CN109674622B - Wheelchair type lower limb rehabilitation training equipment and training method thereof - Google Patents
Wheelchair type lower limb rehabilitation training equipment and training method thereof Download PDFInfo
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- CN109674622B CN109674622B CN201910118340.7A CN201910118340A CN109674622B CN 109674622 B CN109674622 B CN 109674622B CN 201910118340 A CN201910118340 A CN 201910118340A CN 109674622 B CN109674622 B CN 109674622B
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- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 35
- 238000000034 method Methods 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 230000005021 gait Effects 0.000 claims abstract description 18
- 230000000694 effects Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 8
- 230000003028 elevating effect Effects 0.000 claims description 4
- 210000003734 kidney Anatomy 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims 1
- 206010019468 Hemiplegia Diseases 0.000 abstract description 8
- 230000004064 dysfunction Effects 0.000 abstract description 7
- 238000011084 recovery Methods 0.000 abstract description 6
- 206010027926 Monoplegia Diseases 0.000 abstract 1
- 206010028372 Muscular weakness Diseases 0.000 abstract 1
- 230000007659 motor function Effects 0.000 abstract 1
- 230000036473 myasthenia Effects 0.000 abstract 1
- 208000014674 injury Diseases 0.000 description 6
- 230000008733 trauma Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
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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
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- 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
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- Physical Education & Sports Medicine (AREA)
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- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention relates to the field of rehabilitation aids, and particularly discloses wheelchair-type lower limb rehabilitation training equipment and a training method thereof, which solve the problems that patients with leg movement dysfunction such as monoplegia, hemiplegia, myasthenia, uncoordinated movement and the like of lower limbs of a human body have long self-rehabilitation time and slow rehabilitation effect in the prior art. The invention relates to wheelchair type lower limb rehabilitation training equipment which comprises a backrest angle adjusting mechanism, a backrest angle adjusting mechanism and a lower limb rehabilitation training device, wherein the backrest angle adjusting mechanism comprises a back cushion and a backup plate bracket, and the back cushion is bonded above the backup plate bracket; the backrest angle adjusting mechanism is arranged at the rear upper part of the seat lifting mechanism and is connected with the seat lifting mechanism; the gait training mechanism is positioned in front of the seat lifting mechanism; through the coordinated operation, the patient is driven to simulate the walking state of a normal person for training, so that the lower limb motor function of the patient is gradually recovered, the patient can be recovered in time, and the recovery effect is improved.
Description
Technical Field
The invention relates to the field of rehabilitation aids, in particular to wheelchair type lower limb rehabilitation training equipment and a training method thereof.
Background
In the medical field, patients with leg movement dysfunction such as lower limb hemiplegia, leg trauma and the like have long self-healing time and slow healing effect.
And at present, the prior art does not have mature medical recovery equipment aiming at patients with leg movement dysfunction such as hemiplegia and leg trauma of the lower limbs of the human body, so that the patients cannot be recovered in time, and the recovery effect is not good, so that the medical equipment which can assist the patients with leg movement dysfunction such as hemiplegia and leg trauma of the human body to recover the lower limbs is urgently needed to be found, the patients can be recovered in time, and the recovery effect is improved.
Disclosure of Invention
The invention aims to provide wheelchair type lower limb rehabilitation training equipment to solve the problems that patients with leg movement dysfunction such as hemiplegia and leg trauma of lower limbs of human bodies in the prior art have long self-rehabilitation time and slow rehabilitation effect.
The second purpose of the invention is a lower limb rehabilitation training method.
In order to achieve one of the purposes, the invention adopts the following technical scheme:
a wheelchair-style lower limb rehabilitation training device comprising: the backrest angle adjusting mechanism 1 comprises a back cushion 5 and a backup plate bracket 6, wherein the back cushion 5 is adhered above the backup plate bracket 6; the backrest angle adjusting mechanism 1 is arranged at the rear upper part of the seat lifting mechanism 2 and is connected with the seat lifting mechanism 2; and the gait training mechanism 3 is positioned in front of the seat lifting mechanism 2.
By adopting the technical means, the connecting rod mechanism is adopted to simulate the structure of the lower limbs of the human body, and the motion trail of the connecting rod is controlled by the input quantity and the rotating speed of the direct-current speed reducing motor, so that the equipment can assist the lower limbs of the patient to carry out walking rehabilitation training; the invention solves the problems of long recovery time and slow recovery effect of patients with leg movement dysfunction such as lower limb hemiplegia, leg trauma and the like of human bodies in the prior art by self-walking.
According to one embodiment of the invention, wherein the right side of the back cushion 5 is in the shape of a headrest; two side plates 30 are symmetrically arranged on two sides of the backrest angle adjusting mechanism 1, and mounting blocks 9 are fixedly mounted below the side plates 30 through bolts 10; the electric cylinder support 11 is welded and installed below the installation block 9, two first bearing blocks 13 are symmetrically installed below the electric cylinder support 11, and the first bearing blocks 13 are symmetrically installed at the left side position of the electric cylinder support 11 below the backup plate support 6.
