CN110236889A - A kind of portable knee-joint rehabilitation training auxiliary device - Google Patents
A kind of portable knee-joint rehabilitation training auxiliary device Download PDFInfo
- Publication number
- CN110236889A CN110236889A CN201910654035.XA CN201910654035A CN110236889A CN 110236889 A CN110236889 A CN 110236889A CN 201910654035 A CN201910654035 A CN 201910654035A CN 110236889 A CN110236889 A CN 110236889A
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- screw
- cabinet
- ball
- runner device
- runner
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- 210000000629 knee joint Anatomy 0.000 title claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 51
- 210000002414 leg Anatomy 0.000 claims abstract description 16
- 238000005096 rolling process Methods 0.000 claims description 27
- 230000003287 optical effect Effects 0.000 claims description 17
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 230000033001 locomotion Effects 0.000 abstract description 17
- 238000010586 diagram Methods 0.000 description 6
- 210000003127 knee Anatomy 0.000 description 6
- 208000037974 severe injury Diseases 0.000 description 3
- 230000009528 severe injury Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
- 230000003750 conditioning effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000474 nursing effect Effects 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- A61H2201/01—Constructive details
- A61H2201/0157—Constructive details portable
-
- 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
-
- 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
- A61H2201/16—Physical interface with patient
- A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
- A61H2201/164—Feet or leg, e.g. pedal
Landscapes
- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- 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 present invention relates to a kind of portable knee-joint rehabilitation training auxiliary devices, including cabinet, transmission device, runner device and controller, transmission device and runner device are located in cabinet, interlocking has foot pedal on runner device, foot pedal is connected with transmission device, and controller is connected by controlling route with transmission device.The present invention is small in size, foldable, portable, can be applied to a variety of medical environments, can be used at any time；Structure is simple and convenient to operate, and failure rate is low, can adapt to the patient of a variety of statures and different extents.Patient is helped to complete the rehabilitation training of knee joint limb action, realize the purpose of help the disabled walking, rehabilitation, it can be according to patient's needs, the distance between change the movement velocity of foot pedal by controller and change two foot pedals, it allows patient's two legs when doing rehabilitation exercise that can be in the position of the most comfortable, effectively controls the rehabilitation training intensity of knee joint patient.
Description
Technical field
The present invention relates to a kind of rehabilitation supporting device, in particular to a kind of portable knee-joint rehabilitation training auxiliary dress
It sets.
Background technique
With the development of society, intelligent robot gradually gos deep into people's lives.But medically, knee joint severe
The patient of damage still lacks the auxiliary of intelligent apparatus in rehabilitation, and currently all hospital orthopedics portion is all without one about severe injury
The instrument that knee joint restores.One people basically can not do too excesssive movement in the case where knee joint severe injury, currently,
The recovery process of patient is substantially to be carried out by human assistance, however artificial auxiliary there is a problem of very much, and human assistance is done
Rehabilitation exercise is not only time-consuming and laborious, but also there is many uncontrollable factors, such as: in the heavier situation of patient body weight, shield
Reason personnel can not individually complete this work at all, and the auxiliary of people can not grasp certain conditioning dynamics, be easy to cause two
Secondary injury, or even intensify doctor-patient relationship.
Therefore in order to solve to lack intelligent auxiliary on rehabilitation exercise for the patient of knee joint severe injury all the time
Device or device portability difference or the problems such as inaccurate coordination or angle bad adaptability, it is desirable to provide one kind is convenient for carrying and makes
, be able to carry out mechanical motion, and adjustable intelligent knee joint rehabilitation equipment, reach can due to people preferably, because of disease
The effect of Shi Ce helps patient to be detached from slight illness early, realizes rehabilitation.
Summary of the invention
The present invention in order to solve the above technical problems, provide a kind of portable knee-joint rehabilitation training auxiliary device, including
Cabinet, transmission device, runner device and controller, transmission device and runner device are located in cabinet, there is interlocking on runner device
Foot pedal, foot pedal are connected with transmission device, and controller is connected by controlling route with transmission device.
