CN111067764A - Walking aid training device for patients with spinal injuries - Google Patents
Walking aid training device for patients with spinal injuries Download PDFInfo
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- CN111067764A CN111067764A CN201911276154.2A CN201911276154A CN111067764A CN 111067764 A CN111067764 A CN 111067764A CN 201911276154 A CN201911276154 A CN 201911276154A CN 111067764 A CN111067764 A CN 111067764A
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- 208000020339 Spinal injury Diseases 0.000 title claims abstract description 30
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 38
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 206010069689 Spinal column injury Diseases 0.000 claims abstract description 3
- 230000033001 locomotion Effects 0.000 claims description 39
- 210000003423 ankle Anatomy 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 230000006378 damage Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 230000000737 periodic effect Effects 0.000 claims description 4
- 208000027418 Wounds and injury Diseases 0.000 claims description 3
- 208000014674 injury Diseases 0.000 claims description 3
- 230000005540 biological transmission Effects 0.000 claims description 2
- 230000005021 gait Effects 0.000 abstract description 10
- 238000009434 installation Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 12
- 210000003141 lower extremity Anatomy 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 11
- 229910001220 stainless steel Inorganic materials 0.000 description 9
- 239000010935 stainless steel Substances 0.000 description 9
- 210000002683 foot Anatomy 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 230000003028 elevating effect Effects 0.000 description 6
- 210000000544 articulatio talocruralis Anatomy 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
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- 206010033799 Paralysis Diseases 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000002146 bilateral effect Effects 0.000 description 3
- 210000003205 muscle Anatomy 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
-
- 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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
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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
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- 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
- A61H2205/00—Devices for specific parts of the body
- A61H2205/10—Leg
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
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- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Rehabilitation Tools (AREA)
Abstract
The invention relates to a walking aid training device for patients with spinal column injury, which comprises a walking aid advancing frame, an upper limb supporting and lifting assembly, a horizontal driving assembly and a pedal assembly, wherein the upper limb supporting and lifting assembly is arranged on the walking aid advancing frame; the horizontal driving assembly is arranged on the walking aid advancing frame and comprises a front sliding block fixing block, a front sliding block fixing block driving piece, a rear sliding block fixing block and a rear sliding block fixing block driving piece, and the front sliding block fixing block driving piece and the rear sliding block fixing block driving piece respectively drive the front sliding block fixing block and the rear sliding block fixing block to horizontally displace; the pedal assembly is enabled to obtain walking type fluctuating displacement through the cooperative operation of the front sliding block fixing block and the rear sliding block fixing block. Compared with the prior art, the invention provides driving force for the patient with spinal injury, standardizes the gait of the patient, leads the patient to carry out the training of normal walking gait by the invention and assists the patient to walk normally.
Description
Technical Field
The invention relates to a medical instrument for a patient with spinal injury, in particular to a walking-assisting training device for the patient with spinal injury.
Background
Most patients with spinal injuries have healthy upper limbs and completely paralyzed lower limbs, the lower limbs cause limb muscular atrophy due to long-term lack of training, and rehabilitation training is usually given during the recovery period in order to prevent the muscular atrophy of the patients from being aggravated in the recovery process. The walking aid is a common training mode for assisting a patient with spinal injury to perform rehabilitation training in the recovery period. The walking aid can ensure the body balance of a user, reduce the bearing of the lower limbs, relieve pain and improve the gait through training.
At present, the first type of walking aid only plays a simple role in supporting the upper limbs of a patient at home and abroad, has no driving device, and needs to rely on the residual physical ability of the patient to independently exert force to walk, so that the gait of the patient is seriously distorted, the physical ability is greatly lost, and the walking aid is not suitable for most patients with spinal injuries and lower limb complete paralysis. The second type is some manual drive walking aids, which have the advantages that the walking aid can be controlled by the hand of a patient to move, but the walking aid cannot directly drive the legs, the muscle force of the legs cannot be exercised, and the gait of the patient cannot be trained regularly. The third type is a power type exoskeleton lower limb rehabilitation training device, and the exoskeleton type walking aid can effectively compensate the lower limb function of a patient and realize the standing and walking of the patient. However, the existing exoskeleton walking aid at home and abroad is restricted by driving force, and patients with lower limb complete paralysis need to stand with the help of medical care personnel. Therefore, the walking aid driven by the pedal plate with the motor-controlled lower limb is designed, the standing and gait training of the patient with spinal injury can be realized by means of sound upper limb support, the problems of gait distortion, the improvement of the range of motion and the like are solved, and the walking aid has great significance for the walking aid training of the patient with spinal injury.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a pedal-driven walking aid suitable for a spinal injury patient during rehabilitation training, which provides driving force for the spinal injury patient, regulates the gait of the patient, enables the patient to carry out normal walking gait training through the pedal-driven walking aid and assists the patient in walking normally.