According to an embodiment of the invention, two symmetrical housings of the bearing blocks I13 are respectively provided with a deep groove ball bearing I16, and two housings of the bearing blocks I13 are respectively provided with a connecting shaft I15 in an interference fit manner; fixing the two first deep groove ball bearings 16 through a first bearing cover 17;
an electric cylinder I12 is installed on the side edge of the electric cylinder support 11, and the electric cylinder I12 and the electric cylinder support 11 are installed in a position of 30 degrees; inner holes of hinged supports at two ends of the electric cylinder I12 are arranged in the connecting shaft I15;
two lifting mechanism movable hinged supports 4 are symmetrically arranged below the leftmost side of the backup plate support 6, and a kidney-shaped groove is processed in the middle of each lifting mechanism movable hinged support 4; a round inner hole is processed at the left end of the backup plate support 6, and a rotating shaft 7 is installed in the round inner hole.
According to an embodiment of the present invention, the seat lifting mechanism 2 mainly includes a lower bracket 29, a first swing yoke 27, a second swing yoke 28, and a seat support plate 20; the lower bracket 29 and the seat support plate 20 are respectively located at the lower part and the upper part of the seat lifting mechanism 2, and the lower bracket 29 and the seat support plate 20 are coupled together by the first swing yoke 27 and the second swing yoke 28 arranged in a cross manner.
According to an embodiment of the invention, 4 shockproof universal wheels I25 are symmetrically arranged below the lower support 29, bearing seats are symmetrically installed at the left end position of the upper surface of the lower support 29, and deep groove ball bearings III 38 are symmetrically installed in 2 inner holes of the bearing seat shell; a connecting shaft 39 is arranged in inner holes of the 2 deep groove ball bearings 38 in an interference fit manner; an inner hole at the lower end part of the first swing fork arm 27 is arranged in the outer diameter of the connecting shaft 39;
the other end of the lower bracket 29 is symmetrically provided with a lower movable hinged support 24, and the middle position of the lower movable hinged support 24 is processed into a kidney-shaped groove; one end of a connecting shaft IV 79 is arranged in an inner hole at the lower end part of the swinging fork arm II 28, and the other end of the connecting shaft IV 79 penetrates through a waist-shaped slotted hole in the middle of the lower movable hinged support 24;
a bearing seat is also arranged below the seat support plate 20 at the position of the upper space corresponding to the lower support 29, and a deep groove ball bearing III 38 is arranged in an inner hole of a bearing seat shell; the upper end part of the second swing fork arm 28 is arranged in the bearing seat below the seat support plate 20;
a connecting shaft IV 79 and a lower movable hinge support 24 are arranged in an inner hole at the upper end part of the first swing fork arm 27, the other end of the connecting shaft IV 79 penetrates through a waist-shaped slotted hole in the middle of the lower movable hinge support 24, and the connecting shaft IV 79 is positioned by using a cotter pin 80.
According to an embodiment of the invention, a second deep groove ball bearing 31 is installed at the intersection of the first swing yoke 27 and the second swing yoke 28, a round hole is arranged in the middle of the first swing yoke 27, 2 second deep groove ball bearings 31 are installed in the round hole, a second connecting shaft 32 is installed in an inner hole of each 2 second deep groove ball bearings 31, and the outer ring of the second deep groove ball bearing 31 on the outer side is axially positioned through a spigot of a second bearing cover 34; an end cover 35 is arranged on the inner side of the first swing fork arm 27, and the other end of the connecting shaft II 32 penetrates through an inner hole of the second swing fork arm 28;
the second 22 of electronic jar of seat backup pad 20 downside installation, the piston rod axle head of electronic jar two 22 with the hole of swing yoke 27 upper end passes through the connecting axle to be connected, the axle head of electronic jar two 22 is through the hole installation of its tip the fourth 79 of connecting axle, the fourth 79 of connecting axle passes the kidney slot of elevating system activity hinge support 4 carries out the location of connecting axle fourth 79 through split pin 80.
According to an embodiment of the present invention, the gait training mechanism 3 comprises a dynamic training mechanism support 41, wherein the dynamic training mechanism support 41 is symmetrically arranged above the dynamic training mechanism support 41;
universal wheel connecting frames 43 are arranged above four corners of the dynamic training mechanism bracket 41, and shockproof universal wheels 42 are respectively arranged below the universal wheel connecting frames 43;
the bottom plate of the dynamic training mechanism bracket 41 is provided with two large sliding chutes 45, the two large sliding chutes 45 are symmetrically arranged, the large sliding chutes 45 are L-shaped plates, a motor bracket 54 is horizontally arranged above the large sliding chutes 45, and the motor bracket 54 is an L-shaped plate; the motor bracket 54 and the large chute 45 are fixed above the bottom plate of the dynamic training mechanism bracket 41 by a second hexagon socket head cap screw 64.
According to an embodiment of the invention, a direct current speed reducing motor 65 is installed at the middle position of the motor bracket 54 through a bolt, a small straight spur gear 58 is installed at the shaft end of the direct current speed reducing motor 65 through a flat key 60, a baffle 59 is installed on the gear side surface corresponding to the central hole of the small straight spur gear 58, and the baffle 59 is matched and fixed with the internal thread of the shaft end of the direct current speed reducing motor 65 through an inner hexagonal screw 61;
the large straight-tooth cylindrical gear 81 and the small straight-tooth cylindrical gear 58 are installed in a meshed mode, and 2 deep groove ball bearings IV 52 are installed in an inner hole of the large straight-tooth cylindrical gear 81; a fixed mandrel 46 penetrates through an inner hole of the large spur gear 81, and one end of the fixed mandrel 46 is installed in an inner hole of the mandrel bracket 57; the other axial end of the fixed mandrel 46 is provided with a disc-shaped sliding groove 44.
