Knee driving type lower limb training device

Abstract

A knee driving type lower limb training device comprises a bed frame, two sets of knee driving mechanisms distributed left and right are installed on the bed frame, each knee driving mechanism comprises a linear driving device, and the linear driving devices are connected to a controller. The machine body end of the linear driving device is hinged to the machine frame, the action end of the linear driving device is hinged to the end of one side A of a crank arm, the crank arm is hinged to the machine frame through a hinge shaft, a sliding rail is fixedly connected to the other side B of the crank arm, a sliding block is arranged in the sliding rail in a matched mode, the sliding block can only slide along the sliding rail, a driving block is fixedly connected to the sliding block, and the driving block is fixedly connected to the machine frame. A C-shaped support is fixedly connected to the upper end of the driving block, an opening of the C-shaped support is located in the upper portion, a hanging column is fixedly connected to the edge A, a lower support is fixedly connected to the lower end of the driving block, one end of a spring is hung on the hanging column, and the other end of the spring is hung on the support. The device is simple in structure, knee driving is adopted, and the requirement for driving force is relatively low.

Description

Technical Field

[0001] The utility model relates to a lower limb training device, in particular to a knee-driven lower limb training device, belonging to the technical field of rehabilitation training devices. Background Art

[0002] Lower limb (joint) rehabilitation training is one of the common training items in rehabilitation training. In the equipment-assisted scheme, there are two methods: active training and passive training. Corresponding equipment includes active training equipment, passive training equipment, and an integrated lower limb active-passive training system. For patients with poor autonomy, passive training equipment is generally required in the early stage, and active training equipment is used in the later stage. There are also various lower limb training devices in Chinese patent applications. For example, a lower limb active-passive training device disclosed by the applicant in Chinese patent CN110279558B can realize the active-passive training of the lower limbs, but its structure is relatively complex, and it drives the lower limbs by driving the trunk part, which requires a large driving force. In addition, the movement angle of the joints is not easy to control during the movement process, which may not be very practical for patients with limited joint movement. A lower limb joint training device is disclosed in Chinese patent document CN107198640A, which can perform multi-joint training of the lower limbs and drive the lower limb training during the training process. However, the structure of this device is still relatively complex, and the patient cannot perform training in a lying position; a main-passive combined lower limb rehabilitation training device disclosed in Chinese patent CN112022616B also has a complex structure. Summary of the Invention

[0003] The purpose of the utility model is to overcome the above problems existing in the current lower limb passive training device, and provide a knee-driven lower limb training device.

[0004] To achieve the purpose of the utility model, the following technical solution is adopted: a knee-driven lower limb training device, including a bed frame, on which two sets of knee drive mechanisms are installed and distributed left and right. The knee drive mechanism includes a linear drive device, which is connected to a controller. The body end of the linear drive device is hinged on the bed frame, and the action end is hinged to the end of a side A of a crank arm. The crank arm is hinged to the frame through a hinge shaft. A slide rail is fixedly connected to another side B of the crank arm. A slider is fitted in the slide rail and can only slide along the slide rail. A drive block is fixedly connected to the slider. The upper end of the drive block is fixedly connected with a C-shaped bracket, and the opening of the C-shaped bracket is located at the upper part. A hanging post is fixedly connected to side A. A lower bracket is fixedly connected to the lower end of the drive block. One end of a spring is hung on the hanging post, and the other end is hung on the bracket.

[0005] Further, the crank arm is a right-angle crank arm, and the hinge shaft is located at the right-angle part of the right-angle crank arm.

[0006] Further, an angle sensor is installed on the hinge axis, and the angle sensor is connected to the controller.

[0007] Further, a limit pin is fixedly connected to one of the sides of the crank arm, a limit plate is fixedly connected to the frame, an arc-shaped hole is formed in the limit plate, the limit pin is located in the arc-shaped hole, and the center of the arc-shaped hole is concentric with the hinge axis.

[0008] Further, a tension and compression sensor is installed between the C-shaped support and the driving block, and the tension and compression sensor is connected to the controller.

[0009] The positive and beneficial technical effects of the present utility model are as follows: The structure of this device is relatively simple, knee drive is adopted, the driving force requirement is relatively small, and the training angle is controllable. Description of the Drawings

[0010] Figure 1 Overall schematic diagram of an embodiment of the present utility model.

[0011] Figure 2 It is a partially enlarged schematic diagram.

[0012] Figure 3 It is a schematic diagram of the limit pin and the arc-shaped hole.

[0013] Figure 4 It is a schematic diagram of an embodiment of training using this device. Detailed Description of the Embodiment

[0014] To more fully explain the implementation of the present utility model, implementation examples of the present utility model are provided. These implementation examples are only elaborations of the present utility model and do not limit the scope of the present utility model.

[0015] With reference to the drawings, the present utility model is further explained in detail. The reference numerals in the drawings are: 1: bed frame; 2: lead screw; 3: crank arm; 4: side A; 5: side B; 6: spring; 7: driving block; 8: C-shaped support; 9: rotary encoder; 10: slide rail; 11: slider; 12: tension and compression sensor; 13: arc-shaped hole; 14: limit pin; 15: hanging post.

