CN103315876B - Pelvis mechanism for gait rehabilitation training - Google Patents
Pelvis mechanism for gait rehabilitation training Download PDFInfo
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- CN103315876B CN103315876B CN201310237158.6A CN201310237158A CN103315876B CN 103315876 B CN103315876 B CN 103315876B CN 201310237158 A CN201310237158 A CN 201310237158A CN 103315876 B CN103315876 B CN 103315876B
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Abstract
The invention discloses a pelvis mechanism for gait rehabilitation training. The mechanism comprises a base, a rocker, a junction box, a cover plate, a swing member, an extension shaft, a supporting plate, a supporting arm and the like, wherein the base can move up and down along a stand column of a robot to realize the degree of freedom for vertical movement at the pelvis; the junction box can swing left and right around the base through the rocker to realize the degree of freedom for left-right movement at the pelvis of a patient; the swing member can rotate around the junction box through two joint ball bearings to meet the twist motion, roll motion and pitching motion of the pelvis. According to the pelvis mechanism, the constraint to the patient can be effectively reduced, so that the patient can freely move the pelvis, the comfort of the training process is improved, the balance capacity is trained while the lower limb walking function is trained, and a better training effect is achieved.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, particularly relate to a kind of pelvis mechanism that can be used for gait rehabilitation training.
Background technology
In recent years, aging population aggravates, and various unsound life style and traffic accident, industrial injury etc. constantly increase, and the patient of the walking function obstacle caused by apoplexy, spinal injury or contingency etc. has become the common colony of modern society.To this kind of patient except adopting medicine and operative treatment, what mainly rely on is physical treatment, namely carries out rehabilitation training.
The pelvis of human body is connected with lumbar vertebrae, lower and femur forms hip joint, it is the bridge between backbone and lower limb, the weight of health is delivered to lower limb by pelvis, the vibrations of lower limb are also uploaded to backbone by pelvis, therefore, it both as backbone a ring and move, with hip joint be again axle do relative to lower extremity movement.The pelvic area of normal human has six-freedom degree, is respectively the one-movement-freedom-degree in the torsion at hip joint place, the left and right of pitching and inclination three rotational freedoms and walking process midpelvis, front and back and upper and lower three directions.Research shows, plays important balanced action, when pelvis produces improper movement locus, will directly have influence on the motion feature of gait in the various daily routines such as pelvis is walked at human body, wear the clothes, have a bath, motion.According to neural facilitation know-why, strengthening pelvis control ability can promote the motor function of lower limb, and the training of pelvis can improve the balanced capacity of health both sides, accelerates the rehabilitation efficiency of hemiplegic patient.Existing lower limb rehabilitation robot majority does not have pelvis mechanism, and patient is subject to very large constraint in the training process, can not oneself health movable freely, have ignored the importance of balance training to hemiplegia patient, have impact on rehabilitation process.
Summary of the invention
The object of the invention is to the deficiency solving the existence of above-mentioned prior art, a kind of pelvis mechanism for gait rehabilitation training is provided, the constraint to patient can be reduced, enable patient's freely-movable pelvis, meet upper and lower, the left and right of pelvis, torsion, five frees degree such as inclination and pitching, improve the comfort level of training process, in the simultaneous training balanced capacity of training lower limb walking function, reach better training effect.
For achieving the above object, present invention employs following technical proposals:
For a pelvis mechanism for gait rehabilitation training, comprise a pedestal, two rocking bars, a connecting box, one piece of cover plate, a swing component, four outrigger shafts, two pieces of gripper shoes and two support arms; It is characterized in that: described rocking bar and described connecting box and described pedestal are hinged, described cover plate covers on connecting box, described swing component is positioned at the below of connecting box bottom and is flexibly connected with connecting box, and the both sides of swing component respectively have the outrigger shaft of two position-adjustables, this outrigger shaft to be fixedly connected with a support arm by one piece of gripper shoe; Pedestal is connected with robot, and can move up and down along the column of robot, what realize pelvis place moves up and down the free degree; Connecting box can be rocked from side to side around pedestal by rocking bar, moves left and right the free degree with what realize patient's pelvis place; Swing component can rotate around connecting box with the torsion meeting pelvis, inclination and elevating movement.
