CN109833600B - Gait simulation lower limb rehabilitation training device based on composite crank-link mechanism - Google Patents
Gait simulation lower limb rehabilitation training device based on composite crank-link mechanism Download PDFInfo
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- CN109833600B CN109833600B CN201711231116.6A CN201711231116A CN109833600B CN 109833600 B CN109833600 B CN 109833600B CN 201711231116 A CN201711231116 A CN 201711231116A CN 109833600 B CN109833600 B CN 109833600B
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Abstract
The invention relates to a gait simulation lower limb rehabilitation training device based on a composite crank-link mechanism, which comprises two composite crank-link mechanisms, a pedal plate and an active and passive training switching unit. Compared with the prior art, the invention can convert the circular motion of the crank into the simulated gait motion of the D vertex of the second triangular frame through the composite crank connecting rod mechanism, and the track of the simulated gait motion is most consistent with the gait track of a person walking; in addition, the device is provided with two modes of active rehabilitation training and passive rehabilitation training, and the training effect is more comprehensive.
Description
Technical Field
The invention relates to the technical field of medical rehabilitation instruments, in particular to a gait simulation lower limb rehabilitation training device based on a composite crank-link mechanism.
Background
One of the most common sequelae of stroke and brain injury is limb dysfunction, which can cause muscular atrophy in patients who are bedridden for a long time, and can hinder recovery of diseases and recovery in the future. The passive exercise training in the early stage and the active exercise training in the later stage can keep and recover the joint motion amplitude of the patient, are favorable for recovering the main exercise functions of limbs and improve the daily life capacity of the patient. The lower limb rehabilitation training device in the current market mainly comprises a multi-joint traction type lower limb rehabilitation device and a tail end traction type rehabilitation device which are two types: the multi-joint traction type lower limb rehabilitation device can realize single-joint training and multi-joint coordination training, the motion trail can be freely programmed in a working space, the simulation accuracy of the multi-joint traction type lower limb rehabilitation device on the gait trail is high, but the machine structure is complex, the cost is high, and the multi-joint traction type lower limb rehabilitation device is not beneficial to benefiting patients; the tail end traction type rehabilitation device simulates the motion trail of the tail end to a certain degree, and representative products comprise a Steel Flex XE-3700 type elliptical machine manufactured by Stedin Fei company, a JOHNSON MX-E5X type elliptical machine manufactured by Jojoba company and the like. The ankle is used as a rotating point of the devices, the motion track is an ellipse, the gait track and the joint characteristics of a person when the person walks cannot be accurately simulated, impact is generated on the joint, muscle is excessively stretched, the treatment effect is poor, and great harm is also caused to a patient.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a gait simulation lower limb rehabilitation training device based on a composite crank-link mechanism, which has more vivid rehabilitation effect.
The purpose of the invention can be realized by the following technical scheme: the utility model provides a gait simulation low limbs rehabilitation training device based on compound crank link mechanism which characterized in that, this rehabilitation training device includes:
two compound crank link mechanisms: each composite crank-connecting rod mechanism comprises a crank, two triangular frames and a plurality of connecting rods connected with the two triangular frames and the crank through rotating shafts, wherein, the A vertex of the first triangular frame is connected with the G end of the crank through the first connecting rod, the B vertex of the first triangular frame is connected with the C vertex of the second triangular frame through the third connecting rod, the F vertex of the first triangular frame is connected with the E vertex of the second triangular frame through the fourth connecting rod, the E vertex of the second triangular frame is connected with the G end of the crank through the second connecting rod, wherein, the vertex A of the triangle frame I is higher than the vertex B and the vertex F of the triangle frame I, the vertex D of the triangle frame II is lower than the vertex C and the vertex E of the triangle frame II, the crank does circular motion by taking the O end as the circle center, and the F vertex of the first triangular frame in the two composite crank connecting rod mechanisms is in shaft connection with the two ends of the connecting shaft;
a foot pedal: the D vertex of a second triangular frame in each composite crank connecting rod mechanism is in shaft connection;
active and passive training switching unit: the O end of the crank of the two compound crank connecting rod mechanisms is connected with the driving mechanism and is used for driving the crank to rotate around the O end to realize passive rehabilitation training; or for imparting resistance to the rotation of the cranks of the two compound crank-link mechanisms to achieve passive rehabilitation training. The invention can mutually convert the circular motion of the active and passive training switching unit and the gait simulation motion of the pedal plate through the composite crank connecting rod mechanism, thereby realizing the active rehabilitation training and the passive rehabilitation training of the lower limb rehabilitation trainers.