According to an embodiment of the present invention, the large spur gear 81 is fixedly installed at one end of a crank pin 55, two ends of the large spur gear 81 are fixedly installed with a fourth shaft retainer 56, the other end of the crank pin 55 is fixed with the connecting rod 82, and the upper end of the connecting rod 82 is fixed with the large chute 45;
a V-shaped roller bearing 73 is matched with the V-shaped boss of the large chute 45 in the X direction, and is matched with a V-shaped groove of the V-shaped roller bearing 73; the connecting block 74 is fixedly installed with the V-shaped roller bearing 73; the connecting block 74 is fixedly connected with one end of a connecting shaft five 75, and the other end of the connecting shaft five 75 is fixedly connected with the upper end of the connecting rod 82 through a cross recessed countersunk head screw 76; the V-shaped groove of the V-shaped roller bearing 73 is matched with the V-shaped boss of the large chute 45 in the Y direction.
In order to achieve the second purpose, the invention adopts the following technical scheme:
a lower limb rehabilitation training method based on wheelchair type lower limb rehabilitation training equipment specifically comprises the following steps:
the patient lies on the cushion, and two feet step on foot board 66 respectively, carry out the elevating movement through setting up the operation screen, and specific action is: the second electric cylinder 22 is started by electrifying, and the piston rod shaft of the second electric cylinder is pushed forwards to a specified stroke position, so that the first swing fork arm 27 is driven by the connecting shaft to move rightwards along the kidney-shaped groove in the movable hinged support 4 of the lifting mechanism along with the connecting shaft; so that the connecting shaft IV 79 moves rightwards in the kidney-shaped groove of the lower movable hinged support 24 by the same distance to control the chair face supporting plate 20 and the lower bracket 29 to move upwards and downwards;
after the lifting distance is determined, the patient lies in the required angle of the chair cushion, the required proper angle is set by setting the numerical value on the operation screen, and the specific actions are as follows: the electric cylinder I12 is powered on, the output shaft of the electric cylinder I12 is pushed upwards, and a specified stroke distance is pushed out by setting the electric cylinder I12, so that the backup plate bracket 6 is pushed upwards to reach a treatment position and reach a set required angle with the horizontal back cushion 5;
after the height of the chair and the angle of the backrest are adjusted, the direct-current speed reduction motor 65 is electrified and started, the small straight-tooth cylindrical gear 58 rotates, the large straight-tooth cylindrical gear 81 rotates along with the small straight-tooth cylindrical gear, the crank pin shaft 55 rotates along with the rotation of the large straight-tooth cylindrical gear 81, and the connecting rod 82 and the crank pin shaft 55 are fixed, so that the upper end part and the lower end part of the connecting rod 82 move in the sliding groove of the large sliding groove 45 through the V-shaped roller bearing 73, and the connecting rod 82 moves in an arc line;
the pedals 66 attached to the links 82 follow the same motion trajectory, thereby assisting the lower limbs of the human body in performing a motion simulating walking.
Has the advantages that:
the wheelchair type lower limb rehabilitation training device and the training method thereof adopt the technical means, and overcome the problems that patients with leg movement dysfunction such as lower limb hemiplegia, leg trauma and the like in the prior art have long rehabilitation time and slow rehabilitation effect by self-walking.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is a front view of the present invention.
Fig. 2 is a top view of the present invention.
Fig. 3 is a side view of the present invention.
Fig. 4 is a front view of the backrest angle adjusting mechanism of the present invention.
Fig. 5 is a top view of the backrest angle adjusting mechanism of the present invention.
Fig. 6 is a partial view taken along the line a in fig. 4.
Fig. 7 is a view from direction B of fig. 6.
Fig. 8 is a cross-sectional view taken along line C of fig. 6.
Fig. 9 is a front view of the seat lifting mechanism of the present invention.
Fig. 10 is a side view of the seat lifter mechanism of the present invention.
Fig. 11 is a top view of the seat lifting mechanism of the present invention.
Fig. 12 is a partial view taken along line D of fig. 10.
Fig. 13 is a partial view taken along line E of fig. 10.
Figure 14 is a front view of the gait training mechanism of the invention.
Figure 15 is a top view of the gait training mechanism of the invention.
Fig. 16 is a sectional view taken along direction F of fig. 15.
Fig. 17 is a partial view of fig. 15 taken along direction G.
Fig. 18 is a partial view taken along line H of fig. 16.
Figure 19 is a schematic diagram of the movement of the gait training mechanism of the invention.