The cabinet includes the first cabinet and the second cabinet, and the first cabinet is hinged by folding with the second cabinet, and first
It is equipped with the first transmission device and the first runner device in cabinet, the second transmission device is equipped in the second cabinet and the second slideway fills
It sets, foot pedal, the foot pedal lower retractable on the first runner device is respectively equipped on the first runner device and the second runner device
Bar is rabbeted in the first runner device, and is connected by being driven optical axis with the first transmission device；It is foot-operated on second runner device
Plate lower retractable bar is rabbeted in the second runner device, and is connected by being driven optical axis with the second transmission device.
The foot pedal lower part two sides are equipped with support leg, and support leg lower end is pivotally connected idler wheel or bearing；Foot supported on both sides it
Between be pivotally connected pedal rod, pedal rod is connected by bulb hinged with lower retractable bar.
First transmission device includes the first stepper motor, first ball screw sub-screw, first ball screw pair
Nut, the first smooth shaft, first ball screw sub-screw is parallel with the first runner device, and one end is articulated in by bearing block
On one cabinet, the other end is connected by shaft coupling with the output shaft of the first stepper motor；First smooth shaft and first ball screw
Sub-screw is arranged in parallel, and both ends are fixed on the first cabinet；The screw thread borehole jack of first ball screw pair nut is located at the first ball
On lead screw sub-screw, smooth hole is set in the first smooth shaft；First stepper motor is connected by controlling route with controller.
Second transmission device includes second stepper motor, the second ball-screw sub-screw, the second ball screw assembly,
Nut, the second smooth shaft, third ball-screw sub-screw, third rolling ball screw pair screw nut, third smooth shaft, the second ball-screw
Sub-screw is vertical with the second runner device, and one end is articulated on the second cabinet by bearing block, the other end by shaft coupling with
The output shaft of second stepper motor is connected, and the second smooth shaft is arranged in parallel with the second ball-screw sub-screw, and both ends are fixed on the
On two cabinets；The screw thread borehole jack of second rolling ball screw pair screw nut is located on the second ball-screw sub-screw, and smooth hole is set in
In two smooth shafts；Third ball-screw sub-screw is parallel with the second runner device, and one end passes through plain bearing housing and is articulated in
On second rolling ball screw pair screw nut, the other end is articulated in other side plain bearing housing, two plain bearing housings respectively be located at second
Sliding slot on cabinet is slidably connected；Third smooth shaft is arranged in parallel with third ball-screw sub-screw, and two slidings are fixed at both ends
On bearing block；The screw thread borehole jack of third rolling ball screw pair screw nut is located on third ball-screw sub-screw, and smooth hole is set in
In three smooth shafts；Second stepper motor is connected by controlling route with controller.
First ball screw sub-screw is equipped with driving gear, is correspondingly provided with driven tooth on third ball-screw sub-screw
Wheel.
First runner device and the second runner device include cambered way, rectangle sliding slot and rectangular guideway, rectangle sliding slot
It is located among cambered way, rectangular guideway is located at cambered way side, and the rectangular guideway of the first runner device is located at close to transmission
The side of device, the rectangular guideway of the second runner device are through；The telescopic rod of foot pedal lower end is located in rectangle sliding slot, foot
Pedal is by support leg idler wheel or bearing support in cambered way upper surface；First ball screw pair nut is worn by being driven optical axis
The rectangular guideway for crossing the first runner device is connected with the foot pedal lower retractable bar of the first runner device；Second runner device lower part
Equipped with pulley, the second lower box is equipped with sliding rail, and the pulley of the second runner device lower part is connected in sliding rail；Second runner device
Foot pedal lower end telescopic rod be equipped with perforation through-hole, third rolling ball screw pair screw nut by transmission optical axis pass through the second slideway
Via clearance cooperation on the rectangular guideway and telescopic rod of device.
Second cabinet is equipped with clamping knob and pinching screw, and clamping knob lower end is equipped with eccentric grove, and pinching screw is horizontal
Setting, the screwing through hole that one end passes through on the second cabinet are connected to the second runner device, and the other end is connected to clamping knob lower end
Eccentric grove in, reset spring is arranged on pinching screw, the reset spring other end is connected to screwing through hole inner edge.
Controller is located on the first cabinet, and cabinet is equipped with power supply, and power supply is connected with controller and transmission device.
First cabinet is equipped with handle, and lock is equipped between the first cabinet and the second cabinet.