The active and passive training switching unit comprises a driving wheel connected with the O end of the crank, a belt pulley connected with the driving wheel through a belt, a rotating shaft penetrating through the center of the belt pulley and rotating together with the belt pulley, an active electromagnetic clutch and a passive electromagnetic clutch arranged at two ends of the rotating shaft, an electromagnetic damper connected with the active electromagnetic clutch through a gear set and a speed reduction motor connected with the passive electromagnetic clutch through the gear set, wherein the active electromagnetic clutch and the passive electromagnetic clutch cannot be meshed with the rotating shaft simultaneously. The working principle of the invention is as follows: when the active electromagnetic clutch meshes with the one end of pivot, the active rehabilitation training is opened, the recovered person's both feet are stepped on the running-board and are driven the running-board through the mode of walking and move according to the orbit of gait simulation, and through the transmission of compound crank link mechanism, make the drive wheel rotatory, drive the belt pulley through the belt and rotate, then through the pivot, active electromagnetic clutch and gear train will power transmission give electromagnetic damper, consequently, the recovered person's walking can receive great resistance, thereby make the muscle of shank obtain taking exercise, realize the active rehabilitation training. When the driven electromagnetic clutch is meshed with one end of the rotating shaft, the driven rehabilitation training is started, the rotation of the stepping motor sequentially passes through the gear set, the driven electromagnetic clutch, the rotating shaft, the belt pulley and the belt to drive the driving wheel to rotate, and then the pedal plate is made to move in a gait simulation track through the transmission of the composite crank-link mechanism, so that a rehabilitation trainer standing on the pedal plate is driven to simulate walking, and the driven rehabilitation training is realized.
The O ends of the cranks of the two compound crank connecting rod mechanisms are in shaft connection with the circle center of the driving wheel, and the two cranks are distributed in an angle of 180 degrees.
The gear set comprises at least two gears which are meshed with each other, so that the transmission distance is long, the transmission is smoother and easy to control.
The length ratio of the first side, the second side, the third side and the crank of the first triangular frame is (5-5.3): (4-4.2): (3.7-4): 1, the length ratio of the first side, the second side, the third side and the crank of the second triangular frame is (6.4-7.2): (5.2-5.5): (3.8-4): 1, the length ratio of the first connecting rod, the second connecting rod, the third connecting rod, the fourth connecting rod to the crank is (4.5-5): (7-7.5): (4.5-4.8): (4.3-4.5): 1, after computer simulation, finding that the track of the simulated gait motion of the D vertex of the second triangular frame is most consistent with the gait track of the walking person when the composite crank-link mechanism meets the length proportion.
The ratio of the length of the crank to the height of the lower limb rehabilitation trainer is 1: (2.9-3), under the proportion, the swing amplitude of the feet of the lower limb rehabilitation trainers is similar to the walking amplitude of normal people, the simulation track is more real, and the rehabilitation training effect is better.
The D summit department of No. two triangle-shaped frames be equipped with and be used for controlling the running-board round the rotatory step motor of D summit, through set up step motor at the D summit for lower limbs rehabilitation training person's foot can be round the ankle and rotate, and the orbit of walking is closer.
The pedal comprises a front part connected with the D top point of the second triangular frame, a rear part connected with the front part through a circular polished rod and bulges arranged on the edges of the front part and the rear part, the bottom of the rear part is provided with a pore channel for inserting the circular polished rod, the pore channel is provided with a pin hole, the circular polished rod is provided with a plurality of positioning holes, and a positioning pin penetrates through the pin hole and the positioning holes to fixedly connect the rear part with the circular polished rod.
Two through holes are arranged at the D top point of the second triangular frame, and bandages used for binding the ankles of lower limb rehabilitation trainers are penetrated in the two through holes.