In the drawings:
1. backrest angle adjusting mechanism 2, seat lifting mechanism 3 and gait training mechanism
4. Lifting mechanism movable hinged support 5, back cushion 6 and back plate support
7. Rotating shaft 8, bracket 9 and mounting block
10. Bolt 11, electronic jar support 12, electronic jar one
13. Bearing seat I14, shaft retainer ring I15 and connecting shaft I
16. Deep groove ball bearing I17, bearing cover I18 and upper bracket
19. Seat cushion 20, seat support plate 21 and bearing seat II
22. Electric cylinder two 23, connecting plate 24 and lower movable hinged support
25. Shockproof universal wheel I26, bearing seat III 27 and swinging fork arm I
28. A second swing fork arm 29, a lower bracket 30 and a side plate
31. Second deep groove ball bearing 32, second connecting shaft 33 and second shaft retainer ring
34. Bearing cap II 35, end cover 36 and nut
37. Bearing cap III 38, deep groove ball bearing III 39 and connecting shaft III
40. Third shaft retainer ring 41, dynamic training mechanism bracket 42 and second shockproof universal wheel
43. Universal wheel connecting frame 44, disc-shaped sliding groove 45 and large sliding groove
46. Fixed mandrel 47, shaft sleeve 48 and first outer hexagon bolt
49. Butterfly nut 50, felt 51, retainer ring for hole
52. Four deep groove ball bearings 53, moving shaft 54 and motor support
55. Crank pin shaft 56, shaft retainer ring four 57 and mandrel support
58. Small straight toothed spur gear 59, baffle 60, flat key
61. Socket head cap screw 62, thread plate 63, sleeve
64. A second outer hexagon bolt 65, a DC reducer 66 and a pedal
67. Support seat 68, pin shaft 69 and shaft retainer ring five
70. Electric push rod 71, deep groove ball bearing five 72 and bearing end cover
73. V-shaped roller bearing 74, connecting block 75 and connecting shaft five
76. Cross recessed countersunk screw 77, electric cylinder 78, and position of gait training mechanism movement
79. Connecting shaft four 80, split pin 81 and large straight toothed spur gear
82. Connecting rod
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clear and fully described, embodiments of the present invention are further described in detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are illustrative of some, but not all embodiments of the invention, and are intended to be exemplary only and not limiting of the invention, and that all other embodiments obtained by those skilled in the art without making any inventive change thereto will fall within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "inner", "outer", "top", "bottom", "side", "vertical", "horizontal", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "a," "an," "first," "second," "third," "fourth," "fifth," and "sixth" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
For the purposes of simplicity and explanation, the principles of the embodiments are described by referring mainly to examples. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the embodiments. It will be apparent, however, to one skilled in the art that the embodiments may be practiced without these specific details. In some instances, well-known methods and structures have not been described in detail so as not to unnecessarily obscure the embodiments. In addition, all embodiments may be used in combination with each other.
As shown in fig. 1 to 3, a wheelchair-type lower limb rehabilitation training apparatus includes: the backrest angle adjusting mechanism 1 comprises a back cushion 5 and a backup plate bracket 6, wherein the back cushion 5 is adhered above the backup plate bracket 6; the backrest angle adjusting mechanism 1 is arranged at the rear upper part of the seat lifting mechanism 2 and is connected with the seat lifting mechanism 2; and the gait training mechanism 3 is positioned in front of the seat lifting mechanism 2.
As shown in fig. 4-7, the right side of the back cushion 5 is in the shape of a back cushion, which is adapted to the back of a person; two side plates 30 are symmetrically arranged on two sides of the backrest angle adjusting mechanism 1, and mounting blocks 9 are fixedly mounted below the side plates 30 through bolts 10; the electric cylinder support 11 is welded and installed below the installation block 9, two first bearing blocks 13 are symmetrically installed below the electric cylinder support 11, the lower position of the backup plate support 6 is located at the left side position of the electric cylinder support 11, and the two first bearing blocks 13 are symmetrically installed in the same mode and used for installing a first electric cylinder 12.
Two lifting mechanism movable hinged supports 4 are symmetrically arranged below the leftmost side of the backup plate support 6, and a kidney-shaped groove is processed in the middle of each lifting mechanism movable hinged support 4, so that the rotating shaft can move conveniently, and the adjustment of a lifting mechanism is facilitated; a round inner hole is processed at the left end of the backup plate support 6, and a rotating shaft 7 is installed in the round inner hole.
An electric cylinder I12 is installed on the side edge of the electric cylinder support 11, and the electric cylinder I12 and the electric cylinder support 11 are installed in a position of 30 degrees; inner holes of hinged supports at two ends of the first electric cylinder 12 are arranged in the first connecting shaft 15, and the hinged supports of the first electric cylinder 12 are axially positioned by arranging first retainer rings 14 for the shaft on the left and right.
As shown in fig. 8, two symmetrical first bearing seats 13 are respectively provided with a first deep groove ball bearing 16, and two first deep groove ball bearings 16 in the two first bearing seats 13 are respectively provided with a first connecting shaft 15 in an interference fit manner; the two deep groove ball bearings I16 are fixed through the bearing covers I17, and the bearing covers I17 are fixed on the housing of the bearing seat I13 through screws.
As shown in fig. 9, 10, 11, and 13, the seat lifting mechanism 2 mainly includes a lower bracket 29, a first swing yoke 27, a second swing yoke 28, and a seat support plate 20; the lower bracket 29 and the seat support plate 20 are respectively located at the lower part and the upper part of the seat lifting mechanism 2, and the lower bracket 29 and the seat support plate 20 are coupled together by the first swing yoke 27 and the second swing yoke 28 arranged in a cross manner.
The side-mounting of seat backup pad 20 is electronic jar two 22, the piston rod axle head of electronic jar two 22 with the hole of swing yoke 27 upper end passes through the connecting axle to be connected, the axle head of electronic jar two 22 is through the hole installation of its tip connecting axle five, connecting axle five passes elevating system activity hinge support 4's kidney slot carries out the location of connecting axle five through the split pin.