[0016] As shown in the attached drawings, a knee-driven lower limb training device includes a bed frame 1, on which two sets of knee-driven mechanisms are installed and distributed left and right. The knee-driven mechanism includes a linear driving device, which is connected to a controller. In this embodiment, the linear driving device uses a lead screw, which is driven by a servo motor. The lead screw is not self-locking. The body end of the lead screw is hinged on the bed frame, and the moving end is hinged to the end of an edge A4 of an elbow arm 3. The elbow arm 3 is hinged to the frame through a hinge shaft. In this embodiment, the elbow arm is a right-angle elbow arm, and the hinge shaft is located at the right-angle part of the right-angle elbow arm. An angle sensor is installed on the hinge shaft. In this embodiment, the angle sensor uses a rotary encoder 9, and the rotary encoder is connected to the controller. A slide rail 10 is fixedly connected to the other edge B5 of the elbow arm. A slider 11 is fitted in the slide rail, and the slider 11 can only slide along the slide rail. A driving block 7 is fixedly connected to the slider 11, and an upper end of the driving block is fixedly connected with a C-shaped bracket 8. In this embodiment, a tension and compression sensor 12 is installed between the C-shaped bracket and the driving block, and the tension and compression sensor is connected to the controller. The tension and compression sensor is used to judge the moving direction of the knee during active training. The opening of the C-shaped bracket is located at the upper part, and the patient's knee enters the C-shaped bracket from the opening. A hanging post 15 is fixedly connected to the edge A, and a lower bracket is fixedly connected to the lower end of the driving block. One end of a spring is hung on the hanging post and the other end is hung on the bracket.

[0017] As a further optimization, a limit pin 14 is fixedly connected to the edge B of the elbow arm, a limit plate is fixedly connected to the frame, and an arc-shaped hole 13 is opened on the limit plate. The limit pin is located in the arc-shaped hole, and the center of the arc-shaped hole 13 is concentric with the hinge shaft. The limit pin can only move within the range of the arc-shaped hole, so as to rigidly limit the rotation range of the elbow arm and prevent the control from failing and hurting the patient.

[0018] Figure 4 It is a state diagram of an embodiment of the use of this device. During training, the patient's knee is located on the C-shaped bracket, and the knee and the C-shaped bracket are bound by a flexible strap. During passive training, the servo motor drives the lead screw, and the lead screw drives the elbow arm to rotate, so as to drive the knee to perform an arc-shaped movement and drive the thigh and calf to move. Because the lever arm formed by the knee relative to the hip joint is the longest, a relatively small driving force can be used to drive. Figure 4 An existing footrest device is incorporated. The footrest device is slidably installed at the tail end of the bed body in the front and back directions, and the footrest on the footrest device can be turned over in the front and back directions to adapt to the foot state during training. The two sets of knee-driven mechanisms on this device are independent and can perform double-lower-limb training at the same time or single-lower-limb training. During active training, the patient drives the elbow arm to rotate through the C-shaped bracket. The movement direction of the patient can be detected through the tension and compression sensor. According to the movement mode, the servo motor can be driven to rotate the lead screw forward and backward to apply resistance or assistance, or the servo motor can be turned off to perform active training without providing resistance or assistance. Figure 4This is just one embodiment. During training, depending on the patient's condition, the footrest device may or may not be used.

[0019] After the embodiments of the present utility model are described in detail, those skilled in the art can clearly understand that various changes and modifications can be made without departing from the scope and spirit of the above-mentioned patent application. Any simple modifications, equivalent changes, and decorations made to the above embodiments based on the technical essence of the present utility model all belong to the scope of the technical solution of the present utility model, and the present utility model is not limited to the embodiments described in the specification either.

Claims

1. A knee-driven lower limb training device, comprising a bed frame, characterized in that: Two sets of knee drive mechanisms distributed on the left and right are installed on the bed frame, and the knee drive mechanism includes a linear drive device, which is connected to a controller. The body end of the linear drive device is hinged on the bed frame, and the action end is hinged at the end of one side A of a crank arm. The crank arm is hinged to the frame through a hinge shaft, and a slide rail is fixedly connected to the other side B of the crank arm. A slider is matched in the slide rail, and the slider can only slide along the slide rail. A drive block is fixedly connected to the slider, and a C-shaped bracket is fixedly connected to the upper end of the drive block. The opening of the C-shaped bracket is located at the upper part, and a hanging column is fixedly connected to the side A. A lower bracket is fixedly connected to the lower end of the drive block, and one end of the spring is hung on the hanger and the other end is hung on the bracket.

2. A knee-driven lower limb training device according to claim 1, characterized in that: The crank arm is a right-angle crank arm, and the hinge axis is located at the right-angle position of the right-angle crank arm.

3. A knee-driven lower limb training device according to claim 1, characterized in that: An angle sensor is installed on the articulated shaft and is connected to a controller.

4. A knee-driven lower limb training device according to claim 1, characterized in that: A limit pin is fixedly connected to one side of the crank arm, a limit plate is fixedly connected to the frame, an arc hole is opened on the limit plate, the limit pin is located in the arc hole, and the center of the arc hole is concentric with the hinge axis.

5. A knee-driven lower limb training device according to claim 1, characterized in that: A tension and pressure sensor is installed between the C-shaped support and the driving block, and the tension and pressure sensor is connected to the controller.

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