CN103637864A - Auxiliary training tool for comprehensive rehabilitation of cerebral palsy - Google Patents
Auxiliary training tool for comprehensive rehabilitation of cerebral palsy Download PDFInfo
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- CN103637864A CN103637864A CN201310726945.7A CN201310726945A CN103637864A CN 103637864 A CN103637864 A CN 103637864A CN 201310726945 A CN201310726945 A CN 201310726945A CN 103637864 A CN103637864 A CN 103637864A
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Abstract
The invention discloses an auxiliary training tool for comprehensive rehabilitation of cerebral palsy. The auxiliary training tool comprises a chassis, a lower limb exoskeleton device and a suspension device, wherein the chassis comprises universal casters with the locking function, a lower chassis, an upper chassis and an exoskeleton device inclination adjusting mechanism; the lower limb exoskeleton device is fixedly mounted on the chassis, and can realize rehabilitation training such as flexion/extension, adduction/abduction and pronation/supination of hip joints, flexion/extension of the knee joint, and dorsi-flexion/plantar-flexion, strephenopodia/ strephexopodia and pronation ans supination of feet; the suspension device is fixedly mounted on the chassis, and plays a role in slinging, weight reduction and upper body posture correction of paitents. The auxiliary training tool can help patients with cerebral palsy to correct the abnormal posture of lower limbs, carry out the rehabilitation training on all joints of the lower limbs, promotes the development of all the joints of the lower limbs, and gradually establishes the normal standing and walking functions.
Description
Technical field
The present invention relates to a kind of rehabilitation accessory, particularly relate to a kind of can help children cerebral palsy patient correct the improper posture of lower limb, carry out each joint motions of lower limb rehabilitation training, promote each joint normal development of lower limb, progressively set up the cerebral palsy comprehensive rehabilitation training accessory of normal stand and walking function.Belong to rehabilitation accessory technical field.
Background technology
Cerebral palsy main manifestations is kentrokiness obstacle and abnormal posture, is one of principal disease of disabling of current child.The incidence rate of China's cerebral palsy is 1.8 ‰-4 ‰.Therefore though cerebral palsy right and wrong are progressive, dyskinesia exists for a long time, has a large amount of existing infants, and has new infant to produce every year, brings heavy burden to I, family and society.Utilize rehabilitation accessory to carry out rehabilitation training and treatment to children with cerebral palsy, can effectively help children with cerebral palsy to correct abnormal posture, alleviate disabled degree, thereby make them better return society, also alleviate family and social burden simultaneously.
But the current assistant tool structure for children with cerebral palsy rehabilitation training is simple, more single, the more difficult comprehensive rehabilitation training of realizing a plurality of joints of lower limb of function ratio, and the distribution of the design of the kinematic axis of existing accessory and each joint shaft of human body is inconsistent, be difficult to effectively promote the normal development of each joint of lower limb and foot.
Summary of the invention
The present invention is intended to solve above-mentioned prior art an open question and deficiency, a kind of cerebral palsy comprehensive rehabilitation training accessory has been proposed, this accessory is according to ergonomic designs, each joint shaft of each kinematic axis and human body lower limbs distributes consistent, can help patients with cerebral palsy carry out hip joint anteflexion/after stretch, hip abduction/interior receipts, hip joint medial rotation/revolve are outer, knee joint flexion/extension, instep song/Plantar are bent, strephenopodia/turning up, sufficient medial rotation/the revolve rehabilitation trainings such as outer, correct patient's abnormal posture, promote pelvis and each joint normal development of lower limb.
Technical scheme of the present invention is:
A cerebral palsy comprehensive rehabilitation training accessory, for correcting the improper posture of patients with cerebral palsy lower limb, progressively sets up correct standing and walking function.
Technical characterstic of the present invention is:
Cerebral palsy comprehensive rehabilitation training accessory comprises underframe, lower limb exoskeleton device, suspension apparatus etc.; Lower limb exoskeleton device by hip abduction main shaft be packed in underframe for adjusting the main shaft of the tilt adjusting mechanism that lower limb exoskeleton device tilts, suspension apparatus is packed on the upper underframe of underframe by the annular fixed block on it; On the main shaft of tilt adjusting mechanism, centre position is fixed with a jackshaft, and the reciprocal motion intermediate plate of the other end of jackshaft and lower limb exoskeleton device is hinged.
