阅读说明：本技术 一种膝关节自适应康复装置 (Knee joint self-adaptation rehabilitation device ) 是由 石志新 钟童童 叶梅燕 谢冬福 谢金发 于 2020-02-25 设计创作，主要内容包括：本发明公开了一种膝关节自适应康复装置。包括可移动轴,所述可移动轴两端分别与机架构成移动副一、移动副二,曲柄一端通过转动副一与可移动轴转动连接,曲柄另一端通过转动副二与滑块一转动连接,滑块一与摆杆通过移动副三滑动连接,摆杆与机架通过转动副三转动连接,连杆一端由转动副四与摆杆转动连接,连杆另一端由转动副五与滑块二滑动连接,滑块二通过移动副四与机架滑动连接,气缸一端与滑块二滑动连接,气缸另一端与机架固定连接。本发明可根据膝关节病患程度和康复训练阶段来调节训练角度和阻尼力,具有自适应强、使用方便、运动平稳等优点。(The invention discloses a knee joint self-adaptive rehabilitation device. The crank is connected with the movable shaft in a rotating mode through a first revolute pair, the other end of the crank is connected with a first sliding block through a second revolute pair in a rotating mode, the first sliding block is connected with the oscillating bar through a third revolute pair in a sliding mode, the oscillating bar is connected with the rack in a rotating mode through a third revolute pair, one end of a connecting rod is connected with the oscillating bar in a rotating mode through a fourth revolute pair, the other end of the connecting rod is connected with the second sliding block through a fifth revolute pair in a sliding mode, the second sliding block is connected with the rack in a sliding mode through a fourth revolute pair, one end of an air cylinder is connected with the second sliding block in a sliding mode. The invention can adjust the training angle and the damping force according to the knee joint disease degree and the rehabilitation training stage, and has the advantages of strong self-adaption, convenient use, stable movement and the like.)

1. The utility model provides a knee joint self-adaptation rehabilitation device, by movable axle (1), crank (2), slider (3), pendulum rod (4), torsional spring (5), connecting rod (6), slider two (7), frame (8), cylinder (9) and four remove vice and five revolute pairs and constitute its characterized in that: the two ends of the movable shaft (1) are respectively connected with the rack (8) to form a first movable pair (P1) and a second movable pair (P2), a first rotating pair (R1) is arranged in the middle of the movable shaft (1), the movable shaft (1) is rotatably connected with one end of the crank (2) through the first rotating pair (R1), the other end of the crank (2) is rotatably connected with the first slider (3) through the second rotating pair (R2), the first slider (3) and the swing rod (4) are slidably connected with the third movable pair (P3), the swing rod (4) is rotatably connected with the rack (8) through the third rotating pair (R3), one end, far away from the first slider (3), of the swing rod (4) is rotatably connected with one end of the connecting rod (6) through the fourth rotating pair (R4), the other end of the connecting rod (6) is rotatably connected with the second slider (7) through the fifth rotating pair (R5), and the second slider (7) is slidably connected with the rack (8) through the fourth movable pair (P4), one end, far away from the rack (8), of the second sliding block (7) is connected with the inner wall of the air cylinder (9) in a sliding mode, and the air cylinder (9) is fixedly connected with the rack (8).

2. The adaptive knee joint rehabilitation device according to claim 1, wherein: the movable shaft (1) can move up and down along the axial direction, and the stepless adjustment of the training angle is realized.

3. The adaptive knee joint rehabilitation device according to claim 1, wherein: the lengths of the swing rod (4) and the connecting rod (6) can be adjusted.

4. The adaptive knee joint rehabilitation device according to claim 1, wherein: the connecting part of the oscillating bar (4) and the connecting rod (6) is provided with a torsion spring (5), and the arm angle of the torsion spring (5) is 180 degrees.

5. The adaptive knee joint rehabilitation device according to claim 1, wherein: the moving direction of the piston in the air cylinder (9) is parallel to the moving direction of the second sliding block (7), and the air inflow of the air cylinder (9) can be adjusted to change the damping force required by training, so that the movement is stable.

Technical Field

The invention relates to the technical field of medical machinery, in particular to a medical auxiliary rehabilitation instrument, and more particularly relates to a knee joint self-adaptive rehabilitation device.

Background

With the continuous development and progress of society, the aging trend is more serious day by day, and the common disease species of the middle-aged and the elderly bone joints comprise gout, rheumatoid arthritis, scapulohumeral periarthritis, gonarthritis and other diseases. Secondly, as people participate in outdoor activities and more strenuous sporting events, people are inevitable about some accidents in the events. According to the statistical result of the sports injury, the highest proportion of the injured parts of the human body is the joint injury, and the proportion of the knee joint injury is high in leaderboard, so that the research on the knee joint rehabilitation instrument has great significance. The knee joint rehabilitation training device can be used for performing knee joint rehabilitation training on people after knee joint injury or old people taking exercises of the knee joint at ordinary times by means of the passive knee joint rehabilitation device. Particularly, the knee joint of a patient after operation may have the problems of tissue adhesion and the like, and the recovery of the knee joint is more difficult due to the contracture of muscles, and under the condition, the design and the manufacture of the knee joint recovery instrument are particularly important. Under the condition that the labor cost of the modern society is higher and higher, the medical instrument which can accord with the knee joint rehabilitation brings good news to the whole society.

