CN107822833A - A kind of more training mode convalescence devices of foot-operated lower limb - Google Patents
A kind of more training mode convalescence devices of foot-operated lower limb Download PDFInfo
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- CN107822833A CN107822833A CN201711165805.1A CN201711165805A CN107822833A CN 107822833 A CN107822833 A CN 107822833A CN 201711165805 A CN201711165805 A CN 201711165805A CN 107822833 A CN107822833 A CN 107822833A
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- 238000012549 training Methods 0.000 title claims abstract description 41
- 208000034657 Convalescence Diseases 0.000 title claims abstract description 29
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 230000009467 reduction Effects 0.000 claims abstract description 26
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 3
- 230000009471 action Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000004927 fusion Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
- 230000004064 dysfunction Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 239000004626 polylactic acid Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000035882 stress Effects 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010019468 Hemiplegia Diseases 0.000 description 1
- 208000006011 Stroke Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000001270 agonistic effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004118 muscle contraction Effects 0.000 description 1
- 230000003387 muscular Effects 0.000 description 1
- 230000007433 nerve pathway Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Physical Education & Sports Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Life Sciences & Earth Sciences (AREA)
- Rehabilitation Therapy (AREA)
- Pain & Pain Management (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Epidemiology (AREA)
- Rehabilitation Tools (AREA)
Abstract
The present invention provides a kind of foot-operated more training mode convalescence devices of lower limb,Including pedal rotating mechanism,Acquisition of information mechanism,Control indication mechanism and supporting mechanism,The pedal rotating mechanism includes pedal,Crank,Planetary reduction box and servo step motor,Described information, which obtains mechanism, includes pressure sensor and photoelectric encoder,The control indication mechanism includes control panel and display,The planetary reduction box,Servo step motor,Photoelectric encoder,Control panel and display are arranged on supporting mechanism,The pedal is connected with crank,The crank connects a first gear,The planetary reduction box connects a second gear,The second gear engages with first gear,The servo step motor is connected with planetary reduction box,The pressure sensor is arranged on pedal,The photoelectric encoder connects one the 3rd gear,3rd gear engages with first gear,The control panel is connected with display.The present invention is simple to operate, meets ergonomic designs.
Description
Technical field
The present invention relates to rehabilitation medical instrument field, more particularly to a kind of more training mode convalescence devices of foot-operated lower limb.
Background technology
In recent years, with the rising of aging population trend, the balance coordination dysfunction disease as caused by apoplexy, hemiplegia etc.
Ascendant trend is presented in example.
Modern medical theory thinks, the balance coordination function of human body and the vision of body and spatial perception ability, maincenter god
The factors such as the coordination ability, muscular strength and endurance through systemic-function, agonistic muscle and Opposing muscle are closely related.Substantial amounts of case statistical form
Bright, the patient of balance coordination dysfunction generally can not realize locus and the posture of body, and thus lose rational dynamic
Phenomena such as reacting, for example movement decomposition, contraction of muscle and relaxation occur not in time.Modern physicses acology is it was verified that logical
Repressed nerve pathway can be restarted by crossing physics training, progressively recover or improve the balance coordination function of patient.Physics
Training can be divided into free-hand training and two kinds of the training by apparatus, wherein, it would generally compare empty-handed training by the training of apparatus
With faster and better therapeutic effect.
Many research institutions have developed various forms of sitting and lying formula lower limb rehabilitation robots, scientific research successively at present
Prove, continual limbs training is very effective to maintaining the physically fit and quality of life of the elderly, is that this is most old
People playground both provides some limb-training devices.However, traditional limb-training device all uses counterweight load control
Mode, generally existing problems with：Most of trainers are designed for physically fit person, both uncomfortable or uncomfortable to patient
With；Load control is difficult and discontinuous；The Training Capability that safety protection function judges old man is not provided.
The content of the invention
In view of this, the invention provides a kind of foot-operated lower limb training more that can continuously adjust load, safety and comfort
Pattern convalescence device.