Underframe comprises the universal caster wheel of locking, lower underframe, montant, montant fixed block, upper underframe, nut shaft fastener, main shaft contiguous block, table assembly, lower limb exoskeleton tilt adjusting mechanism; On lower underframe, be fixed with universal caster wheel, montant is connected by the fixture block on upper underframe and upper underframe, upper underframe inserts down in the pipe of underframe and is connected with lower underframe by montant fixed block by montant, table assembly is fixed on underframe, the main shaft of tilt adjusting mechanism is hinged with the main shaft contiguous block being packed on underframe, and the nut shaft of tilt adjusting mechanism and nut shaft fastener are hinged;
Lower limb exoskeleton device is comprised of left side lower limb exoskeleton device and right side lower limb exoskeleton device, and left and right side lower limb exoskeleton device connects by reciprocal motion intermediate plate; The left and right side lower limb exoskeleton device that structure is identical comprise respectively can realize hip joint anteflexion/after stretch, hip joint mechanism, the knee joint flexion/extension mechanism of the outer rehabilitation training of abduction/adduction, medial rotation/revolve, can realize that instep song/Plantar bends, strephenopodia/turning up, sufficient medial rotation/the revolve Huai Zu mechanism of outer rehabilitation training; Wherein hip joint mechanism is connected by the above-knee side plate of the lower side panel on it and knee joint flexion/extension mechanism, knee joint flexion/extension mechanism by its at one's knees the upper supporting piece of side plate Yu Huaizu mechanism be connected;
Lower limb exoskeleton device is also provided with back rack, thigh holder, small leg support, the foot holder of immobilized patients; Wherein back rack is fixed on the hip abduction main shaft of lower limb exoskeleton device, and thigh holder is fixed on hip joint mechanism, and small leg support is fixed in knee joint flexion/extension mechanism, and foot holder is fixed in Huai Zu mechanism;
Suspension apparatus comprises rear bar, left side bar, right-hand rod, upper firmware, peg, loss of weight suspender belt etc.; Wherein, rear bar, left side bar, right-hand rod are all fixed on firmware, and peg is connected with upper firmware, and loss of weight suspender belt hangs over the upper end of suspension apparatus.
And, the hip joint mechanism of lower limb exoskeleton device comprises that hip abduction main shaft, hip bend and stretch support member, hip bends and stretches main shaft, hip epipleural, the inside and outside circumflex branch support member of hip, the inside and outside rotating part of hip, hip lower side panel, hip back side panel etc., the two ends that wherein hip bends and stretches support member respectively with hip abduction main shaft, that hip bends and stretches main shaft is hinged, the upper end of hip epipleural and hip bend and stretch that main shaft is connected, lower end and the inside and outside circumflex branch support member of hip are connected, and the inside and outside rotating part of hip extend in the groove of the inside and outside circumflex branch support member of hip, hip lower side panel and hip back side panel are separately fixed on the inside and outside rotating part of hip; The knee joint flexion/extension mechanism of described lower limb exoskeleton device comprises above-knee side plate, knee joint axle, side plate at one's knees, above-knee side plate by knee joint axle with side plate is hinged at one's knees; The Huai Zu mechanism of described lower limb exoskeleton device comprises the part etc. that turns up in upper supporting piece, gyroaxis, side plate, inside and outside circumflex branch support member, the inside and outside rotating part of foot, foot, its latus inframedium and upper supporting piece are hinged, upper end and the side plate of inside and outside circumflex branch support member are connected, the inside and outside rotating part of foot inserts in the supported hole of inside and outside circumflex branch support member, and the part that turns up in foot is hinged by side with the inside and outside rotating part of foot.
And lower limb exoskeleton device is provided with the reciprocal motion mechanism of bending and stretching for realizing the mutual hip of left and right side lower limb exoskeleton device; The both sides of reciprocal motion mechanism are provided with two arrangement of clutch; Reciprocal motion mechanism by with two clutches and hinged, two arrangement of clutch are connected with the hip joint mechanism of left and right sides lower limb exoskeleton device respectively.
And left and right side lower limb exoskeleton device is respectively arranged with for realizing the driving mechanism of the abduction/adduction of hip joint mechanism.
And left and right side lower limb exoskeleton device is respectively arranged with the locking system for outward turning in fixing hip joint mechanism.
And left and right side lower limb exoskeleton device is respectively arranged with for knee joint and bends and stretches the adjusting device that mechanism bends and stretches.
And left and right side lower limb exoskeleton device is respectively arranged with for ankle device and realizes instep song/Plantar driving mechanism in the wrong.
