A multi-mode knee joint rehabilitation manipulator

Abstract

The present invention discloses a multi-mode knee joint rehabilitation manipulator, which comprises two sets of double-link mechanisms with the same structure and a driving mechanism. The patient's leg is fixed between the two sets of double-link mechanisms. The driving mechanism is arranged on a bottom plate. The double-link mechanism is formed by hinging a first link and a second link. The end of the second link is hinged to the driving mechanism. The end of the first link is connected to a base through a leg stopping device. Both ends of the leg stopping device are respectively hinged to the first link and the base. When in use, the device is placed horizontally, and the patient lies or sits beside the device. The ankle joint is located at the hinge of the double-link mechanism, and the lower leg is fixed on the first link. It can well simulate the force exerted by a doctor on the patient's leg and drive the patient's leg to complete corresponding rehabilitation movements. The structure is relatively simple and convenient to use.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a multi-mode knee joint rehabilitation manipulator. Background Art

[0002] The knee joint is one of the most important moving organs of the human body. However, in strokes and various accidents, the knee joint and meniscus may be damaged, which will bring great inconvenience to life. After patients undergo necessary medical treatment and rehabilitation, knee joint rehabilitation training is required, including isometric contraction training of the quadriceps femoris, flexion training, etc. However, the number of existing rehabilitation trainers far from meets the needs of patients, and the existing knee joint rehabilitation devices are relatively expensive, large in size and inconvenient to use; rehabilitation robots combine rehabilitation engineering and robot technology, and are a new type of robot emerging in recent years, belonging to the category of medical robots: Therefore, using a lightweight knee joint rehabilitation training device to replace manual labor for lower limb rehabilitation training of patients is an effective method. This article will introduce a manipulator specifically for knee joint rehabilitation training. This manipulator can not only provide knee joint rehabilitation training but also is a lightweight device that can provide multiple modes. Therefore, researching and designing a knee joint rehabilitation manipulator will greatly improve the quality of life of patients.

[0003] The research on lower limb joint rehabilitation training systems in China started relatively late, but good results have also been achieved. Systems or devices such as lower limb exoskeleton rehabilitation training robots, lower limb rehabilitation walking aids, horizontal pedal lower limb rehabilitation robots, and treadmill limb trainers have been developed successively. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a multi-mode knee joint rehabilitation manipulator, which is convenient to use and can better help patients with knee joint rehabilitation to solve the above-mentioned multiple defects in the prior art.

[0005] For the purpose of adjustment, the present invention provides the following technical solution: a multi-mode knee joint rehabilitation manipulator, which includes two sets of double-link mechanisms with the same structure and a driving mechanism, and the patient's leg is fixed between the two sets of double-link mechanisms; the driving mechanism is arranged on the bottom plate, the double-link mechanism is formed by hinging a first link and a second link, the end of the second link is hinged to the driving mechanism, the end of the first link is connected to the base through a leg stopping device, and both ends of the leg stopping device are respectively hinged to the first link and the base; when in use, the device is placed vertically, the ankle joint is located at the hinge of the double-link mechanism, the lower leg is fixed between the two first links, sponge structures are arranged on the inner sides of both ends of the first link, bandage structures are arranged at both ends of the first link, the bandage structures include bandages and through groove bodies, and are respectively arranged on the outer sides of the two sets of first links, the ends of the bandages are provided with magic tapes, the bandages pass through the through groove bodies, wind around the lower leg for one week, and then bond their bodies through the magic tapes;

[0006] The leg stopping device includes an upper connecting plate and a lower connecting plate. A turntable and a rotating ring are respectively arranged at the hinge of the upper connecting plate and the lower connecting plate. The rotating ring is sleeved on the turntable. A cylindrical groove is arranged at the central position of the turntable. A positioning bracket is arranged in the cylindrical groove. A jack is arranged on the bracket. The device also includes a cover plate, which is a circular cover plate matching the turntable. A cylindrical boss matching the cylindrical groove is arranged on the inner side of the cover plate. A protrusion corresponding to the jack is arranged on the cylindrical boss. Two positioning blocks are respectively arranged on the edge of the cover plate. A positioning groove matching the upper connecting plate or the lower connecting plate is arranged on the inner side of the positioning block. A hinge seat hinged to the lower connecting plate is arranged on the base. A drawable positioning plate is arranged in the positioning block fixing the lower connecting plate. A slot is arranged on the hinge seat at the same horizontal plane as the positioning plate. The positioning plate can be placed in the slot.