The purpose of the invention can be realized by the following technical scheme:
the invention discloses a walking aid training device for patients with spinal injuries, which comprises a walking aid advancing frame, an upper limb supporting and lifting assembly, a horizontal driving assembly and a pedal assembly, wherein the walking aid training device specifically comprises:
the walking aid device advancing frame is a support of a walking aid training device for patients with spinal injuries, and can be horizontally displaced;
the upper limb supporting and lifting assembly is arranged on the walking aid advancing frame and used for supporting and fixing the upper limbs of the patient;
the horizontal driving assembly is arranged on the walking aid advancing frame and comprises a front sliding block fixing block, a front sliding block fixing block driving piece, a rear sliding block fixing block and a rear sliding block fixing block driving piece, and the front sliding block fixing block driving piece and the rear sliding block fixing block driving piece respectively drive the front sliding block fixing block and the rear sliding block fixing block to horizontally displace;
the front end of the pedal assembly is movably connected to the front sliding block fixing block through a connecting rod, the rear end of the pedal assembly is hinged to the rear sliding block fixing block, and the pedal assembly obtains walking type fluctuating displacement through the cooperative operation of the front sliding block fixing block and the rear sliding block fixing block.
Furthermore, the rear sliding block fixing block driving piece comprises a screw rod, a screw rod nut, a screw rod linear guide rail, a screw rod motor and a pedal sliding block; the output shaft of the screw rod motor is connected with the end part of the screw rod; the pedal sliding block is arranged on the screw rod linear guide rail and can horizontally slide along the screw rod linear guide rail; the screw rod nut is provided with an internal thread matched with the screw rod, and the screw rod nut is sleeved on the screw rod nut in a penetrating way; the rear sliding block fixing block is simultaneously connected with the screw rod nut and the pedal sliding block.
Furthermore, the driving piece of the front sliding block fixing block comprises a rack motor, a speed reducing motor, a rack, a speed reducing gear and a screw rod sliding block; the output shaft of the rack motor is connected with the input shaft of the speed reducing motor; the speed reducer gear is arranged on an output shaft of the speed reducing motor; the screw rod sliding block is arranged on the screw rod linear guide rail and can horizontally slide along the screw rod linear guide rail; the front sliding block fixing block is connected with the screw rod sliding block, and the rack is fixed on the sliding block fixing block; the teeth on the reducer gear are meshed with the teeth on the rack.
Furthermore, the walking aid training device for the patient with spinal injury also comprises a main control computer, wherein a microprocessor in the main control computer is electrically connected with the screw rod motor and the rack motor, and the microprocessor sends a start-stop instruction signal, a steering instruction signal and a rotating speed instruction signal to the screw rod motor and the rack motor; the microprocessor sends a pre-loaded instruction signal to the screw rod motor and the rack motor, the screw rod motor drives the screw rod to rotate, so that the screw rod nut drives the pedal sliding block to displace, and further the rear sliding block fixing block generates periodic reciprocating displacement motion; the rack motor decelerates the output torsional force through the speed reducing motor, then drives the speed reducer gear to rotate, and the speed reducer gear drives the rack to horizontally displace, so that the front sliding block fixing block generates periodic reciprocating displacement motion different from that of the rear sliding block fixing block.
Further, the pedal assembly comprises a motor mounting plate, a pedal mounting shaft, an upper pedal and a lower pedal; one end of the pedal mounting shaft is connected with the upper pedal and the lower pedal; the other end is connected to the motor mounting plate.