And, on underframe, be provided with for keeping hip joint to bend and stretch the bracing or strutting arrangement of state.
Compared with prior art, advantage of the present invention and good effect are:
1. lower limb exoskeleton device comprises hip joint mechanism, knee-joint mechanism, ankle joints of foot mechanism, can guarantee that each joint of patient's lower limb can obtain rehabilitation training;
2. the design of lower limb exoskeleton device meets human engineering, and each joint of the setting of each kinematic axis and human body lower limbs distributes consistent;
3. by reciprocal motion mechanism, left and right side lower limb exoskeleton device can be realized the mutual coordination exercise that hip joint bends and stretches, thereby realizes training and the foundation of normal gait;
4. each motion in each joint of patient's lower limb can be maintained in its movable amplitude, and this maintaining is beneficial to that patient correctly stands and the foundation of walking function;
5. lower limb exoskeleton device can carry out patient's inclination with respect to the horizontal plane by the tilt adjusting mechanism on underframe, and this tilt adjustments is conducive to that patient correctly stands and the foundation of walking function;
6. suspension apparatus not only possesses loss of weight effect, also patient's upper body is played to correcting posture effect.
Accompanying drawing explanation
Fig. 1 is the population structure schematic diagram of cerebral palsy comprehensive rehabilitation training accessory of the present invention;
Fig. 2 is the partial enlarged drawing of Fig. 1;
Fig. 3 is the structural representation of underframe of the present invention;
Fig. 4 is the structural representation of lower limb exoskeleton device of the present invention;
Fig. 5 is the structural representation of lower limb exoskeleton device hip joint mechanism of the present invention;
Fig. 6 is the interaction means of lower limb exoskeleton device of the present invention and the structural representation of realizing the driving mechanism of hip joint mechanism abduction/adduction;
Fig. 7 is the structural representation of the locking system for outward turning in fixing hip joint mechanism of the present invention;
Fig. 8 is the structural representation of lower limb exoskeleton device knee joint flexion/extension of the present invention mechanism;
Fig. 9 is the structural representation of lower limb exoskeleton device Huai Zu of the present invention mechanism;
Figure 10 is that the present invention is for keeping hip joint to bend and stretch the structural representation of the bracing or strutting arrangement of state;
Figure 11 is the structural representation of suspension apparatus of the present invention;
Figure 12 is the schematic diagram that patient of the present invention uses.
The specific embodiment
Below in conjunction with accompanying drawing, further introduce embodiments of the invention:
As shown in Figure 1 and Figure 2, cerebral palsy comprehensive rehabilitation training accessory comprises underframe 100, lower limb exoskeleton device 200, suspension apparatus 300 etc.; Lower limb exoskeleton device comprise left and right lower limb exoskeleton device L200 and R200 by hip abduction main shaft L211 and R211 be packed in underframe 100 for adjusting the main shaft 10A1 of the tilt adjusting mechanism that lower limb exoskeleton device L200 and R200 tilt, on the upper underframe 105 that suspension apparatus 300 is packed in underframe 100 by the annular fixed block 301a on its rear bar 301, left side bar 302, right-hand rod 303,302a, 303a; Centre position on the main shaft 10A1 of tilt adjusting mechanism is fixed with a jackshaft 401, and the reciprocal motion intermediate plate 402 of the other end of jackshaft and lower limb exoskeleton device 200A and 200B is hinged.
As shown in Figure 3, underframe 100 comprises universal caster wheel 101, lower underframe 102, montant 103, montant fixed block 104, upper underframe 105, nut shaft fastener 106, main shaft contiguous block 107, table assembly 108, the lower limb exoskeleton tilt adjusting mechanism 10A of locking; On lower underframe 102, be fixed with universal caster wheel 101, montant 103 is connected with upper underframe 105 by the fixture block 109 on upper underframe 105, under inserting by the montant 103 being connected on it, upper underframe 105 also by montant fixed block 104, is connected with lower underframe 102 in the vertical tube 102a of underframe 102, table assembly 108 is fixed on underframe, the main shaft 10A1 of tilt adjusting mechanism 10A is hinged with the main shaft contiguous block 107 that is packed in underframe 105, and nut shaft 10A2 and the nut shaft fastener 106 of tilt adjusting mechanism 10A are hinged.Whole underframe 100 moves and relative ground locking by universal caster wheel 101, and when unclamping montant fixed block 104, the length under inserting by adjustment montant 103 in the vertical tube 102a of underframe 102 is adjusted the height of whole underframe 100.During locking nut 10A4 on the adjustment screw rod 10A3 that unclamps tilt adjusting mechanism 10A, rotate the handwheel 10A5 adjusting on screw rod 10A3, by being connected in, main shaft 10A1 is upper and hinged driving member 10A6 makes main shaft 10A1 rotate with respect to underframe with adjusting screw rod 10A3, thereby realize lower limb exoskeleton device 200, with respect to underframe 100, tilts.