The present invention provides a kind of foot-operated more training mode convalescence devices of lower limb, including pedal rotating mechanism, acquisition of information
Mechanism, control indication mechanism and supporting mechanism, the pedal rotating mechanism include pedal, crank, planetary reduction box and servo step
Stepper motor, described information, which obtains mechanism, includes pressure sensor and photoelectric encoder, and the control indication mechanism includes control panel
And display, the planetary reduction box, servo step motor, photoelectric encoder, control panel and display are arranged at support machine
On structure, the pedal is connected with crank, and the crank connects a first gear, and the planetary reduction box connects a second gear,
The second gear is engaged with first gear, and the servo step motor is connected with planetary reduction box, and the pressure sensor is set
Put on pedal, the photoelectric encoder connects one the 3rd gear, and the 3rd gear engages with first gear, the control panel
It is connected with display, pressure value is passed to control display machine by the pressure sensor to gather the pressure that pedal is subject to
The rotation information of the pedal collected is passed to control by structure, the photoelectric encoder to gather the rotation information of pedal
Indication mechanism, the control panel control servo step motor to the pressure that receives the rotation information of pedal and pedal is subject to
The size of the torque of output, the display is showing the rotational angle of pressure that pedal is subject to and pedal.
Further, the pedal rotating mechanism and acquisition of information mechanism are two groups, pedal rotating mechanism edge branch
The Central Symmetry distribution of support mechanism.
Further, the supporting mechanism includes upper backup pad and lower supporting plate, and the lower supporting plate is placed on the ground,
Motor base is fixedly installed among the upper backup pad, planetary reduction box and servo stepping electricity are placed on the motor base
Machine, support is fixedly installed on the upper backup pad, the support is to fixed photoelectric encoder, the upper backup pad and lower support
Connected between plate by some height-adjustable support bars, the support bar includes the post upper and branch for being arranged connection
Strut lower end, the support bar lower end are provided with lock, the connection latched to fixed post upper and support bar lower end
Place.
Further, the control indication mechanism also includes the support column that can stretch, one end of the support column with it is upper
Supporting plate is connected, and the other end of the support column is connected with control panel.
Further, the crank include crank upper end and with crank lower end, the crank upper end is connected with pedal, described
Bearing block is provided between crank and first gear, the bearing block includes bearing block upper end and bearing block lower end, the bearing block
Lower end is fixedly connected with upper backup pad, and the bearing block upper end is between crank lower end and first gear, the crank lower end
It is connected through the circular hole of bearing block upper end with the center of first gear.
Further, the pedal includes upper flat plate and lower flat board, and the pressure sensor is located at upper flat plate and lower flat board
Between, the upper flat plate and lower flat board are made by poly-lactic acid material, and deformation can be produced after the upper flat plate and lower flat board stress.
Further, the speed reducing ratio of the planetary reduction box is 1:36.
Further, the gearratio of the second gear and first gear is 1：1, the 3rd gear and first gear
Gearratio is 1:2.
Further, the control panel control servo step motor exports the power identical or opposite with patient motion direction
Square.
Further, when the pressure that the control panel receives that pedal is subject to is 0, the control panel control servo stepping electricity
Machine is out of service.
The beneficial effect that technical scheme provided by the invention is brought is：
1. convalescence device provided by the invention can set a variety of training modes according to the health of patient, preferably auxiliary
Patient is helped to complete rehabilitation training plans；Convalescence device safety coefficient provided by the invention is high；
2. convalescence device provided by the invention is simple to operate, there is the visual interface of preferable hommization, no matter at patient
In sit state still crouch state, can complete rehabilitation training plans with effectively ensureing patient safety；
3. convalescence device provided by the invention meets ergonomic designs, and height can be adjusted by support bar, full
Sufficient patient demand；
4. convalescence device provided by the invention improves the output torque of servo step motor by planetary reduction box, to suffer from
Person provides more preferable usage experience, meanwhile, the burden of servo step motor is also reduced, reduces servo step motor damage
Possibility, improve the service life of servo step motor；The servo step motor of the present invention is controlled by control panel, can
Realization continuously reasonably adjusts load, and more preferable rehabilitation training effect is provided for patient.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the foot-operated more training mode convalescence devices of lower limb of the present invention.
Embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with accompanying drawing to embodiment party of the present invention
Formula is further described.