Furthermore, an ankle motor is arranged on the motor mounting plate; the output end of the ankle motor is provided with a bevel pinion; the motor mounting plate is also provided with a bevel gear bearing seat, and a bevel gear shaft penetrates through the bevel gear bearing seat; a large bevel gear is sleeved on the bevel gear shaft in a penetrating manner, and the small bevel gear is meshed with the large bevel gear; the bevel gear shaft is connected with the pedal mounting shaft, the ankle motor is electrically connected with the microprocessor, the microprocessor sends a start-stop instruction signal, a steering instruction signal and a rotating speed instruction signal to the ankle motor, the ankle motor transmits transmission torque to the pedal mounting shaft through the small bevel gear, the large bevel gear and the bevel gear shaft in sequence, and the inclination angles of the upper pedal and the lower pedal relative to the horizontal plane are adjusted in real time through the pedal mounting shaft.
Furthermore, one end of the pedal mounting shaft is connected with the bevel gear shaft, and the other end of the pedal mounting shaft is provided with a connecting part which comprises an upper end surface and a lower end surface;
the upper end face is provided with a fixed key, the upper pedal plate is provided with a groove matched with the fixed key, and the upper end face is connected with the upper pedal plate through the fixed key;
the lower end surface is connected with the lower pedal through a bolt.
Furthermore, the walking aid advancing frame comprises a mounting bottom plate, and front wheels and rear wheels are arranged below the mounting bottom plate; the front wheel is provided with a steering gear, and the rear wheel is connected with a rear wheel hub motor;
the steering gear and the hub motor of the rear wheel are electrically connected with the microprocessor. The rack motor, the screw rod motor and the screw rod linear guide rail are fixed on the mounting bottom plate; the mounting base plate is also vertically provided with a supporting beam, the supporting beam is provided with a supporting linear guide rail, the supporting linear guide rail is provided with a backrest, and the backrest can be adjusted in the vertical direction through the supporting linear guide rail.
Furthermore, the upper limb supporting and lifting assembly is arranged on the mounting bottom plate; the upper limb supporting and lifting assembly comprises a supporting bracket, a supporting electric cylinder is arranged below the supporting bracket, and the supporting electric cylinder is electrically connected with the microprocessor; the supporting bracket is provided with armrests and a wearable traction striding bandage, and the patient is fixed in the wearable traction striding bandage.
Further, the wearable traction striding bandage comprises a shaft fixing belt, striding trousers, a striding belt, a ring fixing belt, a bandage, a belt loop and a shaft fixing belt.
Furthermore, the walking aid walking frame which is symmetrical left and right comprises a backrest, a hub motor set, a bottom plate and the like. The traveling frame mounting bottom plate is provided with a front wheel fixing support, a side plate, a rear wheel hub motor, a hub motor bearing seat and a supporting beam; the upper end of the front wheel fixing bracket is provided with an internal thread hole which is connected with the front wheel fixing bracket through an external thread at the upper end of the front wheel; the side plates are fixedly arranged on the left side and the right side of the rear end of the mounting bottom plate, and a circular hole is formed in the lower portion of each side plate and used for being matched with the mounting of the hub motor; the rear wheel hub motor is arranged on a bearing seat of the hub motor, and the bearing seat is fixedly arranged on an installation bottom plate of the travelling frame; the outer side of the supporting beam is provided with a linear guide rail, and the guide rail is connected with a slide block of a movable saddle part in the upper limb supporting and lifting device.
Furthermore, the rear wheels of the walking aid traveling frame in bilateral symmetry are hub motors which are driving wheels of the traveling frame, the motion state of the whole traveling frame device can be controlled by changing the motion direction and speed of the traveling frame device, so that the advancing direction of the traveling frame can be changed according to the traveling requirements of patients in the rehabilitation training process, the hub motors of the rear wheels are matched with accessories such as hub motor bearings to complete the forward and backward movements and the like of the whole walking aid, and the patients can move in a certain range.