The working principle of the invention:
The first cabinet and the second cabinet are unfolded first, are placed on suitable position；
If one knee of patient needs rehabilitation, patient is seated on the seat, and the foot of knee rehabilitation will be needed to step down in first
On the foot pedal of runner device, revolving speed needed for the first stepper motor exports is controlled by controller, the first stepper motor passes through connection
Axis device drives the rotation of first ball screw sub-screw, converts rotary motion to the linear motion of first ball screw pair nut,
It drives the telescopic rod of foot pedal to move in rectangle sliding slot by the rectangular guideway that transmission optical axis passes through the first runner device, rides
Plate is slided in cambered way by the idler wheel or bearing of support leg lower end, since cambered way surface is that intermediate low both ends are high
Arc, therefore foot pedal adapts to the height change of cambered way by telescopic rod；And at the top of telescopic rod by bulb hinged with
Pedal rod is connected, and pedal rod both ends and support leg are also that hingedly, dual linkwork guarantees that angle becomes when foot pedal operation
The flexibility of change and fluency；When foot pedal runs to cambered way end, controller controls the first stepping motor reversal, band
Dynamic foot pedal counter motion, and so on.
If two knees of patient require rehabilitation, patient is seated on the seat, and two feet are stepped down in two respectively and are ridden
On plate, situation is stretched by pulling the second runner device to adjust its, to adjust the distance between two foot pedals to suitable width,
Then it screws clamping knob pinching screw is made to hold out against the second runner device and be fixed；Second stepper motor is controlled by controller
Starting, second stepper motor drive the second ball-screw sub-screw to rotate, convert the second rolling for rotary motion by shaft coupling
The linear motion of ballscrew pair nut, the second rolling ball screw pair screw nut is mobile to the first cabinet direction, drives third ball-screw
Sub-screw and third smooth shaft are mobile to the first cabinet direction by plain bearing housing, until on third ball-screw sub-screw
Driven gear and the driving gear on first ball screw sub-screw are at a fully engaged rear out of service；Pass through controller control first
Revolving speed needed for stepper motor exports, the first stepper motor drive first ball screw sub-screw to rotate by shaft coupling, by actively
Gear and driven gear drive third ball-screw sub-screw to rotate simultaneously, pass through first ball screw pair nut and third respectively
The transmission optical axis of rolling ball screw pair screw nut drives two foot pedals to slide in respective cambered way, when foot pedal runs to arc
When shape slideway end, controller controls the first stepping motor reversal, drives two foot pedal counter motions, and so on.
Beneficial effects of the present invention:
The present invention is small in size, foldable, portable, can be applied to a variety of medical environments, can be used at any time；Structure is simple,
It is easy to operate, and failure rate is low, can adapt to the patient of a variety of statures and different extents.Patient is helped to complete knee joint
The rehabilitation training of limb action is realized the purpose of help the disabled walking, rehabilitation, can be changed according to patient's needs by controller
The distance between two foot pedals of movement velocity and change of foot pedal, allow patient's two legs when doing rehabilitation exercise that can be in most easypro
Suitable position effectively controls the rehabilitation training intensity of knee joint patient；Two foot pedal concertednesses are more preferable, and operation is more smooth, ride
Plate can change multiple angles, keep rehabilitation training more comfortable, mitigate the pain of knee joint patient, reduce recovery period, mitigate nursing
The labor intensity of personnel provides new thinking and direction for the exploration and development in medical rehabilitation instrument field.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is the second runner device unstretched condition overlooking structure diagram of the invention；
Fig. 3 is the second runner device extended state overlooking structure diagram of the invention；
Fig. 4 is the lateral schematic cross-sectional view of the present invention；
Fig. 5 is the second runner device longitudinal direction schematic cross-sectional view of the invention；
Fig. 6 is clamping knob of the present invention and pinching screw structural schematic diagram；
Fig. 7 is pedal plate structure schematic diagram of the present invention；
Fig. 8 is the telescopic rod schematic cross-sectional view of the second runner device foot pedal of the invention；
Fig. 9 is buckling state overlooking structure diagram of the present invention；
Figure 10 is buckling state positive structure diagram of the present invention；
Figure 11 is buckling state side structure schematic view of the present invention；
1, the first cabinet 2, the second cabinet 3, the first runner device 4, the second runner device
5, foot pedal 6, support leg 7, idler wheel 8, pedal rod 9, bulb hinged
10, telescopic rod 11, the first stepper motor 12, first ball screw sub-screw
13, first ball screw pair nut 14, the first smooth shaft 15, shaft coupling 16, controller
17, second stepper motor 18, the second ball-screw sub-screw 19, the second rolling ball screw pair screw nut
20, the second smooth shaft 21, third ball-screw sub-screw 22, third rolling ball screw pair screw nut
23, third smooth shaft 24, plain bearing housing 25, driving gear 26, driven gear
27, cambered way 28, rectangle sliding slot 29, rectangular guideway 30, transmission optical axis 31, pulley
32, sliding rail 33, clamping knob 34, pinching screw 35, eccentric grove 36, power supply
37, handle 38, sliding slot.