Fig. 1 is refer to, the embodiment provides a kind of foot-operated more training mode convalescence devices of lower limb, including two
Group pedal rotating mechanism, two group informations obtain mechanism, control indication mechanism 7 and supporting mechanism, pedal rotating mechanism edge support machine
The Central Symmetry distribution of structure, pedal rotating mechanism include pedal 1, the crank 2 being connected with pedal, the first tooth being connected with crank 2
Wheel 23, planetary reduction box 3, the second gear 31 being connected with planetary reduction box 3 and servo step motor 4, first gear 23 and the
Two gears 31 are engaged, and planetary reduction box 3 and servo step motor 4 are arranged on supporting mechanism, servo step motor 4 and planet
Reduction box 3 connects, planetary reduction box 3 to improve the torque of servo step motor 4 and reduce servo step motor 4 rotating speed,
So as to mitigate the burden of servo step motor 4, after servo step motor 4 starts, its torque is improved by planetary reduction box 3, in power
In the presence of square, second gear 31 rotates, and second gear 31, which rotates, drives first gear 23 to rotate, and first gear 23 can after rotating
Pedal 1 is driven to rotate；In one embodiment, the speed reducing ratio of planetary reduction box 3 is 1:36, the biography of second gear 31 and first gear 23
Dynamic ratio is 1：1.
Crank 2 includes crank upper end 21 and crank lower end 22, and crank upper end 21 is connected with pedal 1, crank lower end 22 and
The center of one gear 23 is connected.
Pedal 1 includes upper flat plate 11 and lower flat board 12, and upper flat plate 11 and lower flat board 12 are made by poly-lactic acid material, upper flat plate
11st, deformation can be produced after the lower stress of flat board 12.
Acquisition of information mechanism includes pressure sensor 5, photoelectric encoder 6 and the 3rd gear being connected with photoelectric encoder 6
61, the 3rd gear 61 engages with first gear 23, and first gear 23, which rotates, can drive the 3rd gear 61 to rotate, photoelectric encoder 6
On supporting mechanism, photoelectric encoder 6 gathers the rotation information of pedal 1 according to the rotation information of the 3rd gear 61, and will adopt
The rotation information of the pedal 1 collected is delivered to control indication mechanism 7, pressure sensor 5 be located at upper flat plate 11 and lower flat board 12 it
Between, pressure value is passed to control indication mechanism 7 by pressure sensor 5 to gather the pressure that pedal 1 is subject to；One embodiment
In, the gearratio of the 3rd gear 61 and first gear 23 is 1:2.
Supporting mechanism includes upper backup pad 8 and lower supporting plate 9, and lower supporting plate 9 is placed on the ground, and upper backup pad 8 is with
Connected between supporting plate 9 by some height-adjustable support bars 83, fixed setting motor base among upper backup pad 8
81, planetary reduction box 3 and servo step motor 4 are placed on motor base 81, support 82, support is fixedly installed on upper backup pad 8
82 to fixed photoelectric encoder 6, and support bar 83 includes being arranged post upper 831 and the support bar lower end 832 of connection, support
Bar lower end 832 is provided with lock 84, and lock 84 is to fixed post upper 831 and the junction of support bar lower end 832.
Control indication mechanism 7 includes control panel 71, display 72 and the support column 73 that can be stretched, display 72 and control
Plate 71 is connected, and one end of support column 73 is connected on upper backup pad 8, and the other end of support column 73 is connected with control panel 71, is passed through
Support column 73 can adjust the height of display 72 and control panel 71, and control panel 71 is receiving stepping on for the transmission of photoelectric encoder 6
The pressure value that the rotation information and pressure sensor 5 of plate 1 collect, and rotation information to pedal 1 and the pressure value that is subject to are entered
Row Data Fusion, to obtain the speed and torque of two servo step motors 4, and according to obtained speed and Torque Control
The torque that servo step motor 4 exports；Display 72 is showing the rotational angle of pressure that pedal 1 is subject to and pedal 1；One is real
Apply in example, display 72 selects liquid crystal display.
Bearing block 24 is provided between crank 2 and first gear 23, bearing block 24 is included under bearing block upper end 241 and bearing block
End 242, bearing block lower end 242 is fixedly connected with upper backup pad 8, and bearing block upper end 241 is located at crank lower end 22 and first gear
Between 23, crank lower end 22 is connected through the circular hole of bearing block upper end 241 with first gear 23.
The present embodiment is sitting on wheelchair or sick bed with patient, exemplified by both feet are placed on pedal 1, illustrates that foot-operated lower limb are more
Training mode convalescence device realizes patient's passive exercise, actively auxiliary and three kinds of training modes of active damping.
