Sitting and lying type hip joint rehabilitation training device

Abstract

The utility model relates to the technical field of limb rehabilitation, in particular to a sitting and lying type hip joint rehabilitation training device which comprises a base, a seat and a pair of hip joint actuators. The seat and the pair of hip joint actuators are mounted on the base, so that a user can perform rehabilitation training on hip joints through the hip joint actuators in a sitting and lying posture; two sets of adjusting mechanisms are arranged on the base, the pair of hip joint actuators are installed on one set of adjusting mechanisms respectively, and the adjusting mechanisms are used for controlling the relative distance between the two hip joint actuators. According to the hip joint rehabilitation training device, the training posture of a user can be adjusted, particularly, the direct pushing motor is adopted to control the angle of the back of the chair, rehabilitation training can be conducted in a sitting posture and a prone posture, comfort of a patient is guaranteed, and in addition, the distance between the two hip joint actuators can be adjusted so as to adapt to rehabilitation training of patients with different hip widths.

Description

Technical Field

[0001] The utility model relates to the technical field of limb rehabilitation, and particularly relates to a sitting-lying hip joint rehabilitation training device. Background Art

[0002] Diseases such as stroke often cause patients to suffer from lower limb movement disorders, damaging the movement and coordination functions of the limbs. Limb rehabilitation training instruments can help restore the limb movement ability, coordination ability and stability of patients. The existing limb rehabilitation training instruments are generally divided into single-degree-of-freedom lower limb rehabilitation, wearable lower limb rehabilitation, and sitting-lying lower limb rehabilitation equipment, which can help patients complete the reciprocating movement of the lower limbs actively, passively or in a assisted form, so as to achieve the effect of repetitive rehabilitation training treatment.

[0003] During the training process, the single-degree-of-freedom lower limb rehabilitation equipment is suitable for patients with relatively weak muscle strength, and conducts rehabilitation training through circular movements such as pedaling; the wearable lower limb rehabilitation equipment is suitable for junior and senior patients, and based on simulation and sensor technology, assists patients to perform simulated walking training; the sitting-lying lower limb rehabilitation equipment adopts a mechanical leg structure similar to the human lower limb to realize the rotation of the hip joint, knee joint and ankle joint in the sagittal plane of the human body. The patient sits on the chair of the robot for rehabilitation training, which is comfortable and safe and worthy of promotion.

[0004] In particular, how to enable users to adjust to a suitable sitting and lying posture and adapt to the position of the lower limb actuator to achieve better use and rehabilitation training effects. Content of the Utility Model

[0005] In view of the technical problems existing in the hip joint rehabilitation training device in the prior art, a first aspect of the utility model provides a sitting-lying hip joint rehabilitation training device, which includes a base, a seat and a pair of hip joint actuators;

[0006] The seat and a pair of hip joint actuators are installed on the base, enabling the user to perform hip joint rehabilitation training in a sitting and lying posture through the hip joint actuators;

[0007] Two sets of adjusting mechanisms are provided on the base, and a pair of hip joint actuators are respectively installed on one set of adjusting mechanisms, and the adjusting mechanism is used to control the relative distance between the two hip joint actuators.

[0008] Furthermore, the hip joint actuator includes a hip connecting arm and a leg connecting arm that are pivotally connected, and the relative angle between the hip connecting arm and the leg connecting arm is controlled by a driver.

[0009] Furthermore, a quick-release structure is provided at the end of the leg connecting arm, and the quick-release structure is used to connect the leg actuator.

[0010] Further, the driver includes a rotary drive component and a linear drive component. The rotary drive component is connected to the pivot shaft between the hip connecting arm and the leg connecting arm and drives the leg connecting arm to rotate relative to the hip connecting arm. Both ends of the linear drive component are respectively connected to the leg connecting arm and the hip connecting arm and limit the included angle between the leg connecting arm and the hip connecting arm.

[0011] Further, the adjusting mechanism includes a pair of linear drivers and a mounting plate that can move along the driving direction of the linear driver. A connecting plate is provided on one side of the hip connecting arm, and the connecting plate is connected to the mounting plate. The driving direction of the linear driver is parallel to the axis direction of the pivot shaft.