As shown in Figure 4, lower limb exoskeleton device 200 of the present invention is comprised of left side lower limb exoskeleton device L200 and right side lower limb exoskeleton device, left side lower limb exoskeleton device L200 and left side lower limb exoskeleton device R200 link together by reciprocal motion mechanism 400 and arrangement of clutch 500, can realize the two lower limb exoskeleton device reciprocal motion in patient left and right and single lower limb ESD independently moving; Left and right side lower limb exoskeleton device L200, the R200 that structure is identical comprise respectively can realize hip joint anteflexion/after stretch, hip joint mechanism L21 and R21, the knee joint flexion/extension L22 of mechanism and the R22 of the outer rehabilitation training of abduction/adduction, medial rotation/revolve, can realize that instep song/Plantar bends, strephenopodia/turning up, sufficient medial rotation/the revolve L23 of Huai Zu mechanism and the R23 of outer rehabilitation training; Wherein hip joint mechanism L21 and R21 are connected by above-knee side plate L221, the R221 of lower side panel L219, R219 on it and the knee joint flexion/extension L22 of mechanism and R22 respectively, and by it, upper supporting piece L231, the R231 of side plate L223, R223 Yu Huaizu mechanism are connected at one's knees in knee joint flexion/extension mechanism.
As Fig. 4, shown in Fig. 5, the hip joint mechanism L21 of left side lower limb exoskeleton device 200 comprises hip abduction main shaft L211, hip bends and stretches support member L212, hip bends and stretches main shaft L213, hip epipleural L214, the inside and outside circumflex branch support member L215 of hip, the inside and outside rotating part L216 of hip, hip back side panel L217, connecting plate L218, hip lower side panel L219 etc., the two ends that wherein hip bends and stretches support member L212 respectively with hip abduction main shaft L211, hip bends and stretches the hinged L213 of main shaft, the upper end of hip epipleural L214 and hip bend and stretch the main shaft L213 that is connected, the inside and outside circumflex branch support member L215 of lower end and hip is connected, the inside and outside rotating part L216 of hip extend into the interior L215a of groove of the inside and outside circumflex branch support member L215 of hip, hip lower side panel L219 and hip back side panel L217 are separately fixed on the inside and outside rotating part L216 of hip, connecting plate L218 two ends are connected with the bottom of hip lower side panel L219 and hip back side panel L217 respectively.
As shown in Fig. 4, Fig. 6, lower limb exoskeleton device 200 is provided with the reciprocal motion mechanism 400 of bending and stretching for realizing left and right side lower limb exoskeleton device L200, the mutual hip of R200; The both sides of reciprocal motion mechanism 400 are provided with two arrangement of clutch 40A, 40B; Reciprocal motion mechanism 400 is by hinged with two clutch 40A, 40B, and two arrangement of clutch 40A, 40B are connected with hip joint mechanism L21, the R21 of left and right sides lower limb exoskeleton device respectively.Reciprocal motion mechanism 400 comprises jackshaft 401, reciprocal motion intermediate plate 402, connecting plate 403, L-type plate 404 and two arrangement of clutch 40A and the 40B that are comprised of oscillating bearing 405 and 406, clutch plate 407, on-of pin 408, shifting block 409.One end of jackshaft 401 is fixed on the main shaft 10A1 of tilt adjusting mechanism, its other end and reciprocal motion intermediate plate 402 are hinged, one end of two connecting plates 403 is connected to the two ends of reciprocal motion intermediate plate 402, its other end is connected with two L-type plates 404 respectively, the two pairs of oscillating bearings 405 that are threaded connection and 406 hinged with two L-type plates 404 and two clutch plates 407 respectively, two clutch plates 407 are hinged bend and stretch main shaft L213 with hip respectively and R213 hinged, and its one side 407a and hip epipleural L214, R214 is close, two on-of pins 408 are arranged on hip epipleural L214, in the hole of R214 (not shown in the figures portalling), shifting block 409 is arranged on hip epipleural L214, the groove L214a of R214, in R214a.When along groove L214a, when R214a stirs shifting block 409, shifting block 409 drives on-of pin 408 along hip epipleural L214, the hole (not shown) of R214 moves, make on-of pin 408 stretch into or leave in the hole of clutch plate 407, in the time of in the hole of stretching into clutch plate 407, clutch plate 407 and hip epipleural L214, R214 bends and stretches main shaft L213 and R213 rotation around hip respectively together, by the clutch plate 407 of both sides, L-type plate 404, connecting plate 403, reciprocal motion intermediate plate 402 rotates around jackshaft 401 jointly, thereby realize left, right side lower limb exoskeleton device L200, R200 carries out alternately hip and bends and stretches, when on-of pin 408 leaves in the hole of clutch plate 407, clutch plate 407 and hip epipleural L214, R214 depart from, and can not rotate together, thereby make left and right side lower limb exoskeleton device L200, R200 to carry out separately hip, bend and stretch.