The rehabilitation training device comprises a base, a support and handrails, and the active and passive training switching unit is fixedly connected with the support.
Compared with the prior art, the beneficial effects of the invention are embodied in the following aspects:
(1) through the composite crank connecting rod mechanism, the circular motion of the crank can be converted into the simulated gait motion of the D vertex of the second triangular frame, and the track of the simulated gait motion is most consistent with the gait track of a person walking;
(2) according to the height of the lower limb rehabilitation trainer, the length of the crank is changed, so that the swing amplitude of the feet of the lower limb rehabilitation trainer is similar to the walking amplitude of a normal person, the simulation track is more real, and the rehabilitation training effect is better;
(3) the device is provided with two modes of active rehabilitation training and passive rehabilitation training, and the training effect is more comprehensive.
Drawings
FIG. 1 is a schematic external view of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a schematic structural view of the compound crank link mechanism of the present invention;
FIG. 4 is a schematic view of a movement locus of a crank link mechanism in embodiment 1;
FIG. 5 is a schematic structural diagram of an active and passive training switching unit according to the present invention;
FIG. 6 is a schematic view of the structure of the footrest of the present invention;
FIG. 7 is a schematic view of a movement locus of a crank link mechanism in embodiment 2;
fig. 8 is a schematic diagram of the movement locus of the crank link mechanism in embodiment 3.
Wherein, 1 is a composite crank link mechanism, 11 is a through hole, 2 is a pedal, 21 is a front part, 22 is a circular polished rod, 23 is a rear part, 24 is a protrusion, 25 is a pin hole, 26 is a positioning pin, 27 is a positioning hole, 3 is an active and passive training switching unit, 31 is a transmission wheel, 32 is a belt, 33 is a belt pulley, 34 is a rotating shaft, 35 is an active electromagnetic clutch, 36 is a passive electromagnetic clutch, 37a and 37b are gear sets, 38 is an electromagnetic damper, 39 is a speed reducing motor, 4 is a stepping motor, 5 is a base, 6 is a support, 7 is an armrest, 8 is a connecting shaft, OG is a crank, AB is a first side of a first triangular frame, AF is a second side of the first triangular frame, BF is a third side of the first triangular frame, CD is a first side of the second triangular frame, DE is a second side of the second triangular frame, CE is a third side of the second triangular frame, AG is a connecting rod, EG is a connecting rod II, BC is a connecting rod III, and EF is a connecting rod IV.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Example 1
A gait simulation lower limb rehabilitation training device based on a composite crank-link mechanism 1 is characterized by comprising two composite crank-link mechanisms 1, a pedal plate 2, an active and passive training switching unit 3, a base 5, a support 6 and a handrail 7, wherein the external structure of the rehabilitation training device is shown in figure 1.
Wherein, each compound crank connecting rod mechanism 1 comprises a crank OG, two triangular frames and a plurality of connecting rods connected with the two triangular frames and the crank OG through rotating shafts, wherein, the vertex A of the first triangular frame is connected with the end G of the crank OG through the first connecting rod AG, the vertex B of the first triangular frame is connected with the vertex C of the second triangular frame through the third connecting rod BC, the vertex F of the first triangular frame is connected with the vertex E of the second triangular frame through the fourth connecting rod EF, the vertex E of the second triangular frame is connected with the end G of the crank OG through the second connecting rod EG, wherein, the vertex A of the first triangular frame is higher than the vertex B and the vertex F of the first triangular frame, the vertex D of the second triangular frame is lower than the vertex C and the vertex E of the second triangular frame, the crank OG does circular motion by taking the end O as the circle center, the vertex F of the first triangular frame in the two compound crank connecting rod mechanisms 1 is connected with the two ends of the connecting shaft 8, as shown in fig. 2 and 3; in the present embodiment, the length of each link, the side length of the triangular frame, the length of the crank, and the height of the lower limb rehabilitation trainer are shown in table 1.
| Line segment | Length (cm) | Line segment | Length (cm) |
| Height of a person | 175 | DE | 327.2 |
| OG | 59.7 | CE | 220 |
| AB | 310.5 | AG | 290.5 |
| AF | 248.2 | EG | 430.3 |
| BF | 229.1 | BC | 269 |
| CD | 422.36 | EF | 261.5 |
Through computer simulation, the simulated gait track of the compound crank-link mechanism with the length is shown in fig. 4, and from this, the track is very close to the gait track caused by walking of a normal person.