[0012] Further, the linear driver includes a first motor, a guide rail, and a slider. The first motor is installed at one end of the guide rail, the output end of the first motor is connected to a screw rod, and the slider is driven by the screw rod to move along the length direction of the guide rail. The mounting plate is connected to the slider.

[0013] Further, the seat includes a seat cushion and a backrest. The backrest is configured to be able to change the angle relative to the seat cushion, enabling the user to perform lower limb rehabilitation training in a sitting or lying position.

[0014] Further, the seat cushion is connected to a backrest connecting member, and a push rod motor is connected between the end of the backrest connecting member and the back of the backrest. The push rod motor is used to control the angle between the backrest and the seat cushion.

[0015] Compared with the prior art, the advantages of the present utility model are as follows:

[0016] The hip joint rehabilitation training device proposed in this application can adjust the training posture of the user. In particular, by using a direct push motor to control the angle of the chair back, rehabilitation training can be carried out in a sitting and lying position, ensuring the comfort of the patient. In addition, the spacing between the two groups of hip joint actuators can be adjusted to adapt to the rehabilitation training of patients with different hip widths. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings are not intended to be drawn to scale. In the drawings, each identical or approximately identical component shown in each figure may be represented by the same reference numeral. For clarity, not every component is labeled in each figure. Now, embodiments of various aspects of the present utility model will be described by way of example and with reference to the drawings, wherein:

[0018] Figure 1 is a schematic structural diagram of the sitting and lying hip joint rehabilitation training device shown in the present utility model;

[0019] Figure 2It is a cross-sectional view of the sitting and lying hip joint rehabilitation training device shown in the present utility model;

[0020] Figure 3 It is a schematic structural view of the base shown in the present utility model;

[0021] Figure 4 It is a schematic structural view of the adjusting mechanism shown in the present utility model;

[0022] Figure 5 It is a schematic structural view of the hip joint actuator shown in the present utility model.

[0023] In the figure: 100 - base, 200 - seat, 300 - hip joint actuator;

[0024] 110 - lifting member, 121 - first lead screw assembly; 122 - second lead screw assembly, 123 - third lead screw assembly, 124 - fourth lead screw assembly, 12a - first motor, 12b - guide rail, 12c - slider, 130 - mounting plate, 131 - first mounting plate, 132 - second mounting plate;

[0025] 210 - seat cushion, 211 - cushion body, 220 - backrest, 231 - backrest connecting member, 232 - push rod motor;

[0026] 310 - hip connecting arm, 31a - slewing drive member, 31b - linear drive member, 311 - connecting plate, 320 - leg connecting arm, 321 - quick release structure, 330 - leg actuator. Detailed implementation manners

[0027] In order to better understand the technical content of the present utility model, specific embodiments are hereby given and described in conjunction with the accompanying drawings as follows.

[0028] Combined with Figure 1 As shown, a technical solution is proposed in the first aspect of the present utility model. A sitting and lying hip joint rehabilitation training device includes a base 100, a seat 200, and a pair of hip joint actuators 300. The seat 200 and the pair of hip joint actuators 300 are mounted on the base 100, enabling the user to perform rehabilitation training on the lower limbs in a sitting and lying posture through the hip joint actuators 300.

[0029] The base 100 is intended to provide support for the seat 200 and the pair of hip joint actuators 300. The seat 200 is arranged to be adjustable to a suitable angle for the user to meet the rehabilitation training requirements in sitting and lying postures.

[0030] Combined with Figure 2As shown, the base 100 includes a lifting member 110. Optionally, the lifting member 110 is a multi-stage electric cylinder that can adjust the height of the seat 200 to suit the user's height, which is one of the important influencing factors for lower limb rehabilitation training.

[0031] As Figure 2 shown, the seat 200 includes a seat cushion 210 and a backrest 220. The backrest 220 is arranged to be able to change the angle relative to the seat cushion 210, allowing the user to perform lower limb rehabilitation training in a sitting or lying position.

[0032] In an optional embodiment, a cushion layer 211 is provided on the surface of the seat cushion 210, for example, a cushion layer made of elastic filler and wear-resistant skin. A backrest connecting member 231 is provided at the bottom of the rear end of the seat cushion 210, and a push rod motor 232 is connected between the end of the backrest connecting member 231 and the back of the backrest 220.