[0007] Preferably, the first link includes a telescopic inner rod and a telescopic outer rod. A chute is arranged in the telescopic outer rod. The telescopic inner rod is stuck in the chute. A positioning hole is arranged on the side wall of one end of the telescopic outer rod where it moves relative to the telescopic inner rod. Threaded holes are arranged at equal intervals along the axial direction on the side wall of one end of the telescopic inner rod where it moves relative to the telescopic outer rod. A bolt passes through the positioning hole and is threadedly connected to the threaded hole to adjust the telescopic length of the first link.

[0008] Preferably, the driving device is a ball screw pair. Slide rails are arranged on both sides of the ball screw pair. Sliders are symmetrically arranged on both sides of the nut of the ball screw pair. The sliders slide along the slide rails, and the sliders are hinged to the second link.

[0009] Preferably, a telescopic support rod is arranged between the hinges of the double links between the first link and the second link.

[0010] Preferably, a reinforcing rod is arranged between the two double-link mechanisms.

[0011] Preferably, a protective cover covering the entire device is provided above the base. The protective cover is provided with a travel groove on the vertical plane overlapping with the double-link mechanism for the second link to move within the travel groove. The hinge point between the hinge seat and the lower connecting plate is located above the protective cover.

[0012] The beneficial effects of adopting the above technical solutions are as follows: In the present invention, the double-link mechanism and the leg stop device form a four-link mechanical structure, which can well simulate the force exerted by a doctor on a patient's leg and drive the patient's leg to complete corresponding rehabilitation movements. The structure is relatively simple, greatly reducing the production and manufacturing costs. At the same time, the leg stop device can be selected to simulate two training modes for flexion training or isometric contraction training of the quadriceps femoris. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a schematic structural diagram of the present invention;

[0014] Figure 2 is a schematic structural diagram of the interior of the present invention;

[0015] Figure 3 is a schematic structural diagram of the leg stop device;

[0016] Figure 4 is a schematic structural diagram of the turntable;

[0017] Figure 5 is a schematic structural diagram of the inner side of the cover plate;