(1) passive exercise pattern
The threshold value for being set on control panel 71 pedal 1 to be under pressure according to the health of patient, when control panel 71 receives
To the pressure value that is subject to of pedal 1 be less than threshold value when, control servo step motor 4 to export a certain size torque by control panel 71
Second gear 31 is driven to rotate, second gear 31, which rotates, drives first gear 23 to rotate, and first gear 23 rotates, and drive is located at
The both feet of patient on pedal 1 complete trample action, and now the speed of trampling of patient's both feet is controlled by control panel 71, and patient can be with
The recovery for close to the experience for normally trampling process, being advantageous to patient's strength and balance coordination energy are obtained by passive exercise pattern
The exercise of power.
(2) active auxiliary mode
When patient both sides lower limbs strength is different, the both feet of patient apply different size of active force to pedal 1, and pressure passes
Sensor 5 gathers the pressure value that is subject to of pedal 1, and the pressure value collected is delivered on control panel 71, and pedal 1, which rotates, drives the
One gear 23 rotates, and first gear 23, which rotates, drives the 3rd gear 61 to rotate, and photoelectric encoder 6 is according to the rotation of the 3rd gear 61
The rotation information of information gathering pedal 1, and the rotation information is delivered on control panel 71, control panel 71 is according to the pressure received
Force value and rotation information carry out Data Fusion, obtain speed and torque that two servo step motors 4 rotate, then basis
Speed and the pressure value of Torque Control pedal 1 that servo step motor 4 rotates are smaller, rotate the servo step motor 4 of slower side
Output passes to the pedal 1 with patient motion direction identical torque so that and the pressure value that two pedals 1 are subject to is consistent,
Now the weaker lower limb of patient's strength are subjected to compensation for the effect of power, so as to help patient to normally complete trample action, under realization
The rehabilitation training of limb, during two pedals 1 rotate, the cranks 2 of both sides is always maintained at parallel.
(3) active damping pattern
When patient needs strengthen training, pressure sensor 5 gathers the pressure value that pedal 1 is subject to, and will collect
Pressure value be delivered on control panel 71, pedal 1 rotate drive first gear 23 rotate, first gear 23 rotate drive the 3rd tooth
Wheel 61 rotates, and photoelectric encoder 6 gathers the rotation information of pedal 1 according to the rotation information of the 3rd gear 61, and the rotation is believed
Breath is delivered on control panel 71, and control panel 71 carries out Data Fusion according to the pressure value and rotation information received, obtains
The speed and torque that two servo step motors 4 rotate, the speed and Torque Control then rotated according to servo step motor 4 are watched
Take the output of stepper motor 4 and pass to pedal 1 with patient motion torque in opposite direction so that pedal 1 is forced patient by resistance
Trample action is completed using bigger strength, realizes and strengthens training, helps patient exercise's lower limbs strength, patient is normal not influenceing
Taken exercise patient's strength in the case of physical function.
In passive exercise, active auxiliary and three kinds of training modes of active damping in patient, stepped on when control panel 71 detects
When the pressure being subject on plate 1 is 0, illustrate that patient has deconditioning intention or leg can not be bent and stretched caused by other reasonses, then
Make servo step motor 4 out of service by control panel 71, and then ensure patient safety.
Convalescence device provided by the invention can set a variety of training modes according to the health of patient, preferably aid in
Patient completes rehabilitation training plans；Convalescence device safety coefficient provided by the invention is high；Convalescence device operation provided by the invention
Simply, there is the visual interface of preferable hommization, no matter patient is in seat state or sleeping state, can effectively ensure
Complete rehabilitation training plans patient safety；Convalescence device provided by the invention meets ergonomic designs, and can pass through
The regulation height of support bar 83, meets patient demand；Convalescence device provided by the invention improves servo by planetary reduction box 3 and walked
The output torque of stepper motor 4, more preferable usage experience is provided for patient, meanwhile, also reduce the negative of servo step motor 4
Load, the possibility of the damage of servo step motor 4 is reduced, improve the service life of servo step motor 4；The servo of the present invention
Stepper motor 4 is controlled by control panel 71, can be realized and continuously reasonably be adjusted load, and more preferable rehabilitation instruction is provided for patient
Practice effect.
Herein, the involved noun of locality such as forward and backward, upper and lower is to be located at parts in accompanying drawing in figure and zero
The mutual position of part is intended merely to the clear of expression technology scheme and conveniently come what is defined.It should be appreciated that the noun of locality
Use should not limit the claimed scope of the application.