The structure that described rocking bar and described connecting box and described pedestal are hinged is: the two ends of described rocking bar respectively have a hole up and down, two deep groove ball bearings and a thrust ball bearing are housed in each hole successively, deep groove ball bearing coordinates with axis of rotation fixing on pedestal and connecting box, reduce friction, thrust ball bearing is for bearing the power of vertical direction.
The structure that described swing component is flexibly connected with connecting box is: described swing component is connected with connecting box by two oscillating bearings, together with the upper end of oscillating bearing to be fixed on connecting box by a joint bearing block and a joint shaft bearing sleeve, lower end is connected with swing component by a clamping screw, oscillating bearing can rotate around four sides, center, realize the torsion of pelvis, inclination and elevating movement, adopt the oscillating bearing that two longitudinal directions are arranged side by side, the bearing capacity of mechanism can be increased and restriction is reversed and the scope of elevating movement is not too large, in order to avoid damage patient; There is gap between swing component and connecting box, the scope of roll motion can be regulated by the size of adjusting play.
Described outrigger shaft is inserted in the hole of swing component both sides, and outrigger shaft is fixed by bolt and gripper shoe, and support arm to be bolted in gripper shoe and to be clamped in patient's pelvic on both sides; Outrigger shaft can stretch out, the distance between two support arms that adjustment is attached thereto, and to adapt to the build of different patient, by bolt, outrigger shaft is fixed anti-sliding stop after adjustment distance.
The present invention compared to the prior art comparatively, has following apparent outstanding substantive distinguishing features and significant technological progress:
Structure of the present invention is simple, easy to use.During use, support arm is held on patient's pelvic on both sides, the process midpelvis mechanism that patient carries out gait rehabilitation training can ensure patient's pelvis up and down, left and right, torsion, five frees degree such as inclination and pitching, patient's pelvic area is not carried the baby, can freely-movable, at the equilibrium function of the simultaneous training patient of training leg walking function.And current existing lower limb rehabilitation robot majority does not have pelvis mechanism, training process is comparatively large to the constraint of patient, and patient can not free oneself health movable, and equilibrium function can not get training, and affects rehabilitation efficiency.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the pelvis mechanism for gait rehabilitation training.
Tu2Shi pelvis mechanism A-A is to sectional view.
Fig. 3 is rocking bar sectional view.
Detailed description of the invention
Exemplary embodiments of the present invention is described in detail below in conjunction with accompanying drawing and preferred embodiment.
Embodiment one:
See accompanying drawing 1, for a pelvis mechanism for gait rehabilitation training, comprise a pedestal (1), two rocking bars (2), a connecting box (3), one piece of cover plate (4), a swing component (5), four outrigger shafts (6), two pieces of gripper shoes (7) and two support arms (8); It is characterized in that: described rocking bar (2) is hinged with described connecting box (3) and described pedestal (1), described cover plate (4) covers on connecting box (3), described swing component (5) is positioned at the below of connecting box (3) bottom and is flexibly connected with connecting box (3), and the both sides of swing component (5) respectively have the outrigger shaft of two position-adjustables (6), this outrigger shaft (6) to be fixedly connected with a support arm (8) by one piece of gripper shoe (7); Pedestal (1) is connected with robot, and can move up and down along the column of robot, what realize pelvis place moves up and down the free degree; Connecting box (3) can be rocked from side to side around pedestal (1) by rocking bar (2), moves left and right the free degree with what realize patient's pelvis place; Swing component (5) can rotate around connecting box (3) with the torsion meeting pelvis, inclination and elevating movement.
Embodiment two:
See accompanying drawing 2 and accompanying drawing 3, the present embodiment is substantially identical with embodiment one, special feature is that the structure that described rocking bar (2) and described connecting box (3) and described pedestal (1) are hinged is: the two ends of described rocking bar (2) respectively have a hole up and down, two deep groove ball bearings (9) and a thrust ball bearing (10) are housed in each hole successively, deep groove ball bearing (9) coordinates with pedestal (1) and the upper fixing axis of rotation of connecting box (3), reduce friction, thrust ball bearing (10) is for bearing the power of vertical direction.