As shown in Fig. 4, Fig. 6, left side lower limb exoskeleton device L200 and right side lower limb exoskeleton device R200 are respectively arranged with for realizing driving mechanism L500 and the R500 of the abduction/adduction of hip joint mechanism.Driving mechanism L500 comprises sole piece L501, drive screw L502, gudgeon nut L503, trunnion base L504, handwheel L505, wherein sole piece L501 is packed in hip and bends and stretches on support member L212, drive screw L502 bottom and sole piece L501 are hinged, and drive screw L502 stretches in the screw of gudgeon nut L503, trunnion base L504 is packed in that hip abduction main shaft L211 is upper, gudgeon nut L503 and trunnion base L504 hinged, the top of handwheel L505 and drive screw L502 is connected.When rotating handwheel L505, drive screw L502 moves up and down by gudgeon nut L503, drives sole piece L501 action, realizes hip and bends and stretches support member L212 around hip abduction main shaft L211 rotation, thereby realize hip joint mechanism abduction/adduction.Driving mechanism R500 is identical with structure and the operation principle of driving mechanism L500.
As shown in Figure 4, left and right side lower limb exoskeleton device L200, R200 are respectively arranged with locking system L600, the R600 for outward turning in fixing hip joint mechanism.Fig. 7 shows a specific embodiment of locking system L600, locking system L600 comprises fixed block L601, knob plunger L602, it is upper that wherein fixed block L601 is packed in the inside and outside circumflex branch support member L215 of hip, and the threaded portion of knob plunger L602 is screwed in the screw L601a of fixed block L601.When pulling open knob plunger L602, its head L602a retracts, can work as certain position along rotating part L216 inside and outside the groove L215a rotation hip of circumflex branch support member L215 inside and outside hip, then unclamp and pull open knob plunger L602, its head L602a inserts the circular hole L215b that the inside and outside circumflex branch support member L215 of hip side arranges, and realizes the locking of outward turning in hip joint mechanism.
As shown in Fig. 4, Fig. 8, the knee joint flexion/extension L22 of mechanism of lower limb exoskeleton device 200 comprises above-knee side plate L221, knee joint axle L222, side plate L223 at one's knees, above-knee side plate L221 by knee joint axle L222 with side plate L223 is hinged at one's knees.At the upper knee joint flexion/extension L22 of mechanism of lower limb exoskeleton device 200, be provided with for knee joint and bend and stretch the adjusting device 700 that mechanism bends and stretches, one of embodiment of adjusting device 700 as shown in Figure 8.Adjusting device 700 comprises upper connector 701, upper joint bearing 702, adjustment screw rod 703, hypozygal bearing 704, lower connector 705; Wherein upper connector 701 is connected with above-knee side plate L221, upper joint bearing 702 one end and upper connector 701 are hinged, lower connector 705 and at one's knees side plate L223 are connected, hypozygal bearing 704 is hinged with lower connector 705, and the two ends of adjusting screw rod 703 are threaded with the screw end of two oscillating bearings 702 and 704 respectively.When rotating adjustment screw rod 703, by elongating or reducing the distance between two oscillating bearings 702 and 704, thereby drive upper connector 701 and lower connector 705, drive above-knee side plate L221 with respect to side plate L223 rotation at one's knees, realize the adjustment that knee joint bends and stretches angle.