A pedal plate 2: the pedal 2 is coupled to the D-vertex of the second triangular frame in each composite crank-link mechanism 1, and the structure of the pedal 2 is as shown in fig. 6, and includes a front portion 21 connected to the D-vertex of the second triangular frame, a rear portion 23 connected to the front portion through a circular polish rod 22, and protrusions 24 disposed at the edges of the front portion 21 and the rear portion 23, wherein a hole for inserting the circular polish rod 22 is disposed at the bottom of the rear portion 23, a pin hole 25 is disposed on the hole, a plurality of positioning holes 27 are disposed on the circular polish rod 22, and a positioning pin 26 penetrates through the pin hole 25 and the positioning holes 27 to fixedly connect the rear portion 23 and the circular polish rod 22.
Active and passive training switching unit 3: the O end of the crank of the two compound crank connecting rod mechanisms 1 is connected for driving the crank to rotate around the O end to realize passive rehabilitation training; or for giving resistance to the rotation of the cranks of the two compound crank-link mechanisms 1 to achieve passive rehabilitation training. According to the invention, the circular motion of the active and passive training switching unit 3 and the gait simulation motion of the pedal plate 2 can be mutually converted through the composite crank-link mechanism 1, so that the active and passive rehabilitation training of the lower limb rehabilitation trainers is realized.
The structure of the active and passive training switching unit 3 is shown in fig. 5, and comprises a transmission wheel 31 connected with the O end of the crank, a belt pulley 33 connected with the transmission wheel 31 through a belt 32, a rotating shaft 34 passing through the center of the belt pulley 33 and rotating together with the belt pulley 33, an active electromagnetic clutch 35 and a passive electromagnetic clutch 36 arranged at both ends of the rotating shaft 34, an electromagnetic damper 38 connected with the active electromagnetic clutch 35 through a gear set, and a reduction motor 39 connected with the passive electromagnetic clutch 36 through a gear set, wherein the active electromagnetic clutch 35 and the passive electromagnetic clutch 36 cannot be engaged with the rotating shaft at the same time, and the transmission wheel 31 and the belt 32 are shown in fig. 2;
when the active electromagnetic clutch 35 is engaged with one end of the rotating shaft 34, the active rehabilitation training is started, the two feet of a rehabilitation trainer step on the pedal plate 2 and drive the pedal plate 2 to move according to the track simulated by gait in a walking mode, the transmission wheel 31 is made to rotate through the transmission of the composite crank-link mechanism 1, the belt pulley 33 is driven to rotate through the belt 32, and then the force is transmitted to the electromagnetic damper 38 through the rotating shaft 34, the active electromagnetic clutch 35 and the gear set, so that the walking of the rehabilitation trainer can be subjected to large resistance, the muscles of the legs are exercised, and the active rehabilitation training is realized. When the driven electromagnetic clutch 36 is engaged with one end of the rotating shaft, the driven rehabilitation training is started, the rotation of the stepping motor 4 sequentially passes through the gear set, the driven electromagnetic clutch 36, the rotating shaft 34, the belt pulley 33 and the belt 32 to drive the driving wheel 31 to rotate, and then the pedal plate 2 is driven to move in a gait simulation track through the transmission of the composite crank-link mechanism 1, so that a rehabilitation trainer standing on the pedal plate 2 is driven to simulate walking, and the driven rehabilitation training is realized.
The D summit department of No. two triangle-shaped frames is equipped with and is used for controlling footboard 2 round the rotatory step motor 4 in D summit, through setting up step motor 4 at the D summit for lower limbs rehabilitation training person's foot can be around the ankle rotation, and the orbit of walking is more close.
Two through holes are arranged at the D peak of the second triangular frame, and bandages used for binding the ankles of lower limb rehabilitation trainers are penetrated in the two through holes.