The adjustment of the training angle of the existing knee joint rehabilitation device is adjusted by controlling a driver, and if the driver fails, secondary injury of the knee joint is caused, so that the injury of the knee joint is aggravated. Therefore, it is desirable to design an adaptive knee rehabilitation device to solve the above problems.

Disclosure of Invention

Technical problem to be solved

The invention aims to provide an instrument for rehabilitation training of patients with knee joint injury. The rehabilitation training device can adjust the damping force required by training in real time according to the training plan of the medical advice. Along with the progress of the rehabilitation stage, the maximum value of the knee joint flexion and extension angle training is gradually increased, thereby achieving the aim of rehabilitation.

(II) technical scheme

In order to solve the technical problems, the invention is realized by the following technical scheme: a self-adaptive knee joint rehabilitation device comprises a movable shaft, a crank, a first sliding block, a swing rod, a torsional spring, a connecting rod, a second sliding block, a rack, a cylinder, a first sliding pair, a second sliding pair and five rotating pairs, wherein two ends of the movable shaft respectively form the first sliding pair and the second sliding pair with the rack, the middle part of the movable shaft is provided with the first rotating pair, the movable shaft is rotatably connected with one end of the crank through the first rotating pair, the other end of the crank is rotatably connected with the first sliding block through the second rotating pair, the first sliding block and the swing rod are slidably connected through the third sliding pair, the swing rod is rotatably connected with one end of the connecting rod through the fourth rotating pair, the other end of the connecting rod is rotatably connected with the second sliding block through the fifth rotating pair, the second sliding block is slidably connected with the rack through the fourth sliding pair, and one end of the second sliding block, far away from the rack, the cylinder is fixedly connected with the frame.

In this embodiment: the movable shaft can move up and down along the axial direction, and the stepless adjustment of the training angle is realized.

In this embodiment: the lengths of the swing rod and the connecting rod can be adjusted.

In this embodiment: the connecting part of the oscillating bar and the connecting rod is provided with a torsional spring, and the arm angle of the torsional spring is 180 degrees.

In this embodiment: the moving direction of the piston in the cylinder is parallel to the moving direction of the second sliding block, and the air inflow of the cylinder can be adjusted to change the damping force required by training, so that the motion is stable.

Compared with the prior art, the invention has the following beneficial effects:

(1) the device has simple structure and convenient control, and realizes the function of stepless adjustment of the training angle through the up-and-down movement of the movable shaft;

(2) due to the adoption of the serial combined mechanism, the movement is more stable than that of a single crank-slider mechanism device, and the damage to the knee joint is effectively relieved;

(3) the range of the knee joint training angle can be adjusted according to the patient degree and the training plan of the medical advice, and the maximum value of the knee joint flexion and extension angle training is gradually increased along with the progress of the rehabilitation stage, so that the aim of rehabilitation is fulfilled;

(4) the output force of the cylinder can be adjusted by adjusting the air input quantity of the cylinder according to the patient degree of the patient and the training plan of the medical advice, so that the required damping force is provided for the movement of the sliding block II, and the damping force required by training is adjusted in real time.

Drawings

Fig. 1 shows the initial state of the movement of the mechanism of the present invention.

FIG. 2 shows the maximum value of the flexion-extension angle a of the knee joint of the mechanism of the invention₁The motion state of the time.

FIG. 3 shows the maximum value of the flexion-extension angle a of the knee joint of the mechanism of the present invention₂The motion state of the time.

Reference numerals: the device comprises a movable shaft 1, a crank 2, a first slider 3, a swing rod 4, a torsion spring 5, a connecting rod 6, a second slider 7, a rack 8, a cylinder 9, a first revolute pair R1, a second revolute pair R2, a third revolute pair R3, a fourth revolute pair R4, a fifth revolute pair R5, a first revolute pair P1, a second revolute pair P2, a third revolute pair P3 and a fourth revolute pair P4.

Detailed Description

The following detailed description of the present invention is given for the purpose of better understanding technical solutions of the present invention by those skilled in the art, and the present description is only exemplary and explanatory and should not be construed as limiting the scope of the present invention in any way.