As shown in Fig. 4, Fig. 9, the L23 of Huai Zu mechanism of lower limb exoskeleton device 200 comprises the part L236 etc. that turns up in upper supporting piece L231, gyroaxis L232, side plate L233, inside and outside circumflex branch support member L234, the inside and outside rotating part L235 of foot, foot, its latus inframedium L233 and upper supporting piece L231 are hinged by gyroaxis L232, upper end and the side plate L232 of inside and outside circumflex branch support member L233 are connected, the inside and outside rotating part L234 of foot inserts in the supported hole of inside and outside circumflex branch support member L233, and the part L235 that turns up in foot is hinged by side with the inside and outside rotating part L234 of foot.On the Huai Zu of lower limb exoskeleton device 200 L23 of mechanism, be provided with for ankle device and realize instep song/Plantar driving mechanism in the wrong 800, one of embodiment of driving mechanism 800 as shown in Figure 9.Driving mechanism 800 comprises lower bearing pin 801, upper pin 802, reduction box 803, tooth bar 804, tooth bar fixture 805, drive rod 806; Its middle rack fixture 805 is hinged by the rear end of the inside and outside circumflex branch support member L233 of the lower bearing pin 801Yu Huaizu L23 of mechanism, the upper supporting piece L231 of the upper pin 802Yu Huaizu L23 of mechanism is connected, reduction box 803 is hinged with upper pin 802, in reduction box 803, be provided with turbine, worm screw, gear, axle (not shown) etc., wheel and rack 804 engagements, tooth bar 804 is fixed on tooth bar fixture 805, and drive rod 806 is connected with worm screw; By the hand wheel rotating drive rod 806 on drive rod 806, drive worm screw, turbine, gear in reduction box to rotate, gear driving rack 804, thereby make tooth bar fixture 805 drive inside and outside circumflex branch support member L233 to rotate with respect to upper supporting piece L231, the instep song/Plantar that realizes ankle device L23 bends.When the inside and outside rotating part L235 of foot is when inside and outside circumflex branch support member L234 rotates, can realize sufficient interior outward turning.In foot, turn up part L236 during with respect to the inside and outside rotating part L235 upset of foot, realize foot in turn up.
As shown in Figure 4, on lower limb exoskeleton device 200, be also provided with immobilized patients back rack W, thigh holder T, small leg support S, foot holder F; Wherein back rack W is fixed on L211(R211 on the hip abduction main shaft of lower limb exoskeleton device) on, thigh holder T is fixed on hip joint mechanism L21(R21) on, small leg support is fixed on the knee joint flexion/extension L22(R22 of mechanism) upper, foot holder F is fixed on L23(R23 in Huai Zu mechanism) on.
As shown in Figure 1, be provided with for keeping hip joint L21 and R21 to bend and stretch bracing or strutting arrangement L800 and the R900 of state on underframe 100, Figure 10 shows a specific embodiment of bracing or strutting arrangement L900.Bracing or strutting arrangement L900 comprises fanning strip 901, riser 902, knob plunger 903, fixed block 904, transposition piece 905, axis 906, fixture block 907 etc., wherein fanning strip 901 is fixed on the welding block 105a that is welded on underframe 105, riser 902 upper ends and fanning strip 901 are hinged, knob plunger 903 is fixed in the screwed hole on riser 902 tops, its head can stretch on a series of hole 901a that arrange on fanning strip 901, riser 902 lower ends are fixed with fixed block 904, the transposition piece 905 that is connected with axis 906 is hinged with fixed block 904, fixture block 907 is fixed on the hip lower side panel L219 of hip joint mechanism L21, axis 906 is provided with leading section 906a, and fixture block 907 is provided with groove 907a.When hip joint mechanism L21 flexes to certain position, extract knob plunger 903, rotate riser 902 to certain position, unclamp knob plunger 903, its head stretches in the hole 901a of fanning strip 901, makes riser 902 remain on one and determines position, then rotates transposition piece 905 and makes axis 906 rotate the horizontal level shown in Figure 10 from position shown in Fig. 1, axis leading section 906a snaps in the groove 907a of fixture block 907, thereby realize, keeps hip joint L21 and R21 to determine position one.
As shown in figure 11, suspension apparatus 300 of the present invention comprises rear bar 301, left side bar 302, right-hand rod 303, upper firmware 304, peg 305, loss of weight suspender belt 306 etc.; Wherein, rear bar 301, left side bar 302, right-hand rod 303 are all fixed on firmware on 305, and peg 305 is connected with upper firmware 304, and loss of weight suspender belt 306 hangs over the upper end of left side bar 302 and right-hand rod 303.