Furthermore, the backrest is arranged on the back side of the support beam and is connected with the two backrest pipes through a buckle. Because the patient can not exert force due to insufficient muscle strength of the lower limbs caused by spinal injury, the condition of losing balance and falling backwards can occur in the training process. The backrest is a protection device, and can ensure the safety of a patient in the movement process. Can effectively improve the sports safety. The upper limb supporting and lifting devices which are bilaterally symmetrical comprise electric cylinders controlled by a direct-current servo motor, a movable saddle connected with the electric cylinders through external threads and handrails connected with the movable saddle through internal threads; the electric cylinder is controlled by the direct current servo motor and is fixedly arranged on the mounting bottom plate of the travelling frame; the movable supporting platform is provided with a stainless steel cover, a main control computer installation space is arranged in the stainless steel cover, and a bandage fixing shaft is arranged on the inner side of the movable supporting platform and used for fixing the wearable traction striding bandage. The stainless steel cover is connected with the two sliding blocks through bolts, the sliding blocks are matched with the linear guide rail of the walking aid advancing frame supporting beam to form a moving pair, the sliding blocks drive the moving saddle to move up and down, and the upper limbs of a patient are supported on the moving saddle. The upper limbs of bilateral symmetry support elevating gear, the patient utilizes healthy upper limbs, through the handrail, and the upper limbs supports on removing the saddle, with crane and wearing formula step traction bandage together, plays the effect of supporting the patient, makes the patient under the state of standing, carries out some low limbs rehabilitation training. The upper limb supporting and lifting device controls the up-and-down movement of the upper limb supporting and lifting device in the direction of the guide rail through the electric cylinder, and can adjust the height of the supporting frame according to the actual height of a patient so as to adapt to the heights of different patients, so that the patient can stand at the optimal supporting position for rehabilitation training.
Further, the wearable traction striding bandage comprises a striding belt, striding trousers, a bandage and the like. A wearable traction stride strap is a traction and protective device. When the patient uses the bandage, the patient needs to wear the bandage well under the assistance of medical staff, and meanwhile, the shaft fixing belt at one end of the bandage is connected with the bandage fixing shaft on the upper limb supporting and lifting device, so that the bandage can move along with the lifting device. The function is that the patient can be assisted to stand with the upper limb supporting and lifting device and the handrail at the same time, and the patient is guaranteed not to be injured due to unbalance in the standing rehabilitation training process.
Furthermore, the horizontal movement mechanism of the bilateral symmetry walking track driving device comprises a screw rod, a gear rack, 2 linear guide rails, 2 slide block mounting blocks and a screw rod nut. The driving mode is motor driving, the two direct current servo motors are respectively connected with the screw rod and the gear through the shaft coupling, and the rotation direction and the rotation speed of the gear and the screw rod can be changed by controlling the rotation direction and the rotation speed of the motors. The gear is matched with the rack to enable the rack to move horizontally, the other end of the rack is fixedly connected with the front sliding block fixing block, two sliding blocks are arranged on the lower portion of the front sliding block fixing block and are respectively matched with the linear guide rails on the left side and the right side to form a moving pair, and the front sliding block fixing block moves in the front-back direction of the horizontal plane to enable the front sliding block fixing block to move back-forth. The screw rod is matched with a screw rod nut which is fixedly arranged on the rear sliding block mounting block, two sliding blocks are fixedly arranged on the lower portion of the rear sliding block mounting block and are respectively matched with the linear guide rails on the left side and the right side to form a moving pair, and the rear sliding block fixing block can also realize the movement in the front-back direction on the horizontal plane. The horizontal movement mechanism of the walking track driving device simulates the forward movement of a human.
Further, the pedal mechanism of the bilaterally symmetrical walking trajectory drive device includes: a connecting rod, a connecting rod shaft, a connecting rod bracket, a motor mounting plate, a bevel gear motor, a pair of bevel gears, a bevel gear bearing and an upper pedal and a lower pedal. The left side and the right side of the front sliding block fixing block are connected with the two connecting rods in a revolute pair mode through connecting rod shafts respectively, the other ends of the connecting rods are connected with the connecting rod support in a revolute pair mode through the connecting rod shafts, the connecting rod support is installed at the front end of the bottom of the motor installation plate, the rear end of the motor installation plate and the rear sliding block fixing block are connected together in a revolute pair mode through a pedal installation shaft, the front sliding block fixing block is connected with the front portion of the pedal plate through the connecting rod, the rear portion of the pedal plate is connected with the rear sliding block fixing block, the speeds of the two sliding blocks are different, nonlinear matching is achieved, and the pedal plate.
Furthermore, a direct current servo motor is arranged on the motor mounting plate and connected with a bevel gear to control the rotation direction and the rotation speed of the bevel gear, and the direct current servo motor is matched with another bevel gear at an angle of 90 degrees. The bevel gear is matched with a shaft through a key, two ends of the shaft are matched with two bearings, the two bearings are respectively arranged on a bearing seat, and the bearing seat is arranged on a motor mounting plate. In addition, the right end of the shaft is matched with a pedal mounting shaft which is arranged in the middle of an upper pedal and a lower pedal and used for adjusting the angle of the pedals, so that the pedals can simulate the rotation of the ankle joint of a person.
