to move linearly along the direction of the cross beam 34 to support the patient's buttocks. The backrest 9 on the backrest rotation mechanism supports the patient's back under the drive of the stepping motor I 6 during the sitting-standing-sitting process of the patient. In this way, under the coordinated control of the three stepping motors, the movement trajectory at the cushion 26 is approximately coincident with the movement trajectory of the hip joint of the patient's buttocks during the sitting-standing-sitting process, achieving the purpose of assisting patients with lower limb dysfunction in leg muscle strength rehabilitation training; the controller is respectively connected to the stepping motor I 6, the stepping motor II 11, the angle encoder 22, the thin film pressure sensor I 3, the thin film pressure sensor II 27, the stepping motor III 31, and the wire-drawing displacement sensor 32, and the controller is used to control the operation of each electronic component.

Claims

1. Sitting - standing - sitting leg muscle strength rehabilitation training device, Characterized in that, It includes a base, a power source, and a lead screw slide table mechanism (25); The base includes four foot supports (1), a sheet metal (2), four thin - film pressure sensors I (3), a column (4), and two armrests (5); the four foot supports (1) are respectively fixedly connected to the four corners at the bottom of the sheet metal (2), the four thin - film pressure sensors I (3) are all fixedly connected to the front side of the sheet metal (2), the four columns (4) are respectively fixedly connected to the sheet metal (2), and the two armrests (5) are respectively fixedly connected to the left and right sides of the sheet metal (2); The power source includes a stepper motor II (11), a worm - gear reducer (12), a right - angle bracket II (13), a key (14), a bearing seat (15), a ball bearing (16), a stepped shaft (17), a flat key (18), two Z - shaped brackets (19), a coupling II (20), an angle encoder (22), a right - angle bracket IV (23), and a right - angle bracket V (24); The output shaft of the stepper motor II (11) is key - connected to the worm of the worm - gear reducer, the worm - gear reducer (12) is connected to one side of the stepped shaft (17) through a key (14), and the worm - gear reducer (12) is bolt - connected to the outer sides of the two left - hand columns (4) through the right - angle bracket II (13). The other side of the stepped shaft (17) is connected to the angle encoder (22) through a coupling II (20). The angle encoder (22) is fixedly connected to the right - angle bracket IV (23), the right - angle bracket IV (23) is fixedly connected to the right - angle bracket V (24), and the right - angle bracket V (24) is bolt - connected to the two right - hand columns (4) respectively. The ball bearing (16) is located inside the bearing seat (15). The bearing seat at one end of the stepped shaft (17) is bolt - connected to the two left - hand columns (4) respectively, and the bearing seat at the other end of the stepped shaft (17) is bolt - connected to the two right - hand columns (4) respectively. The two Z - shaped brackets (19) are respectively located on both sides of the flat key (18) at the center of the stepped shaft (17), and each Z - shaped bracket (19) is fixedly connected to the stepped shaft. The cross - beam (34) is bolt - connected to the two Z - shaped brackets respectively; The lead screw slide table mechanism (25) includes a seat cushion (26), a thin - film pressure sensor II (27), a moving platform (28), a ball screw (29), a coupling III (30), a stepper motor III (31), a wire - type displacement sensor (32), a right - angle bracket VI (33), two cross - beams (34), and a right - angle bracket VII (35); The base of the stepping motor III (31) is fixedly connected to the cross beam (34). The output shaft of the stepping motor III (31) is connected to the ball screw (29) through the coupling III (30). Both sides of the ball screw (29) are bolted to the cross beam (34). The nut is fixedly connected to the moving platform (28). The cushion (26) is fixedly connected to the moving platform (28). Four thin film pressure sensors II (27) are provided on the cushion (26). The moving platform (28) is bolted to one side of the wire-pulling displacement sensor (32) through the right-angle bracket VII (35). The other side of the wire-pulling displacement sensor (32) is bolted to the cross beam (34) through the right-angle bracket VI (33). It further includes a backrest rotation mechanism. The backrest rotation mechanism includes a stepping motor I (6), a right-angle bracket I (7), a coupling I (8), a backrest (9), a rotating shaft (10), and a right-angle bracket III (21). The right-angle bracket III (21) and the right-angle bracket IV (23) are of the same structure. The output shaft of the stepping motor I (6) is connected to the rotating shaft through the coupling I (8). The rotating shaft (10) is fixedly connected to the backrest (9). The stepping motor I (6) is fixedly connected to the right-angle bracket I (7). The right-angle bracket I (7) and the right-angle bracket III (21) are fastened by bolts and nuts. The right-angle bracket III (21) is fixedly connected to the cross beam (34). The material of the column (4) is aluminum profile.

2. The sitting-standing-sitting leg muscle strength rehabilitation training device according to claim 1, characterized in that, the material of the armrest (5) is aluminum alloy tube.

3. The sitting-standing-sitting leg muscle strength rehabilitation training device according to claim 1, characterized in that, furthermore, the rotation angle range of the cross beam (34) is 0° to 90°.

4. The sitting-standing-sitting leg muscle strength rehabilitation training device according to claim 1, characterized in that, it further includes a controller. The controller is respectively connected to the stepping motor I (6), the stepping motor II (11), the angle encoder (22), the thin film pressure sensor I (3), the thin film pressure sensor II (27), the stepping motor III (31), and the wire-pulling displacement sensor (32). The controller controls the operation of each electronic component through PLC programming or a single-chip microcomputer.

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