As shown in Fig. 4, Figure 12, the thigh of rehabilitation training patient H, shank, foot are placed in respectively thigh holder T, small leg support S, the foot holder F of lower limb exoskeleton device 200, and use respectively bandage bondage, by bandage, patient's waist is strapped in backrest W, with the pelvis of immobilized patients H simultaneously; Loss of weight hangs 306 by by patient's upper body bondage, can play loss of weight effect to a certain extent.Then, by the lower limb exoskeleton tilt adjusting mechanism 10A on underframe 100, can make patient H standing state with respect to the horizontal plane adjust; By hip joint mechanism L21 and R21 realize hip joint anteflexion/after stretch, the outer rehabilitation training of abduction/adduction, medial rotation/revolve; By the knee joint flexion/extension L22 of mechanism and R22, realizing knee joint flexion/extension adjusts; By the L23 of Huai Zu mechanism and R23 realize that instep song/Plantar bends, the outer rehabilitation training of strephenopodia/turning up, sufficient medial rotation/revolve.
Above-described embodiment is illustrative, is not determinate, can not limit protection scope of the present invention with above-described embodiment.
Claims (8)
1. a cerebral palsy comprehensive rehabilitation training accessory, for correcting the improper posture of patients with cerebral palsy lower limb, progressively sets up and stands normally and walking function, it is characterized in that:
Described cerebral palsy comprehensive rehabilitation training accessory comprises underframe, lower limb exoskeleton device, suspension apparatus; Lower limb exoskeleton device by hip abduction main shaft be packed in underframe for adjusting the main shaft of the tilt adjusting mechanism that lower limb exoskeleton device tilts, suspension apparatus is packed on the upper underframe of underframe by the annular fixed block on it; On the main shaft of tilt adjusting mechanism, centre position is fixed with a jackshaft, and the reciprocal motion intermediate plate of the other end of jackshaft and lower limb exoskeleton device is hinged;
The underframe of described cerebral palsy comprehensive rehabilitation training accessory comprises the universal caster wheel of locking, lower underframe, montant, montant fixed block, upper underframe, nut shaft fastener, main shaft contiguous block, table assembly, lower limb exoskeleton tilt adjusting mechanism; On lower underframe, be fixed with universal caster wheel, montant is connected by the fixture block on upper underframe and upper underframe, upper underframe inserts down in the pipe of underframe and is connected with lower underframe by montant fixed block by montant, table assembly is fixed on underframe, the main shaft of tilt adjusting mechanism is hinged with the main shaft contiguous block being packed on underframe, and the nut shaft of tilt adjusting mechanism and nut shaft fastener are hinged;
The lower limb exoskeleton device of described cerebral palsy comprehensive rehabilitation training accessory is comprised of left side lower limb exoskeleton device and right side lower limb exoskeleton device, and left and right side lower limb exoskeleton device connects by reciprocal motion intermediate plate; The left and right side lower limb exoskeleton device that structure is identical comprise respectively can realize hip joint anteflexion/after stretch, hip joint mechanism, the knee joint flexion/extension mechanism of the outer rehabilitation training of abduction/adduction, medial rotation/revolve, can realize that instep song/Plantar bends, strephenopodia/turning up, sufficient medial rotation/the revolve Huai Zu mechanism of outer rehabilitation training; Wherein hip joint mechanism is connected by the above-knee side plate of the lower side panel on it and knee joint flexion/extension mechanism, knee joint flexion/extension mechanism by its at one's knees the upper supporting piece of side plate Yu Huaizu mechanism be connected;
The lower limb exoskeleton device of described cerebral palsy comprehensive rehabilitation training accessory is also provided with back rack, thigh holder, small leg support, the foot holder of immobilized patients; Wherein back rack is fixed on the hip abduction main shaft of lower limb exoskeleton device, and thigh holder is fixed on hip joint mechanism, and small leg support is fixed in knee joint flexion/extension mechanism, and foot holder is fixed in Huai Zu mechanism;
The suspension apparatus of described cerebral palsy comprehensive rehabilitation training accessory also comprises rear bar, left side bar, right-hand rod, upper firmware, peg, loss of weight suspender belt; Wherein, rear bar, left side bar, right-hand rod are all fixed on firmware, and peg is connected with upper firmware, and loss of weight suspender belt hangs over the upper end of suspension apparatus.