The structure that described swing component (5) is flexibly connected with connecting box (3) is: described swing component (5) is connected with connecting box (3) by two oscillating bearings (11), together with the upper end of oscillating bearing (11) is fixed on connecting box (3) by a joint bearing block (12) and a joint shaft bearing sleeve (13), lower end is connected with swing component (5) by a clamping screw (14), oscillating bearing (11) can rotate around four sides, center, realize the torsion of pelvis, roll and elevating movement, adopt the oscillating bearing (11) that two longitudinal directions are arranged side by side, the bearing capacity of mechanism can be increased and restriction is reversed and the scope of elevating movement is not too large, in order to avoid damage patient, there is gap between swing component (5) and connecting box (3), the scope of roll motion can be regulated by the size of adjusting play.
Described outrigger shaft (6) is inserted in the hole of swing component (5) both sides, and outrigger shaft (6) is fixed by bolt and gripper shoe (7), and support arm (8) is bolted on gripper shoe (7) and goes up and be clamped in patient's pelvic on both sides; Outrigger shaft (6) can stretch out, the distance between two support arms (8) that adjustment is attached thereto, and to adapt to the build of different patient, by bolt, outrigger shaft (6) is fixed anti-sliding stop after adjustment distance.
Embodiment three:
The present embodiment and embodiment one, embodiment two is substantially identical, special feature is: during training, the safety belt being fixed on support arm (8) end is worn on buttocks by therapist assisting patients, support arm (8) is held on patient's pelvic on both sides, patient needs to carry out level land according to rehabilitation, step, ramp, the various different Walking Modes training such as obstacle, in the training process, patient can free oneself health movable, pelvis place needs to carry out up and down and move left and right and reverse, roll and pitching three rotation, structural design of the present invention can ensure that each freedom of motion of patient's pelvis is unrestricted, patient has carried out the training of balanced capacity while training leg walking function, and ensure the safety of patient, accelerate the course of convalescence.
Embodiment four:
The present embodiment and embodiment one, embodiment two, embodiment three are substantially identical, special feature is: can load control system in connecting box (3), range of movement, the kinematic parameter such as angle and intensity of each free degree is controlled by control system, assisting patients carries out rehabilitation training, the t raining period adjustment kinematic parameter different according to patient, makes patient carry out the training mode of active, power-assist, the varying strength such as passive; By relevant parameters such as sensor measurement patient motion intensity, scopes, understand the rehabilitation situation of patient in real time, the data that therapist can record according to sensor change training program flexibly, more contribute to the rehabilitation of patient.
Because the constraint of the present invention to patient is less, the motions such as the pelvis of patient can carry out up and down, left and right, torsion, inclination and pitching, keep the comfort level that patient is maximum, in the simultaneous training balanced capacity of training lower limb walking function, accelerate the course of convalescence.
The foregoing is only the preferred embodiments of the present invention; not thereby the scope of the claims of the present invention is limited; every equivalent structure transformation utilizing description of the present invention and accompanying drawing content to do; or be directly or indirectly used in other correlative technology fields, be all in like manner included in scope of patent protection of the present invention.
Claims (4)
1., for a pelvis mechanism for gait rehabilitation training, comprise a pedestal (1), two rocking bars (2), a connecting box (3), one piece of cover plate (4), a swing component (5), four outrigger shafts (6), two pieces of gripper shoes (7) and two support arms (8); It is characterized in that: described rocking bar (2) is hinged with described connecting box (3) and described pedestal (1), described cover plate (4) covers on connecting box (3), described swing component (5) is positioned at the below of connecting box (3) bottom and is flexibly connected with connecting box (3), and the both sides of swing component (5) respectively have the outrigger shaft of two position-adjustables (6), this outrigger shaft (6) to be fixedly connected with a support arm (8) by one piece of gripper shoe (7); Pedestal (1) is connected with robot, and can move up and down along the column of robot, what realize pelvis place moves up and down the free degree; Connecting box (3) can be rocked from side to side around pedestal (1) by rocking bar (2), moves left and right the free degree with what realize patient's pelvis place; Swing component (5) can rotate around connecting box (3) with the torsion meeting pelvis, inclination and elevating movement.
2. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that the structure that described rocking bar (2) and described connecting box (3) and described pedestal (1) are hinged is: the two ends of described rocking bar (2) respectively have a hole up and down, two deep groove ball bearings (9) and a thrust ball bearing (10) are housed in each hole successively, deep groove ball bearing (9) coordinates with pedestal (1) and the upper fixing axis of rotation of connecting box (3), reduce friction, thrust ball bearing (10) is for bearing the power of vertical direction.
3. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that the structure that described swing component (5) and connecting box (3) are flexibly connected is: described swing component (5) is connected with connecting box (3) by two oscillating bearings (11), together with the upper end of oscillating bearing (11) is fixed on connecting box (3) by a joint bearing block (12) and a joint shaft bearing sleeve (13), lower end is connected with swing component (5) by a clamping screw (14), oscillating bearing (11) can rotate around four sides, center, realize the torsion of pelvis, roll and elevating movement, adopt the oscillating bearing (11) that two longitudinal directions are arranged side by side, the bearing capacity of mechanism can be increased and the scope of restriction torsion and elevating movement, in order to avoid damage patient, there is gap between swing component (5) and connecting box (3), the scope of roll motion can be regulated by the size of adjusting play.
4. the pelvis mechanism for gait rehabilitation training according to claim 1, it is characterized in that: described outrigger shaft (6) is inserted in the hole of swing component (5) both sides, outrigger shaft (6) is fixed by bolt and gripper shoe (7), and support arm (8) is bolted on gripper shoe (7) and goes up and be clamped in patient's pelvic on both sides; Outrigger shaft (6) can stretch out, the distance between two support arms (8) that adjustment is attached thereto, and to adapt to the build of different patient, by bolt, outrigger shaft (6) is fixed anti-sliding stop after adjustment distance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310237158.6A CN103315876B (en) | 2013-06-17 | 2013-06-17 | Pelvis mechanism for gait rehabilitation training |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310237158.6A CN103315876B (en) | 2013-06-17 | 2013-06-17 | Pelvis mechanism for gait rehabilitation training |
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| CN103315876A CN103315876A (en) | 2013-09-25 |
| CN103315876B true CN103315876B (en) | 2015-03-25 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103622794B (en) * | 2013-12-17 | 2015-06-17 | 哈尔滨工程大学 | Supporting seat type waist rehabilitation trainer |
| CN105232293B (en) * | 2015-10-12 | 2017-07-11 | 哈尔滨工程大学 | A kind of portable waist hunting gear |
| CN105597278B (en) * | 2016-03-04 | 2019-08-23 | 上海电气集团股份有限公司 | The pelvis mechanism for gait rehabilitation training that quickly can be adjusted and lock |
| CN108392782B (en) * | 2018-02-05 | 2019-11-26 | 哈尔滨工程大学 | It is a kind of for assisting the pelvis attitude coutrol mechanism of walking rehabilitation training |
| CN108245842B (en) * | 2018-03-27 | 2023-06-27 | 上海金矢机器人科技有限公司 | Pelvis motion control balance training robot |
| CN108744416B (en) * | 2018-06-04 | 2023-10-24 | 上海金矢机器人科技有限公司 | Walking aid robot for lower limb rehabilitation training |
| CN108969288B (en) * | 2018-06-13 | 2020-09-11 | 邵旭 | Postpartum pelvic floor muscle rehabilitation training device |
| CN110051503A (en) * | 2019-03-28 | 2019-07-26 | 昆明桑达科技有限公司 | A kind of (rehabilitation) robot based on human body lower limbs ectoskeleton |
| CN113143689B (en) * | 2021-04-22 | 2023-04-14 | 上海电气集团股份有限公司 | Angle adjusting and locking mechanism for hip weight reduction device of rehabilitation robot |
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| FR2937532B1 (en) * | 2008-10-27 | 2012-01-20 | Lpg Finance Ind | DEVICE FOR BODILY MOBILIZATION AND USE OF SUCH A DEVICE |
| GB2484463A (en) * | 2010-10-11 | 2012-04-18 | Jonathan Butters | Apparatus to assist the rehabilitation of disabled persons |
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| US6558304B1 (en) * | 1997-10-14 | 2003-05-06 | Alain Bardon | Apparatus for restoring the balance of the human body |
| CN1444468A (en) * | 2000-06-16 | 2003-09-24 | 扎克瑞托·阿克西涅奥·奥布斯凯斯托夫·瑙克诺-普罗兹沃德斯特文尼·岑特·奥格内克 | Device for users having after-troubles resulting from damage to central nervous system and/or locomotor apparatus of body |
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