Specific embodiment
It please refers to shown in Fig. 1-11:
A kind of portable knee-joint rehabilitation training auxiliary device provided by the invention, including cabinet, transmission device, slideway dress
It sets and is located in cabinet with controller 16, transmission device and runner device, interlocking has foot pedal 5, foot pedal 5 and biography on runner device
Dynamic device is connected, and controller 16 is connected by controlling route with transmission device.
The cabinet includes the first cabinet 1 and the second cabinet 2, and the first cabinet 1 is hinged by folding with the second cabinet 2,
It is equipped with the first transmission device, the first runner device 3 and controller 16 in first cabinet 1, the second transmission dress is equipped in the second cabinet 2
Set with the second runner device 4, interlocking has foot pedal 5, the first slideway dress respectively on the first runner device 3 and the second runner device 4
The foot pedal 5 set on 3 is connected with the first transmission device；Foot pedal 5 on second runner device 4 is connected with the second transmission device.
The 5 lower part two sides of foot pedal are equipped with support leg 6, and 6 lower end of support leg is pivotally connected idler wheel 7；Between foot 6 supported on both sides
It is pivotally connected pedal rod 8, pedal rod 8 is threadedly coupled by bulb hinged 9 with lower retractable bar 10.
First transmission device includes the first stepper motor 11, first ball screw sub-screw 12, the first ball wire
Thick stick pair nut 13, the first smooth shaft 14, first ball screw sub-screw 12 is parallel with the first runner device 3, and one end passes through axis
It holds seat to be articulated on the first cabinet 1, the other end is connected by shaft coupling 15 with the output shaft of the first stepper motor 11；First is smooth
Bar 14 is arranged in parallel with first ball screw sub-screw 12, and both ends are fixed on the first cabinet 1；First ball screw pair nut 13
Screw thread borehole jack be located on first ball screw sub-screw 12, smooth hole is set in the first smooth shaft 14；First stepper motor
11 are connected by controlling route with controller 16.
Second transmission device includes second stepper motor 17, the second ball-screw sub-screw 18, the second ball wire
Thick stick pair nut 19, the second smooth shaft 20, third ball-screw sub-screw 21, third rolling ball screw pair screw nut 22, third smooth shaft
23, the second ball-screw sub-screw 18 is vertical with the second runner device 4, and one end is articulated on the second cabinet 2 by bearing block,
The other end is connected by shaft coupling 15 with the output shaft of second stepper motor 17, the second smooth shaft 20 and the second ball screw assembly, spiral shell
Bar 18 is arranged in parallel, and both ends are fixed on the second cabinet 2；The screw thread borehole jack of second rolling ball screw pair screw nut 19 is located at the second ball
On lead screw sub-screw 18, smooth hole is set in the second smooth shaft 20；Third ball-screw sub-screw 21 and the second runner device 4
In parallel, one end passes through plain bearing housing 24 and is articulated on the second rolling ball screw pair screw nut 19, and the other end is articulated in the other side
On plain bearing housing 24, two plain bearing housings 24 are slidably connected with the sliding slot 38 being located on the second cabinet 2 respectively；Third smooth shaft
23 are arranged in parallel with third ball-screw sub-screw 21, and both ends are fixed on two plain bearing housings 24, the second ball screw assembly, spiral shell
Mother 19 can drive third ball-screw sub-screw 21 and third smooth shaft 23 to move back and forth along the second ball-screw sub-screw 18；The
The screw thread borehole jack of three rolling ball screw pair screw nuts 22 is located on third ball-screw sub-screw 21, and smooth hole is set in third smooth shaft
On 23；Second stepper motor 17 is connected by controlling route with controller 16.