[0018] Figure 6 is a schematic structural diagram of the double link

[0019] Wherein, 1 - double-link mechanism, 2 - bottom plate, 3 - drive mechanism, 4 - first link, 5 - second link, 6 - leg stop device, 7 - upper connecting plate, 8 - lower connecting plate, 9 - turntable, 10 - rotating ring, 11 - cylindrical groove, 12 - positioning bracket, 13 - jack, 14 - cover plate, 15 - cylindrical boss, 16 - protrusion, 17 - positioning block, 18 - positioning groove, 19 - positioning plate, 20 - slot, 21 - telescopic inner rod, 22 - telescopic outer rod, 23 - chute, 24 - ball screw pair, 25 - slide rail, 26 - slider, 27 - telescopic support rod, 28 - reinforcing rod, 29 - protective cover, 30 - travel groove, 31 - control box, 32 hinge seat, 33 - positioning hole, 34 - threaded hole, 35 - bolt. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0020] The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0021] Figures 1 - 6The specific embodiments of the present invention are presented: A multi-mode knee joint rehabilitation manipulator includes two sets of double-link mechanisms 1 with the same structure and a driving mechanism 3. The patient's leg is fixed between the two sets of double-link mechanisms 1. The driving mechanism 3 is arranged on the bottom plate 2. The double-link mechanism 1 is formed by hinging a first link 4 and a second link 5. The end of the second link 5 is hinged to the driving mechanism 3. The end of the first link 4 is connected to the base through a leg stopping device 6. Both ends of the leg stopping device 6 are respectively hinged to the first link 4 and the base. When in use, the device is placed vertically, and the ankle joint is located at the hinge of the double-link mechanism 1. The lower leg is fixed between the two first links. Sponge structures are provided on the inner sides of both ends of the first link. Bandage structures are provided at both ends of the first link. The bandage structures include bandages and through-channel bodies, which are respectively arranged on the outer sides of the two sets of first links. The end of the bandage is provided with a magic tape. The bandage passes through the through-channel body, winds around the lower leg for one week, and then bonds its body through the magic tape. The leg stopping device 6 includes an upper connecting plate 7 and a lower connecting plate 8. A turntable 9 and a rotating ring 10 are respectively provided at the hinge of the upper connecting plate 7 and the lower connecting plate. The rotating ring 10 is sleeved on the turntable 9. A cylindrical groove 11 is provided at the central position of the turntable 9. A positioning bracket 12 is provided in the cylindrical groove 11. A jack is provided on the bracket. The device also includes a cover plate 14, which is a circular cover plate 14 matching the turntable 9. A cylindrical boss 15 matching the cylindrical groove 11 is provided on the inner side of the cover plate 14. A protrusion 16 corresponding to the jack is provided on the cylindrical boss 15. Two positioning blocks 17 are respectively provided on the edge of the cover plate 14. A positioning groove matching the upper connecting plate 7 or the lower connecting plate 8 is provided on the inner side of the positioning block 17. A hinge seat 32 hinged to the lower connecting plate 8 is provided on the base. A retractable positioning plate 19 is provided in the positioning block 17 fixing the lower connecting plate 8. A slot 20 is provided on the hinge seat 32 at the same horizontal plane as the positioning plate 19. The positioning plate 19 can be placed in the slot 20.

[0022] When performing flexion training, close the cover plate at the turntable to fix the upper connecting plate and the lower connecting plate, so that they cannot rotate. Pull out the positioning plate and insert it into the slot, so that the lower connecting plate and the hinge seat cannot rotate. In this way, when the driving device moves, the double-link is movable, and the hinge of the first link and the leg stopping device is movable. Drive the first link to rotate relative to the leg stopping device to achieve flexion training at the user's knee joint.

[0023] When performing isometric contraction training of the quadriceps femoris, remove the cover plate. In this way, when the driving device moves, all four-link structures are movable. In this way, the user's thigh makes a lifting movement, and at the same time the knee also makes a flexion movement, achieving isometric contraction training of the quadriceps femoris.

[0024] The first connecting rod 4 includes a telescopic inner rod 21 and a telescopic outer rod 22. A chute 23 is provided inside the telescopic outer rod 22, and the telescopic inner rod 21 is stuck inside the chute 23. A positioning hole 33 is provided on the side wall of one end where the telescopic outer rod 22 moves relative to the telescopic inner rod 21. Threaded holes 34 are provided at equal intervals along the axial direction on the side wall of one end where the telescopic inner rod of the telescopic rod moves relative to the telescopic outer rod 22. A bolt 35 passes through the positioning hole 33 and is threadedly connected to the threaded hole 34. By adjusting the telescopic length of the first connecting rod 4, the length of the first connecting rod can be adjusted according to the length of the user's calf, improving the comfort of the user.

[0025] The driving device is a ball screw pair 24. Slide rails 25 are provided on both sides of the ball screw pair 24. Sliders 26 are symmetrically provided on both sides of the nut of the ball screw pair 24. The sliders 26 slide along the slide rails 25, and the sliders 26 are hinged to the second connecting rod 5. A control box 31 is also provided on the base for controlling the driving motor of the ball screw pair. The driving motor rotates to drive the screw to rotate, driving the nut to move linearly, and then driving the slider to slide along the slide rail.

[0026] A reinforcing rod 28 is provided between the two double connecting rod mechanisms 1. The reinforcing rod can prevent the connecting rod from shaking during movement; a telescopic support rod 27 is provided at the hinge joint between the first connecting rod 4 and the second connecting rod 5 of the double connecting rod, further strengthening the strength of this device.