4 shockproof universal wheels I25 are symmetrically arranged below the lower support 29, bearing seats are symmetrically arranged at the left end of the upper surface of the lower support 29, 2 bearing seat shells are arranged in mirror image positions, and deep groove ball bearings III 38 are symmetrically arranged in inner holes of the 2 bearing seat shells; axially positioning the outer ring of the deep groove ball bearing 38 by using the spigot part of the bearing cover 37, and installing a connecting shaft 39 in the inner holes of 2 deep groove ball bearings 38 in an interference fit manner; a first swing yoke 27 is mounted in the outer diameter of the connecting shaft 39, and an inner hole at the lower end of the first swing yoke 27 is mounted in the outer diameter of the connecting shaft 39; planes on two sides of the lower end portion of the first swing fork arm 27 are machined and milled flat, and three retaining rings 40 for shafts are mounted on two sides of the first swing fork arm 27.
The other end of the lower bracket 29 is symmetrically provided with a lower movable hinged support 24, and the middle position of the lower movable hinged support 24 is processed into a kidney-shaped groove; one end of a connecting shaft four 79 is installed in an inner hole of the lower end part of the swing yoke two 28, and the other end of the connecting shaft four 79 passes through a waist-shaped slotted hole in the middle of the lower movable hinge support 24, and the connecting shaft four 79 is positioned by using a cotter pin 80.
A bearing seat is also arranged below the seat support plate 20 at the upper space position corresponding to the lower support 29, and a deep groove ball bearing III 38 is arranged in an inner hole of a bearing seat shell; the upper end part of the second swing fork arm 28 is arranged in the bearing seat below the seat support plate 20; a connecting shaft four 79 and a lower movable hinged support 24 are arranged in an inner hole at the upper end part of the first swing fork arm 27, the other end of the connecting shaft four 79 penetrates through a waist-shaped slotted hole in the middle of the lower movable hinged support 24, and the connecting shaft four 79 is positioned by using a split pin 80.
As shown in fig. 12, a deep groove ball bearing two 31 is installed at the intersection of the first swing yoke 27 and the second swing yoke 28, a round hole is arranged in the middle of the first swing yoke 27, 2 deep groove ball bearings two 31 are installed in the round hole, a connecting shaft two 32 is installed in an inner hole of each 2 deep groove ball bearings two 31, and the outer ring of the deep groove ball bearing two 31 on the outer side is axially positioned through a spigot of a bearing cover two 34; an end cover 35 is arranged on the inner side of the first swing fork arm 27, and the other end of the connecting shaft 32 penetrates through an inner hole of the second swing fork arm 28.
And one end of the second connecting shaft 32, which penetrates through the inner hole of the second swinging fork arm 28, is provided with an external thread, and the second connecting shaft 32 is mounted on the external thread at the other end of the second connecting shaft 32 by using a nut 36, so that the first swinging fork arm 27 and the second swinging fork arm 28 are connected together through the second connecting shaft 32 and can move relatively.
The second electric cylinder 22 is powered on and started, the piston rod shaft of the second electric cylinder 22 is pushed forwards to a specified stroke position, and the shaft end of the piston rod of the second electric cylinder 22 is connected with the inner hole of the first swing fork arm 27 through the connecting shaft, so that the connecting shaft drives the first swing fork arm 27 to move rightwards along the connecting shaft along the kidney-shaped groove in the movable hinged support 4 of the lifting mechanism; in addition, the junction of the first swing yoke 27 and the second swing yoke 28 is connected by a second connecting shaft 32, the lower end of the second swing yoke 28 is connected with a fourth connecting shaft 79, and the fourth connecting shaft 79 moves rightwards in the kidney-shaped groove of the lower movable hinge support 24 by the same distance. Therefore, the transverse movement of the upper end part of the first swing fork arm 27 and the lower end part of the second swing fork arm 2 is converted into the up-and-down movement, so that the up-and-down movement of the seat support plate 20 and the lower bracket 29 is controlled; the second electric cylinder 22 is controlled through the electromagnetic valve, the piston rod shaft of the second electric cylinder 22 is reset through reversing, the connecting shaft moves leftwards, and the chair is lifted to a certain distance.
As shown in fig. 14-18, the gait training mechanism 3 comprises a dynamic training mechanism support 41, and the dynamic training mechanism support 41 is arranged symmetrically above the mechanism; universal wheel connecting frames 43 are arranged above four corners of the dynamic training mechanism bracket 41, and shockproof universal wheels 42 are respectively arranged below the universal wheel connecting frames 43; the second shockproof universal wheel 42 is provided with a brake, and can move to a specified position to stop.
The bottom plate of the dynamic training mechanism bracket 41 is provided with two large sliding chutes 45, the two large sliding chutes 45 are symmetrically arranged, the large sliding chutes 45 are L-shaped plates, a motor bracket 54 is horizontally arranged above the large sliding chutes 45, and the motor bracket 54 is an L-shaped plate; the motor bracket 54 and the large chute 45 are fixed above the bottom plate of the dynamic training mechanism bracket 41 by a second hexagon socket head cap screw 64.