In the case where not conflicting, the feature in embodiment and embodiment herein-above set forth can be combined with each other.
The foregoing is only presently preferred embodiments of the present invention, be not intended to limit the invention, it is all the present invention spirit and
Within principle, any modification, equivalent substitution and improvements made etc., it should be included in the scope of the protection.
Claims (10)
1. a kind of more training mode convalescence devices of foot-operated lower limb, it is characterised in that including pedal rotating mechanism, acquisition of information machine
Structure, control indication mechanism and supporting mechanism, the pedal rotating mechanism include pedal, crank, planetary reduction box and servo stepping
Motor, described information, which obtains mechanism, includes pressure sensor and photoelectric encoder, the control indication mechanism include control panel with
Display, the planetary reduction box, servo step motor, photoelectric encoder, control panel and display are arranged at supporting mechanism
On, the pedal is connected with crank, and the crank connects a first gear, and the planetary reduction box connects a second gear, institute
State second gear to engage with first gear, the servo step motor is connected with planetary reduction box, and the pressure sensor is set
On pedal, the photoelectric encoder connects one the 3rd gear, and the 3rd gear engages with first gear, the control panel and
Display is connected, and pressure value is passed to control indication mechanism by the pressure sensor to gather the pressure that pedal is subject to,
The rotation information of the pedal collected is passed to control display by the photoelectric encoder to gather the rotation information of pedal
Mechanism, the control panel control servo step motor to export to the pressure that receives the rotation information of pedal and pedal is subject to
Torque size, the display is showing the rotational angle of pressure that pedal is subject to and pedal.
2. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the pedal rotating machine
Structure and acquisition of information mechanism are two groups, Central Symmetry distribution of the pedal rotating mechanism along supporting mechanism.
3. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the supporting mechanism bag
Upper backup pad and lower supporting plate are included, the lower supporting plate is placed on the ground, fixed setting motor among the upper backup pad
Base, planetary reduction box and servo step motor are placed on the motor base, support is fixedly installed on the upper backup pad, institute
Support is stated to fixed photoelectric encoder, passes through some height-adjustable supports between the upper backup pad and lower supporting plate
Bar connects, and the support bar includes being arranged post upper and the support bar lower end of connection, and the support bar lower end is provided with lock,
The lock is to fixed post upper and the junction of support bar lower end.
4. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 3, it is characterised in that the control display machine
Structure also includes the support column that can stretch, and one end of the support column is connected with upper backup pad, the other end of the support column and
Control panel connects.
5. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 3, it is characterised in that the crank includes song
Handle upper end and it is connected with crank lower end, the crank upper end with pedal, bearing block, institute is provided between the crank and first gear
Stating bearing block includes bearing block upper end and bearing block lower end, and the bearing block lower end is fixedly connected with upper backup pad, the bearing
Seat upper end positioned at crank lower end and first gear between, the crank lower end pass through bearing block upper end circular hole and and first gear
Center be connected.
6. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the pedal includes upper
Flat board and lower flat board, the pressure sensor are located between upper flat plate and lower flat board, and the upper flat plate and lower flat board are by PLA
Material is made, and deformation can be produced after the upper flat plate and lower flat board stress.
7. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the planetary reduction box
Speed reducing ratio be 1:36.
8. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the second gear with
The gearratio of first gear is 1：1, the gearratio of the 3rd gear and first gear is 1:2.
9. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the control panel control
Servo step motor exports the torque identical or opposite with patient motion direction.
10. the foot-operated more training mode convalescence devices of lower limb as claimed in claim 1, it is characterised in that the control panel connects
When to receive pressure that pedal is subject to be 0, the control panel control servo step motor is out of service.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165805.1A CN107822833B (en) | 2017-11-21 | 2017-11-21 | Foot-operated multiple training mode rehabilitation device for lower limbs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711165805.1A CN107822833B (en) | 2017-11-21 | 2017-11-21 | Foot-operated multiple training mode rehabilitation device for lower limbs |
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| Publication Number | Publication Date |
|---|---|
| CN107822833A true CN107822833A (en) | 2018-03-23 |
| CN107822833B CN107822833B (en) | 2023-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711165805.1A Active CN107822833B (en) | 2017-11-21 | 2017-11-21 | Foot-operated multiple training mode rehabilitation device for lower limbs |
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