[0033] Thus, when the push rod motor 232 shortens, the backrest 220 flips backward relative to the seat cushion 210, making the user sitting on the seat cushion 210 more inclined to a lying position. When the push rod motor 232 extends, the backrest 220 flips forward relative to the seat cushion 210, making the user sitting on the seat cushion 210 more inclined to a sitting position.

[0034] Furthermore, as Figure 3 shown, around the lifting member 110, a support structure in the shape of a frame is provided, with two sets of adjustment mechanisms on both sides. A pair of hip actuators 300 are respectively installed on one set of adjustment mechanisms, and the adjustment mechanism is used to control the relative spacing between the two hip actuators 300.

[0035] It should be understood that the relative spacing between the two hip actuators 300 determines whether the user's two lower limbs are in a proper and comfortable posture after being placed on the hip actuators 300, and is also related to the effect of rehabilitation training. Therefore, by setting the spacing between the hip actuators 300 to be adjustable, it can adapt to different users and finally be adjusted to a suitable position for rehabilitation training.

[0036] As Figure 3 shown, in a specific embodiment, each set of adjustment mechanisms includes a pair of linear drivers and a mounting plate 130 that can move along the driving direction of the linear driver. The mounting plate on the left is defined as the first mounting plate 131, and the one on the right is the second mounting plate 132. The two hip actuators 300 are respectively installed on the first mounting plate 131 and the second mounting plate 132, and the spacing between the first mounting plate 131 and the second mounting plate 132 determines the spacing between the two hip actuators 300.

[0037] Further, as Figure 4As shown, the linear driver includes a first motor 12a, a guide rail 12b, and a slider 12c. The first motor 12a is installed at one end of the guide rail 12b, and the slider 12c is installed inside the guide rail 12b. The output end of the first motor 12a is connected to a screw rod. By controlling the number of rotation turns of the first motor 12a, the relative position of the slider 12c on the guide rail 12b can be controlled, and the mounting plate 130 is installed on the slider 12c, that is, the displacement of the mounting plate 130 can be controlled by the first motor 12a.

[0038] It should be understood that a pair of linear drivers in a set of adjustment mechanisms are driven synchronously, so that the hip joint actuator 300 mounted on the mounting plate 130 moves left or right by a predetermined distance correspondingly.

[0039] In this way, after adjusting the two hip joint actuators 300 to an appropriate distance (especially to adapt to the hip width of the patient), and after adjusting the backrest 220 to an appropriate angle, the rehabilitation training of the lower limbs can be carried out through the hip joint actuator 300.

[0040] Further, as Figure 5 shown, the hip joint actuator 300 includes a pivotally connected hip connecting arm 310 and a leg connecting arm 320, and the relative angle between the hip connecting arm 310 and the leg connecting arm 320 is controlled by a driver.

[0041] In this way, the user's thigh can be fixed to the leg connecting arm 320. By controlling the rotation of the leg connecting arm 320, the user's thigh can be driven to make a predetermined movement, and the rehabilitation training movement of the hip joint can be carried out.

[0042] Furthermore, a quick-release structure 321 is provided at the end of the leg connecting arm 320, and the quick-release structure 321 is used to connect the leg actuator 330.

[0043] Optionally, the leg actuator 330 includes a knee joint actuator and an ankle joint actuator, and the quick-release structure 321 can adopt a pressing-type quick-release handle.

[0044] In this way, it is beneficial to quickly disassemble and assemble the leg connecting arm 320 and the leg actuator 330, so that the entire lower limb actuator is divided into two independent parts, which is very suitable for reducing the volume of the device in occasions such as temporary transportation.

[0045] Since in the rehabilitation training, the hip joint needs a driver to assist in driving to reach the target angle, and a planetary reduction actuator is usually used. Once a failure occurs, such as a rotation beyond the predetermined angle, it is very likely to pose a safety hazard to the user. Therefore, in this application, the setting of redundant drivers is included, especially including a rotary drive component and a linear telescopic drive component, and the structure of the linear telescopic drive component can effectively restrict the non-target amount drive of the rotary drive component.

[0046] Furthermore, the driver includes a rotary drive member 31a and a linear drive member 31b. The rotary drive member 31a is connected to the pivot shaft between the hip connecting arm 310 and the leg connecting arm 320, and drives the leg connecting arm 320 to rotate relative to the hip connecting arm 310. Both ends of the linear drive member 31b are respectively connected to the leg connecting arm 320 and the hip connecting arm 310, and limit the included angle between the leg connecting arm 320 and the hip connecting arm 310.