A direct-current speed reducing motor 65 is installed in the middle of the motor support 54 through a bolt, a small straight-tooth cylindrical gear 58 is installed at the shaft end of the direct-current speed reducing motor 65 through a flat key 60, a baffle 59 is installed on the side face of the gear corresponding to the central hole of the small straight-tooth cylindrical gear 58, the baffle 59 is matched and fixed with the internal thread of the shaft end of the direct-current speed reducing motor 65 through an inner hexagonal screw 61, and the small straight-tooth cylindrical gear 58 is axially positioned;
the large straight-tooth cylindrical gear 81 and the small straight-tooth cylindrical gear 58 are installed in a meshed mode, and 2 deep groove ball bearings IV 52 are installed in an inner hole of the large straight-tooth cylindrical gear 81; the deep groove ball bearing IV 52 is positioned through a hole retainer ring 51, a felt ring 50 plays a role in preventing dust for the deep groove ball bearing IV 52, a fixed mandrel 46 penetrates through an inner hole of the large straight-tooth cylindrical gear 81, one end of the fixed mandrel 46 is installed in an inner hole of a mandrel bracket 57, and the middle position of the fixed mandrel 46 is installed in an inner hole of the deep groove ball bearing IV 52; the other shaft end of the fixed mandrel 46 is provided with a disk-shaped sliding groove 44, and three set screws are arranged in the circumferential direction of a circular boss of the disk-shaped sliding groove 44 to fix the disk-shaped sliding groove 44.
One end of a crank pin shaft 55 is fixedly installed on the large straight-tooth cylindrical gear 81, retainer rings IV 56 are fixedly installed on two ends of the large straight-tooth cylindrical gear 81, the other end of the crank pin shaft 55 is fixed with the connecting rod 82, and the upper end of the connecting rod 82 is fixed with the large sliding chute 45;
a V-shaped roller bearing 73 is matched with the V-shaped boss of the large chute 45 in the X direction, and is matched with a V-shaped groove of the V-shaped roller bearing 73; the connecting block 74 is fixedly installed with the V-shaped roller bearing 73; the connecting block 74 is fixedly connected with one end of a connecting shaft five 75, and the other end of the connecting shaft five 75 is fixedly connected with the upper end of the connecting rod 82 through a cross recessed countersunk head screw 76; the V-shaped groove of the V-shaped roller bearing 73 is matched with the V-shaped boss of the large chute 45 in the Y direction. The sleeve 63 is installed in interference fit with an inner hole of the V-shaped roller bearing 73, one end of the thread plate 62 is installed in the inner hole of the sleeve 63, and an external thread at the other end of the thread plate 62 is installed in fit with an internal thread of the connecting rod 82.
When the direct-current speed reducing motor 65 is powered on and started, the small straight-tooth cylindrical gear 58 rotates, the large straight-tooth cylindrical gear 81 rotates along with the small straight-tooth cylindrical gear, the crank pin shaft 55 rotates along with the large straight-tooth cylindrical gear 81, and the connecting rod 82 and the crank pin shaft are fixed, so that the upper end part and the lower end part of the connecting rod 82 move in the sliding groove of the large sliding groove 45 through the V-shaped roller bearing 73, and the connecting rod 82 moves in an arc line. The foot pedal 66 mounted on the link 82 follows the same path of movement.
The principle of the device is as follows:
a connecting rod mechanism is adopted to simulate the structure of the lower limbs of a human body, a rehabilitation training track is firstly formulated according to the activity requirement of the joint of the affected limb, and the motion displacement and the speed of a control piece are obtained through kinematic analysis. The movement track of the connecting rod 82 is controlled according to the input quantity and the rotating speed of the direct-current speed reduction motor, so that the device can assist the patient to perform walking rehabilitation training on the lower limbs. Two sets of mechanisms are arranged in the gait training mechanism, each side of the gait training mechanism is provided with a direct current gear motor 65, the two direct current gear motors 65 can act simultaneously or act independently, namely, the gait training mechanism can act independently for a left leg and a right leg and can act simultaneously for the left foot and the right foot, the gait training mechanism is controlled by small-sized electricity, and an operation screen is arranged.
A lower limb rehabilitation training method based on wheelchair type lower limb rehabilitation training equipment specifically comprises the following steps:
as shown in fig. 19, the patient lies on the chair cushion, two feet respectively step on the foot rest 66, and the lifting action is performed by setting the operation screen, and the specific actions are as follows: when the electric cylinder II 22 is powered on, the piston rod shaft of the electric cylinder II 22 is pushed forwards to a specified stroke position, and the shaft end of the piston rod of the electric cylinder II 22 is connected with the inner hole of the first swing fork arm 27 through the connecting shaft, so that the connecting shaft drives the first swing fork arm 27 to move rightwards along the connecting shaft along the waist-shaped groove in the movable hinged support 4 of the lifting mechanism; in addition, the junction of the first swing yoke 27 and the second swing yoke 28 is connected by a second connecting shaft 32, and the lower end of the second swing yoke 28 is connected with a fourth connecting shaft 79, so that the fourth connecting shaft 79 moves rightwards in the kidney-shaped groove of the lower movable hinge support 24 by the same distance; therefore, the transverse movement of the upper end part of the first swing fork arm 27 and the lower end part of the second swing fork arm 2 is converted into the up-and-down movement, so that the up-and-down movement of the seat support plate 20 and the lower bracket 29 is controlled;
the second electric cylinder 22 is controlled through the electromagnetic valve, the piston rod shaft of the second electric cylinder 22 is reset through reversing, the connecting shaft moves leftwards, the chair is lifted to a certain distance, when the chair needs to be seated, the electric cylinder 77 is electrified to act, and the gait training mechanism 3 is pulled to move leftwards to a designated position to achieve seating;
after the lifting distance is determined, the patient lies in the required angle of the chair cushion, the required proper angle is set by setting the numerical value on the operation screen, and the specific actions are as follows: the electric cylinder I12 is powered on, the output shaft of the electric cylinder I12 is pushed upwards, and a specified stroke distance is pushed out by setting the electric cylinder I12, so that the backup plate bracket 6 is pushed upwards to reach a treatment position and reach a set required angle with the horizontal back cushion 5;
after the height of the chair and the angle of the backrest are adjusted, the direct-current speed reduction motor 65 is electrified and started, the small straight-tooth cylindrical gear 58 rotates, the large straight-tooth cylindrical gear 81 rotates along with the small straight-tooth cylindrical gear, the crank pin shaft 55 rotates along with the rotation of the large straight-tooth cylindrical gear 81, and the connecting rod 82 and the crank pin shaft 55 are fixed, so that the upper end part and the lower end part of the connecting rod 82 move in the sliding groove of the large sliding groove 45 through the V-shaped roller bearing 73, and the connecting rod 82 moves in an arc line;
the pedals 66 attached to the links 82 follow the same motion trajectory, thereby assisting the lower limbs of the human body in performing a motion simulating walking.