First ball screw sub-screw 12 is equipped with driving gear 25, be correspondingly provided on third ball-screw sub-screw 21 from
Moving gear 26；Third ball-screw sub-screw 21 can make driven gear 26 and driving tooth close to first ball screw sub-screw 12
25 engagement of wheel, makes driven gear 26 be detached from driving gear 25 away from first ball screw sub-screw 12.
First runner device 3 and the second runner device 4 include cambered way 27, rectangle sliding slot 28 and rectangular guideway 29,
Rectangle sliding slot 28 is located among cambered way 27, and rectangular guideway 29 is located at 27 side of cambered way, the rectangle of the first runner device 3
Guide rail 29 is located at the side close to transmission device, the rectangular guideway 29 of the second runner device 4 be it is through, rectangular guideway 29 plays
Guiding role；The telescopic rod 10 of 5 lower end of foot pedal is located in rectangle sliding slot 28, and foot pedal 5 is supported on by 6 idler wheel 7 of support leg
27 upper surface of cambered way；First ball screw pair nut 13 is led by the rectangle that transmission optical axis 30 passes through the first runner device 3
Rail 29 is connected with the 5 lower retractable bar 10 of foot pedal of the first runner device 3；Second runner device, 4 lower part be equipped with pulley 31, second
2 lower part of cabinet is equipped with sliding rail 32, and the pulley 31 of 4 lower part of the second runner device is connected in sliding rail 32；The foot of second runner device 4
The telescopic rod 10 of 5 lower end of pedal is equipped with the through-hole of perforation, and third rolling ball screw pair screw nut 22 passes through second by transmission optical axis 30
The rectangular guideway 29 of runner device 4 and the via clearance on telescopic rod 10 cooperate, when the second runner device 4 is slided along sliding rail 32,
Telescopic rod 10 thereon can be slided along transmission optical axis 30.
Second cabinet 2 is equipped with clamping knob 33 and pinching screw 34, and 33 lower end of clamping knob is equipped with eccentric grove 35, clamps
Screw 34 is horizontally disposed, and the screwing through hole that one end passes through on the second cabinet 2 is connected to the second runner device 4, and the other end is connected to
In the eccentric grove 35 of 33 lower end of clamping knob, reset spring is arranged on pinching screw 34, the reset spring other end is connected to spiral shell
Follow closely through-hole inner edge.When not holding out against, pinching screw one end is located in the eccentric grove 35 of clamping knob 33, and the other end and the second slideway fill
4 are set without friction, the second runner device 4 can move freely；Clamping knob 33 is rotated, pushes pinching screw 34 to the second runner device
4 movements, withstanding the second runner device 4 prevents it from moving freely, and reaches the state of holding out against.When reversely rotating clamping knob 33,
Pinching screw 34 is under the action of reset spring to, pressure disappearance mobile far from 4 direction of the second runner device, the second slideway dress
It is again freely slidable to set 4.
First cabinet 1 is equipped with power supply 36, the step of power supply 36 and controller 16, the first transmission device and the second transmission device
It is connected into motor, electric energy is provided.
First cabinet 1 is equipped with handle 37, and lock, the first cabinet 1 and the are equipped between the first cabinet 1 and the second cabinet 2
Two cabinets 2 are locked after fastening by lock.
The controller 16 is existing equipment, including control panel, processor, motor driver etc., and control panel is equipped with
Adjusting knob or Trackpad, for controlling stepper motor output speed, processor is single-chip microcontroller, control panel and motor driver point
It is not connected with processor, specific structure does not repeat herein.