[0047] In this way, the linear telescopic drive member can effectively control the relative angle between the two structures connected to the pivot shaft, and has better retention and load-bearing capacity, and avoids the continuous rotation of the leg connecting arm 320 relative to the hip connecting arm 310 caused by the out-of-control of the rotary drive member 31a.

[0048] Combined with the above embodiments, the hip joint rehabilitation training device proposed by this application can adjust the training posture of the user. In particular, by using a direct push motor to control the angle of the chair back, rehabilitation training can be carried out in a sitting position and a lying position, and the comfort of the patient can be guaranteed. In addition, the distance between the two groups of hip joint actuators can be adjusted to adapt to the rehabilitation training of patients with different hip widths.

[0049] Although the present utility model has been disclosed above with preferred embodiments, it is not intended to limit the present utility model. Those with ordinary knowledge in the technical field to which the present utility model belongs can make various changes and modifications without departing from the spirit and scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to that defined by the claims.

Claims

1. A sitting and lying hip joint rehabilitation training device, characterized in that: It comprises a base (100), a seat (200) and a pair of hip joint actuators (300); The seat (200) and a pair of hip joint actuators (300) are mounted on the base (100), so that a user can perform rehabilitation training on the hip joint through the hip joint actuators (300) in a sitting or lying position; Two groups of adjustment mechanisms are provided on the base (100), and a pair of the hip joint actuators (300) are respectively installed on one group of the adjustment mechanisms, and the adjustment mechanisms are used to control the relative distance between the two hip joint actuators (300).

2. The sitting and lying hip joint rehabilitation training device according to claim 1, characterized in that: The hip joint actuator (300) comprises a pivotally connected hip connecting arm (310) and a leg connecting arm (320), wherein the relative angle between the hip connecting arm (310) and the leg connecting arm (320) is controlled by a driver.

3. The sitting and lying hip joint rehabilitation training device according to claim 2, characterized in that: A quick-release structure (321) is provided at the end of the leg connecting arm (320), and the quick-release structure (321) is used to connect the leg actuator (330).

4. The sitting and lying hip joint rehabilitation training device according to claim 2, characterized in that: The driver comprises a rotary drive component (31a) and a linear drive component (31b), wherein the rotary drive component (31a) is connected to a pivot axis between a hip connecting arm (310) and a leg connecting arm (320), and drives the leg connecting arm (320) to rotate relative to the hip connecting arm (310), and the two ends of the linear drive component (31b) are respectively connected to the leg connecting arm (320) and the hip connecting arm (310), and limit the angle between the leg connecting arm (320) and the hip connecting arm (310).

5. The sitting and lying hip joint rehabilitation training device according to claim 2, characterized in that: The adjustment mechanism comprises a pair of linear actuators and a mounting plate (130) which can be driven in the direction of the linear actuator. A connecting plate (311) is provided on one side of the hip connecting arm (310), and the connecting plate (311) is connected to the mounting plate (130). The driving direction of the linear actuator is parallel to the axial direction of the pivot shaft.

6. The sitting and lying hip joint rehabilitation training device according to claim 5, characterized in that: The linear drive comprises a first motor (12a), a guide rail (12b) and a slider (12c), wherein the first motor (12a) is mounted at one end of the guide rail (12b), the output end of the first motor (12a) is connected to a screw rod, the slider (12c) is driven by the screw rod to move along the length direction of the guide rail (12b), and the mounting plate (130) is connected to the slider (12c).

7. The sitting and lying hip joint rehabilitation training device according to claim 1, characterized in that: The chair (200) comprises a seat cushion (210) and a seat back (220), wherein the seat back (220) is configured to be able to change its angle relative to the seat cushion (210), so that a user can perform lower limb rehabilitation training in a sitting position or a lying position.

8. The sitting and lying hip joint rehabilitation training device according to claim 7, characterized in that: The seat cushion (210) is connected to a chair back connector (231), a push rod motor (232) is connected between the end of the chair back connector (231) and the back of the chair back (220), and the push rod motor (232) is used to control the angle between the chair back (220) and the seat cushion (210).

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