Although the illustrative embodiments of the present invention have been described above to enable those skilled in the art to understand the present invention, the present invention is not limited to the scope of the embodiments, and it is apparent to those skilled in the art that all the inventive concepts using the present invention are protected as long as they can be changed within the spirit and scope of the present invention as defined and defined by the appended claims.
Claims (6)
1. A wheelchair-style lower limb rehabilitation training device comprising:
the backrest angle adjusting mechanism (1) comprises a back cushion (5) and a backup plate bracket (6), wherein the back cushion (5) is adhered above the backup plate bracket (6);
the backrest angle adjusting mechanism (1) is arranged at the rear upper part of the seat lifting mechanism (2) and is connected with the seat lifting mechanism (2);
the gait training mechanism (3) is positioned in front of the seat lifting mechanism (2);
the gait training mechanism (3) comprises a dynamic training mechanism bracket (41), and mechanisms above the dynamic training mechanism bracket (41) are symmetrically arranged;
universal wheel connecting frames (43) are arranged above four corners of the dynamic training mechanism bracket (41), and shockproof universal wheels II (42) are respectively arranged below the universal wheel connecting frames (43);
the dynamic training mechanism comprises a dynamic training mechanism support (41), wherein a bottom plate of the dynamic training mechanism support (41) is provided with two large sliding chutes (45), the two large sliding chutes (45) are symmetrically arranged, the large sliding chutes (45) are L-shaped plates, a motor support (54) is horizontally arranged above the large sliding chutes (45), and the motor support (54) is an L-shaped plate; the motor bracket (54) and the large chute (45) are fixed above the bottom plate of the gait training mechanism bracket (41) through a second outer hexagon bolt (64);
a direct-current speed reducing motor (65) is installed in the middle of the motor support (54) through a bolt, a small straight-tooth cylindrical gear (58) is installed at the shaft end of the direct-current speed reducing motor (65) through a flat key (60), a baffle (59) is installed on the gear side face corresponding to the central hole of the small straight-tooth cylindrical gear (58), and the baffle (59) is matched and fixed with an internal thread of the shaft end of the direct-current speed reducing motor (65) through an inner hexagonal screw (61);
the large straight-tooth cylindrical gear (81) and the small straight-tooth cylindrical gear (58) are installed in a meshed mode, and 2 deep groove ball bearings (52) are installed in an inner hole of the large straight-tooth cylindrical gear (81); a fixed mandrel (46) penetrates through an inner hole of the large straight toothed spur gear (81), and one end of the fixed mandrel (46) is installed in an inner hole of the mandrel support (57); the other shaft end of the fixed mandrel (46) is provided with a disc-shaped sliding groove (44);
one end of a crank pin shaft (55) is fixedly installed on the large straight-tooth cylindrical gear (81), retainer rings four (56) are fixedly installed at two ends of the large straight-tooth cylindrical gear (81), the other end of the crank pin shaft (55) is fixedly connected with a connecting rod (82), and the upper end of the connecting rod (82) is fixed with the large sliding chute (45);
a V-shaped boss of the large chute (45) in the X direction is matched with a V-shaped roller bearing (73) and is matched with a V-shaped groove of the V-shaped roller bearing (73); the connecting block (74) is fixedly installed with the V-shaped roller bearing (73); the connecting block (74) is fixedly connected with one end of a connecting shaft five (75), and the other end of the connecting shaft five (75) is fixedly connected with the upper end of the connecting rod (82) through a cross-shaped recessed countersunk head screw (76); a V-shaped groove of the V-shaped roller bearing (73) is matched with a V-shaped boss of the large sliding groove (45) in the Y direction;
the direct-current speed reducing motor (65) is electrified and started, the small straight-tooth cylindrical gear (58) rotates, the large straight-tooth cylindrical gear (81) rotates along with the small straight-tooth cylindrical gear, the crank pin shaft (55) rotates along with the large straight-tooth cylindrical gear (81), the connecting rod (82) is fixed with the crank pin shaft, the upper end part and the lower end part of the connecting rod (82) move in the sliding groove of the large sliding groove (45) through the V-shaped roller bearing (73), the connecting rod (82) moves in an arc line, and the pedal (66) arranged on the connecting rod (82) moves in the same movement track.