The working principle of the invention:
The first cabinet 1 and the second cabinet 2 are unfolded first, are placed on suitable position；
If one knee of patient needs rehabilitation, patient is seated on the seat, and the foot of knee rehabilitation will be needed to step down in first
On the foot pedal 5 of runner device 3, the first stepper motor 11 is controlled by controller 16 and exports required revolving speed, the first stepper motor
11 drive first ball screw sub-screw 12 to rotate by shaft coupling 15, convert first ball screw pair nut for rotary motion
13 linear motion drives the telescopic rod 10 of foot pedal 5 by the rectangular guideway 29 that transmission optical axis 30 passes through the first runner device 3
It is moved in rectangle sliding slot 28, foot pedal 5 is slided in cambered way 27 by the idler wheel 7 of 6 lower end of support leg, since arc is sliding
27 surface of road is the high arc in intermediate low both ends, therefore foot pedal 5 adapts to the height change of cambered way 27 by telescopic rod 10；
And be connected with pedal rod 8 at the top of telescopic rod 10 by bulb hinged 9,8 both ends of pedal rod and support leg 6 and hingedly,
Dual linkwork guarantees the flexibility of angle change and fluency when foot pedal 5 is run；When foot pedal 5 runs to cambered way
When 27 end, controller 16 controls the reversion of the first stepper motor 11, drives 5 counter motion of foot pedal, and so on.
If two knees of patient require rehabilitation, patient is seated on the seat, and two feet are stepped down in two respectively and are ridden
On plate 5, by pulling the adjustment of the second runner device 4, it stretches situation, to adjust the distance between two foot pedals 5 to suitable width
Degree, then screws clamping knob 33 pinching screw 34 is made to hold out against the second runner device 4 and be fixed；Pass through the control of controller 16 the
Two stepping motor 17 starts, and second stepper motor 17 drives the rotation of the second ball-screw sub-screw 18 by shaft coupling 15, will revolve
Transhipment turn turns to the linear motion of the second rolling ball screw pair screw nut 19, and the second rolling ball screw pair screw nut 19 is to 1 side of the first cabinet
To movement, third ball-screw sub-screw 21 and third smooth shaft 23 is driven to pass through plain bearing housing 24 to 1 direction of the first cabinet
Mobile, on the driven gear 26 and first ball screw sub-screw 12 on third ball-screw sub-screw 21 driving gear
25 is at a fully engaged rear out of service；The first stepper motor 11, which is controlled, by controller 16 exports required revolving speed, the first stepper motor
11 drive first ball screw sub-screw 12 to rotate by shaft coupling 15, drive third rolling by driving gear 25 and driven gear 26
Ballscrew sub-screw 21 rotates simultaneously, passes through the biography of first ball screw pair nut 13 and third rolling ball screw pair screw nut 22 respectively
Dynamic optical axis 30 drives two foot pedals 5 to slide in respective cambered way 27, when foot pedal 5 runs to 27 end of cambered way
When, controller 16 controls the reversion of the first stepper motor 11, drives two 5 counter motions of foot pedal, and so on.
After use, the starting reversion of second stepper motor 17 is controlled by controller 16, passes sequentially through the second ball wire
Thick stick sub-screw 18, the second rolling ball screw pair screw nut 19 drive third ball-screw sub-screw 21 and third smooth shaft 23 to pass through sliding
Bearing block 24 is to mobile far from 1 direction of the first cabinet, until the driven gear 26 on third ball-screw sub-screw 21 is detached from the
It is out of service after driving gear 25 on one ball-screw sub-screw 12, the first cabinet 1 and the second cabinet 2 are fastened.When second
When transmission device 4 shrinks back initial position, in order to guarantee that it is enough that third rolling ball screw pair screw nut 22 and third smooth shaft 23 have
Space contraction opens up fluted, 22 He of third rolling ball screw pair screw nut close to 23 side of third smooth shaft in the second transmission device 4
Third smooth shaft 23 can be retracted in groove.
Claims (10)
1. a kind of portable knee-joint rehabilitation training auxiliary device, it is characterised in that: including cabinet, transmission device, runner device
And controller, transmission device and runner device are located in cabinet, runner device is equipped with foot pedal, and the pivot joint of foot pedal lower end is flexible
Bar, telescopic rod are rabbeted in runner device, and telescopic rod is connected by being driven optical axis with transmission device, and controller passes through control route
It is connected with transmission device.
2. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 1, it is characterised in that: the case
Body includes the first cabinet and the second cabinet, and the first cabinet is hinged by folding with the second cabinet, and first is equipped in the first cabinet and is passed
Dynamic device and the first runner device, are equipped with the second transmission device and the second runner device in the second cabinet, the first runner device and
Foot pedal is respectively equipped on second runner device, the foot pedal lower retractable bar interlocking on the first runner device is filled in the first slideway
In setting, and it is connected by being driven optical axis with the first transmission device；Foot pedal lower retractable bar interlocking on second runner device exists
In second runner device, and it is connected by being driven optical axis with the second transmission device.
3. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 2, it is characterised in that: the foot
Pedal lower part two sides are equipped with support leg, and support leg lower end is pivotally connected idler wheel or bearing；It is pivotally connected pedal rod between foot supported on both sides, is stepped on
Plate connecting rod is connected by bulb hinged with lower retractable bar.
4. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 2, it is characterised in that: described
One transmission device includes the first stepper motor, first ball screw sub-screw, first ball screw pair nut, the first smooth shaft,
First ball screw sub-screw is parallel with the first runner device, and one end is articulated on the first cabinet by bearing block, the other end
It is connected by shaft coupling with the output shaft of the first stepper motor；First smooth shaft is arranged in parallel with first ball screw sub-screw,
Both ends are fixed on the first cabinet；The screw thread borehole jack of first ball screw pair nut is located on first ball screw sub-screw, light
Slide opening is set in the first smooth shaft；First stepper motor is connected by controlling route with controller.
5. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 2 or 4, it is characterised in that: described
The second transmission device include second stepper motor, it is the second ball-screw sub-screw, the second rolling ball screw pair screw nut, second smooth
Bar, third ball-screw sub-screw, third rolling ball screw pair screw nut, third smooth shaft, the second ball-screw sub-screw and second
Runner device is vertical, and one end is articulated on the second cabinet by bearing block, and the other end passes through shaft coupling and second stepper motor
Output shaft be connected, the second smooth shaft is arranged in parallel with the second ball-screw sub-screw, and both ends are fixed on the second cabinet；Second
The screw thread borehole jack of rolling ball screw pair screw nut is located on the second ball-screw sub-screw, and smooth hole is set in the second smooth shaft；The
Three ball-screw sub-screws are parallel with the second runner device, and one end passes through plain bearing housing and is articulated in the second ball screw assembly,
On nut, the other end is articulated in other side plain bearing housing, and two plain bearing housings are slided with the sliding slot being located on the second cabinet respectively
Dynamic connection；Third smooth shaft is arranged in parallel with third ball-screw sub-screw, and both ends are fixed on two plain bearing housings；Third rolling
The screw thread borehole jack of ballscrew pair nut is located on third ball-screw sub-screw, and smooth hole is set in third smooth shaft；Second
Stepper motor is connected by controlling route with controller.
6. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 5, it is characterised in that: the first ball
Lead screw sub-screw is equipped with driving gear, is correspondingly provided with driven gear on third ball-screw slave connecting rod.
7. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 3, it is characterised in that: the first slideway
Device and the second runner device include cambered way, rectangle sliding slot and rectangular guideway, and rectangle sliding slot is located among cambered way,
Rectangular guideway is located at cambered way side；The telescopic rod of foot pedal lower end is located in rectangle sliding slot, and foot pedal is rolled by support leg
Wheel or bearing support are in cambered way upper surface；The first ball screw pair nut of first transmission device is passed through by being driven optical axis
The rectangular guideway of first runner device is connected with the foot pedal lower retractable bar of the first runner device；Second runner device lower part is set
There is pulley, the second lower box is equipped with sliding rail, and the pulley of the second runner device lower part is connected in sliding rail；Second runner device
The telescopic rod of foot pedal lower end is equipped with the through-hole of perforation, and the third rolling ball screw pair screw nut of the second transmission device passes through transmission optical axis
Via clearance cooperation on the rectangular guideway and telescopic rod of the second runner device.
8. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 7, it is characterised in that: the second cabinet
It is equipped with clamping knob and pinching screw, clamping knob lower end is equipped with eccentric grove, and pinching screw is horizontally disposed, and one end passes through second
Screwing through hole on cabinet is connected to the second runner device, and the other end is connected in the eccentric grove of clamping knob lower end, clamps spiral shell
It nails on and is arranged with reset spring, the reset spring other end is connected to screwing through hole inner edge.
9. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 1, it is characterised in that: controller is set
On the first cabinet, power supply is additionally provided on the first cabinet, power supply is connected with controller and transmission device.
10. a kind of portable knee-joint rehabilitation training auxiliary device according to claim 2, it is characterised in that: the first case
Body is equipped with handle, and lock is equipped between the first cabinet and the second cabinet.
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