2. cerebral palsy comprehensive rehabilitation training accessory as claimed in claim 1, it is characterized in that: the hip joint mechanism of lower limb exoskeleton device comprises hip abduction main shaft, hip bends and stretches support member, hip bends and stretches main shaft, hip epipleural, the inside and outside circumflex branch support member of hip, the inside and outside rotating part of hip, hip lower side panel, hip back side panel, the two ends that wherein hip bends and stretches support member respectively with hip abduction main shaft, it is hinged that hip bends and stretches main shaft, the upper end of hip epipleural and hip bend and stretch main shaft and are connected, the inside and outside circumflex branch support member of lower end and hip is connected, the inside and outside rotating part of hip extend in the groove of the inside and outside circumflex branch support member of hip, hip lower side panel and hip back side panel are separately fixed on the inside and outside rotating part of hip, the knee joint flexion/extension mechanism of described lower limb exoskeleton device comprises above-knee side plate, knee joint axle, side plate at one's knees, above-knee side plate by knee joint axle with side plate is hinged at one's knees, the Huai Zu mechanism of described lower limb exoskeleton device comprises the part that turns up in upper supporting piece, gyroaxis, side plate, inside and outside circumflex branch support member, the inside and outside rotating part of foot, foot, its latus inframedium and upper supporting piece are hinged, upper end and the side plate of inside and outside circumflex branch support member are connected, the inside and outside rotating part of foot inserts in the supported hole of inside and outside circumflex branch support member, and the part that turns up in foot is hinged by side with the inside and outside rotating part of foot.
3. the cerebral palsy comprehensive rehabilitation training accessory as described in claim 1 and 2, is characterized in that: described lower limb exoskeleton device is provided with the reciprocal motion mechanism of bending and stretching for realizing the mutual hip of left and right side lower limb exoskeleton device; The both sides of reciprocal motion mechanism are provided with two arrangement of clutch; Reciprocal motion mechanism by with two clutches and hinged, two arrangement of clutch are connected with the hip joint mechanism of left and right sides lower limb exoskeleton device respectively.
4. the cerebral palsy comprehensive rehabilitation training accessory as described in claim 1 and 2, is characterized in that: described left and right side lower limb exoskeleton device is respectively arranged with for realizing the driving mechanism of hip joint mechanism abduction/adduction.
5. the cerebral palsy comprehensive rehabilitation training accessory as described in claim 1 and 2, is characterized in that: described left and right side lower limb exoskeleton device is respectively arranged with the locking system for outward turning in fixing hip joint mechanism.
6. the cerebral palsy comprehensive rehabilitation training accessory as described in claim 1 and 2, is characterized in that: described left and right side lower limb exoskeleton device is respectively arranged with for knee joint and bends and stretches the adjusting device that mechanism bends and stretches.
7. the cerebral palsy comprehensive rehabilitation training accessory as described in claim 1 and 2, is characterized in that: described left and right side lower limb exoskeleton device is respectively arranged with for ankle device and realizes instep song/Plantar driving mechanism in the wrong.
8. cerebral palsy comprehensive rehabilitation training accessory as claimed in claim 1, is characterized in that: on described underframe, be provided with for keeping hip joint to bend and stretch the bracing or strutting arrangement of state.
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| CN107174477A (en) * | 2017-05-18 | 2017-09-19 | 宿州迅驰电子科技有限公司 | A kind of wearable brain paralysis youngster healing robot of intelligence |
| CN107361999A (en) * | 2017-08-28 | 2017-11-21 | 哈尔滨理工大学 | A kind of walking healing and training shoulder joint mechanism |
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| CN113181009A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
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| GR20170100443A (en) * | 2017-10-03 | 2019-05-24 | Σπυριδων Δημητριος Καλλιωρας | Wheeled π-like stanchion adjustable in height and width |
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| CN109172281B (en) * | 2018-10-17 | 2024-03-19 | 苏州帝维达生物科技有限公司 | Seven-degree-of-freedom lower limb rehabilitation robot |
| CN113181009A (en) * | 2021-04-23 | 2021-07-30 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
| CN113181009B (en) * | 2021-04-23 | 2022-02-01 | 中国科学院深圳先进技术研究院 | Novel self-balancing ectoskeleton robot |
| WO2022222501A1 (en) * | 2021-04-23 | 2022-10-27 | 中国科学院深圳先进技术研究院 | Novel self-balancing exoskeleton robot |
| CN113996018A (en) * | 2021-10-25 | 2022-02-01 | 广州医科大学附属脑科医院 | Lower limb hip bending training device based on brain-computer interface |
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