As shown in figure 1, the self-adaptive knee joint rehabilitation device comprises a movable shaft 1, a crank 2, a first slider 3, a swing rod 4, a torsion spring 5, a connecting rod 6, a second slider 7, a rack 8, a cylinder 9, four moving pairs and five rotating pairs, wherein two ends of the movable shaft 1 respectively form a first moving pair P1 and a second moving pair P2 with the rack 8, the movable shaft 1 can move up and down under the guiding action of the first moving pair P1 and the second moving pair P2, the middle part of the movable shaft 1 is provided with a first rotating pair R1, the movable shaft 1 is rotatably connected with one end of the crank 2 through a first rotating pair R1, the other end of the crank 2 is rotatably connected with the first slider 3 through a second rotating pair R2, the first slider 3 is slidably connected with the swing rod 4 through a third moving pair P3, the swing rod 4 is rotatably connected with the rack 8 through a third rotating pair R3, the crank 2, the first slider 3 and the swing rod 4 form a swing guide rod, one end of the swing rod 4, far away from the first sliding block 3, is rotatably connected with one end of the connecting rod 6 through a revolute pair four R4, a patient with knee joint can tie legs and thighs of lower limbs on the swing rod 4 through a flexible piece, the shanks are tied on the swing rod 6 through a flexible piece, the bending and stretching angles of the knee joint are equivalent to the rotating angles of the connecting rod 6 and the swing rod 4 through a revolute pair four R4, the maximum value of the bending and stretching angles of the knee joint can be adjusted by adjusting the height of the movable shaft 1, the training plan of medical advice can be met, and the patient can gradually increase the maximum value of the bending and stretching angles. The other end of the connecting rod 6 is rotatably connected with the second slider 7 through a five-R5 revolute pair, the second slider 7 is slidably connected with the frame 8 through a four-P4 revolute pair, one end, far away from the frame 8, of the second slider 7 is slidably connected with the inner wall of the air cylinder 9, the air cylinder 9 is fixedly connected with the frame 8, the output force of the air cylinder 9 is adjusted through adjusting the air inflow of the air cylinder 9, the required damping force is provided for the movement of the second slider 7, and the required damping force for training is adjusted in real time according to a training plan of medical advice, namely the training intensity is adjusted.

In this embodiment: the movable shaft 1 can move up and down along the axial direction, and the stepless adjustment of the training angle is realized.

In this embodiment: the lengths of the swing rod 4 and the connecting rod 6 can be adjusted, the training requirements of different human body lower limb lengths can be met, and the comfort in the training process is improved.

In this embodiment: the connecting part of the oscillating bar 4 and the connecting rod 6 is provided with a torsion spring 5, the arm angle of the torsion spring 5 is 180 degrees, and the torsion spring 5 reduces the impact vibration of the knee joint, so that the movement is stable.

In this embodiment: the moving direction of the piston in the cylinder 9 is parallel to the moving direction of the second sliding block 7, and the air inflow of the cylinder 9 can be adjusted to change the damping force required by training, so that the motion is stable.

As shown in FIG. 2, the height H of the movable shaft 1 is set₁Then, fixing the first sliding pair P1 and the second sliding pair P2, driving the first rotating pair R1, and setting the maximum value of the relative rotating angle between the swing rod 4 and the connecting rod 6 as a₁That is, the maximum value of the flexion-extension angle of the knee joint is a₁。

As shown in FIG. 3, the height H of the movable shaft 1 is set₂When the swing rod 4 and the connecting rod 6 rotate relatively, the first moving pair P1 and the second moving pair P2 are fixed, the first rotating pair R1 is driven, and the maximum value a of the relative rotation angle of the swing rod 4 and the connecting rod 6 is fixed₂That is, the maximum value of the flexion-extension angle of the knee joint is a₂。

The working principle of the invention is as follows: the crank 2, the first slider 3 and the swing rod 4 form a swing guide rod mechanism, and the swing rod 4, the connecting rod 6 and the second slider 7 form a mechanism similar to a crank slider. In order to conveniently adjust the rehabilitation training angle as much as possible and reduce the change of the rod length as much as possible, when the movable shaft 1 moves to a certain height, the output force of the air cylinder 9 is adjusted in an initial state to provide the required damping force for the movement of the second sliding block 7, one end of the oscillating rod 4 is collinear with the connecting rod 6, the other end of the oscillating rod 4 is in a vertical state, and the combined action of the torsion spring 5 and the air cylinder 9 is added at the joint of the oscillating rod 4 and the connecting rod 6 to enable the movement to be stable. Adjust the length of pendulum rod 4 and connecting rod 6 according to different human low limbs length, tie up human low limbs thigh on pendulum rod 4 through the flexible piece, the shank is tied up on pendulum rod 6 through the flexible piece, knee joint flexion and extension angle equivalence is four pivoted angles of connecting rod 6 and pendulum rod 4 revolute pair this moment, through adjusting the height of movable shaft 1 and then adjust knee joint flexion and extension angle maximum value, initial condition is that human low limbs are in the state of straightening during the in-service use, according to the training plan of doctor's advice, the required damping force of real-time adjustment training, along with going on gradually in the rehabilitation stage, increase knee joint flexion and extension angle training maximum value gradually, thereby reach recovered purpose.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.