Example 2
The same lower limb rehabilitation training device structure as that of the embodiment 1 is adopted, and the difference lies in that:
the length of each link, the side length of the triangular frame, the length of the crank, and the height of the lower limb rehabilitation trainers in this embodiment are shown in table 2.
Through computer simulation, the simulated gait track of the composite crank-link mechanism with the length is shown in fig. 7, and from this, the track is close to the gait track caused by walking of normal people.
Example 3
The same lower limb rehabilitation training device structure as that of the embodiment 1 is adopted, and the difference lies in that:
the length of each link, the side length of the triangular frame, the length of the crank, and the height of the lower limb rehabilitation trainers in this embodiment are shown in table 3.
| Line segment | Length (cm) | Line segment | Length (cm) |
| Height of a person | 175 | DE | 320.82 |
| OG | 58.33 | CE | 233.32 |
| AB | 309.15 | AG | 291.65 |
| AF | 245 | EG | 437.48 |
| BF | 215.82 | BC | 279.98 |
| CD | 419.98 | EF | 262.49 |
Through computer simulation, the simulated gait track of the composite crank-link mechanism with the length is shown in fig. 8, and from this, the track is close to the gait track caused by walking of normal people.
Claims (10)
1. The utility model provides a gait simulation low limbs rehabilitation training device based on compound crank link mechanism which characterized in that, this rehabilitation training device includes:
two compound crank link mechanisms (1): each composite crank-link mechanism comprises a crank (OG), two triangular frames and a plurality of connecting rods connected with the two triangular frames and the crank through rotating shafts, wherein the vertex A of the first triangular frame is connected with the end G of the crank (OG) through a connecting rod (AG), the vertex B of the first triangular frame is connected with the vertex C of the second triangular frame through a connecting rod (BC), the vertex F of the first triangular frame is connected with the vertex E of the second triangular frame through a connecting rod (EF), the vertex E of the second triangular frame is connected with the end G of the crank (OG) through a connecting rod II (EG), the vertex A of the first triangular frame is higher than the vertex B and the vertex F of the first triangular frame, the vertex D of the second triangular frame is lower than the vertex C and the vertex E of the second triangular frame, and the crank (OG) performs circular motion by taking the end O as the center, the vertex F of the first triangular frame in the two composite crank link mechanisms is coupled with two ends of the connecting shaft (8) by shafts;
foot board (2): the D vertex of a second triangular frame in each composite crank connecting rod mechanism is in shaft connection;
active and passive training switching unit (3): the O ends of the cranks (OG) of the two compound crank-link mechanisms are connected, and the cranks (OG) are driven to rotate around the O ends to realize passive rehabilitation training; or for imparting resistance to rotation of the cranks (OG) of the two compound crank-link mechanisms to achieve passive rehabilitation training.
2. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the active and passive training switching unit (3) comprises a transmission wheel (31) connected with the O end of a crank (OG), a belt pulley (33) connected with the transmission wheel (31) through a belt (32), a rotating shaft (34) penetrating through the center of the belt pulley (33) and rotating together with the belt pulley (33), an active electromagnetic clutch (35) and a passive electromagnetic clutch (36) arranged at the two ends of the rotating shaft (34), an electromagnetic damper (38) connected with the active electromagnetic clutch (35) through a gear set (37a) and a reduction motor (39) connected with the passive electromagnetic clutch (36) through a gear set (37b), the active electromagnetic clutch (35) and the passive electromagnetic clutch (36) cannot be simultaneously engaged with the rotating shaft (34).
3. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 2, characterized in that the O ends of the cranks (OG) of the two compound crank-link mechanisms are coupled with the circle center of the driving wheel (31), and the two cranks (OG) are distributed in 180 degrees.
4. A gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism according to claim 2, characterized in that the gear set (37a, 37b) comprises at least two gears meshing with each other.
5. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the length ratio of the first side (AB), the second side (AF), the third side (BF) and the crank (OG) of the first triangular frame is (5-5.3): (4-4.2): (3.7-4): 1, the length ratio of a first side (CD), a second side (DE), a third side (CE) and a crank (OG) of the second triangular frame is (6.4-7.2): (5.2-5.5): (3.8-4): 1, the length ratio of the first connecting rod (AG), the second connecting rod (EG), the third connecting rod (BC), the fourth connecting rod (EF) to the crank (OG) is (4.5-5): (7-7.5): (4.5-4.8): (4.3-4.5): 1.
6. a gait simulation lower limb rehabilitation training device based on a compound crank-link mechanism according to claim 1 or 5, characterized in that the ratio of the length of the crank (OG) to the height of the lower limb rehabilitation trainer is 1: (2.9-3).
7. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1, characterized in that a stepping motor (4) for controlling the rotation of the pedal (2) around the D vertex is arranged at the D vertex of the second triangular frame.
8. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1 or 7, characterized in that the pedal (2) comprises a front part (21) connected with the D vertex of the triangle frame II, a rear part (23) connected with the front part (21) through a circular polished rod (22), and protrusions (24) arranged on the edges of the front part (21) and the rear part (23), the bottom of the rear part (23) is provided with a hole for inserting the circular polished rod (22), the hole is provided with a pin hole (25), the circular polished rod (22) is provided with a plurality of positioning holes (27), and a positioning pin (26) passes through the pin hole (25) and the positioning hole (27) to fixedly connect the rear part (23) and the circular polished rod (22).
9. The gait simulation lower limb rehabilitation training device based on the compound crank link mechanism as claimed in claim 1, characterized in that two through holes (11) are provided at the D vertex of the second triangular frame, and a bandage for binding the ankle of the lower limb rehabilitation training person is threaded in the two through holes (11).
10. The gait simulation lower limb rehabilitation training device based on the compound crank-link mechanism as claimed in claim 1, characterized in that the rehabilitation training device comprises a base (5), a support (6) and a handrail (7), and the active and passive training switching unit (3) is fixedly connected with the support (6).
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| CN201711231116.6A CN109833600B (en) | 2017-11-29 | 2017-11-29 | Gait simulation lower limb rehabilitation training device based on composite crank-link mechanism |
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| CN109833184B (en) * | 2017-11-29 | 2021-05-04 | 上海理工大学 | Compound crank-link mechanism and lower limb rehabilitation training device |
| CN110478191A (en) * | 2019-08-28 | 2019-11-22 | 哈尔滨理工大学 | A kind of non-anthropomorphic type exoskeleton rehabilitation robot of Novel leg |
| CN113082605B (en) * | 2021-04-20 | 2022-04-26 | 佳木斯大学 | Rehabilitation training device for neurology and using method |
| CN113599782B (en) * | 2021-08-26 | 2022-04-22 | 苏州大学 | Lower limb walking rehabilitation training machine |
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| CN2342840Y (en) * | 1998-07-07 | 1999-10-13 | 郭海滨 | Elliptic roaming track sport exerciser |
| US7625318B1 (en) * | 2004-06-28 | 2009-12-01 | Steven Heyn | Exercise apparatus |
| CN204864741U (en) * | 2015-07-20 | 2015-12-16 | 赖膺州 | Oval machine of improvement |
| CN106333830A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Walking aiding mechanism of lower limb rehabilitation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2342840Y (en) * | 1998-07-07 | 1999-10-13 | 郭海滨 | Elliptic roaming track sport exerciser |
| US7625318B1 (en) * | 2004-06-28 | 2009-12-01 | Steven Heyn | Exercise apparatus |
| CN204864741U (en) * | 2015-07-20 | 2015-12-16 | 赖膺州 | Oval machine of improvement |
| CN106333830A (en) * | 2016-09-20 | 2017-01-18 | 合肥工业大学 | Walking aiding mechanism of lower limb rehabilitation robot |
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Application publication date: 20190604 Assignee: SHANGHAI BERRY ELECTRONIC TECHNOLOGY Co.,Ltd. Assignor: University of Shanghai for Science and Technology Contract record no.: X2021980005109 Denomination of invention: A lower limb rehabilitation training device for gait simulation based on compound crank and connecting rod mechanism Granted publication date: 20201127 License type: Common License Record date: 20210623 |