2. The wheelchair-type lower limb rehabilitation training device of claim 1, wherein the right side of the back cushion (5) is in the shape of a headrest; two side plates (30) are symmetrically arranged on two sides of the backrest angle adjusting mechanism (1), and mounting blocks (9) are fixedly mounted below the side plates (30) through bolts (10); the electric cylinder support (11) is installed below the installation block (9) in a welding mode, two first bearing blocks (13) are symmetrically installed below the electric cylinder support (11), the lower portion of the backup plate support (6) is located at the left side position of the electric cylinder support (11), and the two first bearing blocks (13) are installed in a same symmetrical mode.
3. The wheelchair-type lower limb rehabilitation training device of claim 2, wherein a first deep groove ball bearing (16) is mounted in each of the two symmetrical first bearing seat (13) housings, and a first connecting shaft (15) is mounted in the two first deep groove ball bearings (16) in the two first bearing seat (13) housings through interference fit; fixing the two first deep groove ball bearings (16) through a first bearing cover (17);
an electric cylinder I (12) is installed on the side edge of the electric cylinder support (11), and the electric cylinder I (12) and the electric cylinder support (11) are installed in a position of 30 degrees; inner holes of hinged supports at two ends of the electric cylinder I (12) are arranged in the connecting shaft I (15);
two lifting mechanism movable hinged supports (4) are symmetrically arranged below the leftmost side of the backup plate support (6), and a kidney-shaped groove is processed in the middle of each lifting mechanism movable hinged support (4); a round inner hole is processed at the left end of the backup plate support (6), and a rotating shaft (7) is installed in the round inner hole.
4. The wheelchair-type lower limb rehabilitation training device of claim 1, wherein the seat lifting mechanism (2) mainly comprises a lower bracket (29), a first swinging fork arm (27), a second swinging fork arm (28) and a seat support plate (20);
the lower support (29) and the seat support plate (20) are respectively positioned at the lower part and the upper part of the seat lifting mechanism (2), and the lower support (29) and the seat support plate (20) are connected together through the first swinging fork arm (27) and the second swinging fork arm (28) which are arranged in a crossed manner.
5. The wheelchair type lower limb rehabilitation training device of claim 4, wherein 4 shockproof universal wheels I (25) are symmetrically arranged below the lower support (29), bearing seats are symmetrically arranged at the left end of the upper surface of the lower support (29), and deep groove ball bearings III (38) are symmetrically arranged in inner holes of 2 bearing seat shells; a connecting shaft (39) is arranged in inner holes of the 2 deep groove ball bearings III (38) in an interference fit manner; an inner hole of the lower end part of the first swing fork arm (27) is arranged in the outer diameter of the connecting shaft (39);
the other end of the lower bracket (29) is symmetrically provided with a lower movable hinged support (24), and the middle position of the lower movable hinged support (24) is processed into a kidney-shaped groove; one end of a connecting shaft IV (79) is arranged in an inner hole at the lower end part of the swinging yoke II (28), and the other end of the connecting shaft IV (79) penetrates through a waist-shaped slotted hole in the middle of the lower movable hinged support (24);
a bearing seat is also arranged below the seat support plate (20) at the upper space position corresponding to the lower support (29), and a deep groove ball bearing III (38) is arranged in an inner hole of a shell of the bearing seat; the upper end part of the second swing fork arm (28) is arranged in the bearing seat below the seat support plate (20);
a connecting shaft IV (79) and a lower movable hinged support (24) are installed in an inner hole at the upper end part of the first swing fork arm (27), the other end of the connecting shaft IV (79) penetrates through a waist-shaped groove hole in the middle of the lower movable hinged support (24), and the connecting shaft IV (79) is positioned by using a cotter pin (80).
6. The wheelchair type lower limb rehabilitation training device as claimed in claim 4, wherein a second deep groove ball bearing (31) is mounted at the intersection of the first swing yoke (27) and the second swing yoke (28), a round hole is formed in the middle of the first swing yoke (27), 2 second deep groove ball bearings (31) are mounted in the round hole, a second connecting shaft (32) is mounted in an inner hole of each 2 second deep groove ball bearings (31), and the outer ring of the second deep groove ball bearing (31) on the outer side is axially positioned through a spigot of a second bearing cover (34); an end cover (35) is arranged on the inner side of the first swing fork arm (27), and the other end of the connecting shaft II (32) penetrates through an inner hole of the second swing fork arm (28);
electronic jar two (22) of seat backup pad (20) downside installation, the piston rod axle head of electronic jar two (22) with the hole of swing yoke one (27) upper end passes through the connecting axle to be connected, the axle head of electronic jar two (22) is through the hole installation connecting axle four (79) of its tip, and connecting axle four (79) pass the kidney slot of elevating system activity hinge support (4), carry out the location of connecting axle four (79) through split pin (80).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910118340.7A CN109674622B (en) | 2019-02-16 | 2019-02-16 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910118340.7A CN109674622B (en) | 2019-02-16 | 2019-02-16 | Wheelchair type lower limb rehabilitation training equipment and training method thereof |
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| CN109674622A CN109674622A (en) | 2019-04-26 |
| CN109674622B true CN109674622B (en) | 2022-01-11 |
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| CN110792144A (en) * | 2019-11-25 | 2020-02-14 | 苏州哲思达智能设备科技有限公司 | Wall-mounted intelligent closestool |
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