[0027] A protective cover 29 covering the entire device is provided above the base. A travel groove 30 is provided on the vertical plane of the protective cover 29 overlapping with the double connecting rod mechanism 1 for the second connecting rod 5 to move inside the travel groove 30. Among them, the hinge joint between the hinge seat and the lower connecting plate 8 is located above the protective cover 29. The protective cover plays a role in protecting the entire device, especially the ball screw pair.

[0028] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the inventive concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention.

Claims

1. A multi-mode knee joint rehabilitation robot, characterized in that: The device comprises two sets of double-link mechanisms and a driving mechanism with the same structure, and the patient's legs are fixed between the two sets of double-link mechanisms; the driving mechanism is arranged on a base plate, and the double-link mechanism is formed by hingedly connecting a first link and a second link, the end of the second link is hinged to the driving mechanism, and the end of the first link is connected to the base through a leg stop device, and the two ends of the leg stop device are respectively hinged to the first link and the base; when in use, the device is placed vertically, and the ankle joint is located at the hinge of the double-link mechanism, fixing the calf between the two first links, a sponge structure is provided on the inner side of the two ends of the first link, and a bandage structure is provided at the two ends of the first link, the bandage structure comprises a bandage and a through-groove body, which are respectively arranged on the outer sides of the two sets of first links, and a Velcro is provided on the end of the bandage, and the bandage passes through the through-groove body, wraps around the calf for a circle, and then is bonded to its body through the Velcro; The lower link plate is hinged to the upper link plate and is hinged to the lower link plate, and the hinge is sleeved on the turntable. The center position of the turntable is provided with a cylindrical groove, a positioning bracket is provided in the cylindrical groove, and a socket is provided on the bracket. The device also includes a cover plate, which is a circular cover plate that matches the turntable, and the inner side of the cover plate is provided with a cylindrical boss that matches the cylindrical groove, and the cylindrical boss is provided with a protrusion corresponding to the socket. The edge of the cover plate is respectively provided with two positioning blocks, and the inner side of the positioning block is provided with a positioning groove that matches the upper connecting plate or the lower connecting plate. The base is provided with a hinge seat hinged to the lower connecting plate, and a pull-out positioning plate is provided in the positioning block that fixes the lower connecting plate. A slot is provided on the hinge seat at the same horizontal plane as the positioning plate, and the positioning plate can be placed in the slot. The leg stop device simulates two training modes, performing flexion training or quadriceps isometric contraction training by closing or removing the cover.

2. The multi-mode knee joint rehabilitation robot according to claim 1, characterized in that: The first connecting rod includes a telescopic inner rod and a telescopic outer rod. A sliding groove is provided in the telescopic outer rod, and the telescopic inner rod is stuck in the sliding groove. A positioning hole is provided on the side wall of the telescopic outer rod at the moving end of the telescopic inner rod. Threaded holes are provided at equal intervals along the axial direction on the side wall of the telescopic inner rod at the moving end of the telescopic outer rod. Bolts are passed through the positioning holes and threadedly connected to the threaded holes to adjust the telescopic length of the first connecting rod.

3. The multi-mode knee joint rehabilitation robot according to claim 1, characterized in that: The driving mechanism is a ball screw pair, with slide rails provided on both sides of the ball screw pair, and sliders symmetrically provided on both sides of the nut of the ball screw pair. The sliders slide along the slide rails, and the sliders are hinged to the second connecting rod.

4. The multi-mode knee joint rehabilitation robot according to claim 1, characterized in that: A telescopic support rod is provided between the first link and the second link at the hinge of the double link.

5. The multi-mode knee joint rehabilitation robot according to claim 1, characterized in that: A reinforcing rod is provided between the two double-link mechanisms.

6. The multi-mode knee joint rehabilitation robot according to claim 1, characterized in that: A protective cover that wraps the entire device is provided above the base. The protective cover is provided with a travel groove on a vertical surface overlapping with the double-link mechanism for the second link to move in the travel groove, wherein the hinged joint between the hinged seat and the lower connecting plate is located above the protective cover.

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