Further, the horizontal movement mechanism of the walking track driving device simulates the forward movement of a human, the pedal plate mechanism simulates the leg lifting and putting down movement of the human, the pedal plate mounting shaft simulates the rotation of an ankle joint of the human, the three movements are integrated, so that the pedal plate realizes a track simulating the walking of a normal human, and under the driving of the pedal plate, a patient can complete rehabilitation training in a standing state without external force, a certain compensation effect is achieved on the functions of lower limbs, and a certain maintaining and recovering effect is achieved on the muscle force of the lower limbs.
Furthermore, two sensors are arranged between the upper foot pedal and the lower foot pedal and used for collecting signals such as pressure and the like in the movement process of the patient. The computer mode can further provide training degree and training for walking training according to the evaluation, and also can provide reference for doctor diagnosis.
Furthermore, a main control computer and a display are arranged on the walking aid advancing frame and the upper limb supporting and lifting device, and supporting system software is provided for providing a visual page, so that man-machine interaction is realized, and a control device of a user can conveniently realize a proper walking aid function according to the self requirement. The system software provides patient information management and walking aid mode setting, and parameters such as step length, pace and the like can be set according to the self condition of the patient, so that the running track of the motor of the mechanical device is controlled, and proper gait walking aid is provided for the patient. In the using process of a patient, the signals of the sensors are collected in real time and are visually displayed in system software, closed-loop control is achieved, a user can conveniently monitor the self state and evaluate the walking assisting effect, and the using safety of the mechanical device is improved. The system software provides a virtual scene game, so that the patient can sense scene change in the using process, the enthusiasm of the patient can be improved while the interestingness is increased, and the rehabilitation of the walking function is promoted.
Compared with the prior art, the invention has the following advantages:
1) the walking aid training device for patients with spinal injury adopts pedal type driving to provide driving force for patients incapable of walking independently, the horizontal movement mechanism of the walking track driving assembly simulates the forward movement of a person, the pedal plate mechanism simulates the leg lifting and putting down movement of the person, the pedal plate mounting shaft simulates the rotation of ankle joints of the person, the three movements are combined, the pedal plate realizes a track simulating the walking of a normal person, the rehabilitation training of the patients can be completed in a standing state under the driving of the pedal plate, the normal walking of the patients is assisted, and the angles of the ankle joints of the patients can be adjusted in the walking training process so as to avoid injury.
2) The walking aid training device for patients with spinal injuries adopts the upper limb supporting lifting component, supports the healthy upper limbs of the patients on the movable supporting platform, grasps the handrails, and plays a role of supporting the patients together with the lifting frame so as to enable the patients to train in a standing state; the height of the upper limb support can be adjusted according to the actual height of the patient so as to adapt to the heights of different patients and meet the walking requirements of the patients with different heights.
3) The walking aid training device for patients with spinal injuries, disclosed by the invention, adopts the wearable traction striding binding band, and is in combined action with the upper limb supporting and lifting device, so that the supporting points are increased, the patients feel more comfortable, and the standing training of the patients is realized.
4) The walking aid training device for patients with spinal injuries adopts the hub motor to drive the walking aid to move, so that the advancing direction of the walking aid can be changed according to the self advancing requirement of the patients in the rehabilitation training process, and the patients can be helped to train in a certain moving range.
Drawings
FIG. 1 is a schematic overall structure diagram of a walking aid training device for patients with spinal injuries in the invention;
FIG. 2 is a schematic structural view of a walking aid for a patient with spinal column injury according to the invention;
FIG. 3 is a schematic structural view of the upper limb lifting mechanism of the present invention;
FIG. 4 is a schematic view of the horizontal driving assembly according to the present invention;
FIG. 5 is a schematic view of a foot pedal assembly according to the present invention;
FIG. 6 is a schematic view of the pedal mounting shaft according to the present invention;
FIG. 7 is a schematic view of a wearable traction striding strap of the present invention;
in the figure: 1. a mounting base plate, 2, a front wheel fixing bracket, 3, a front wheel, 4, a hub motor bearing seat, 5, a side plate, 6, a rear wheel hub motor, 7, a supporting beam, 8, a supporting beam sliding block, 9, a supporting linear guide rail, 10, a backrest, 11, a backrest bracket, 12, a backrest bracket buckle, 13, a backrest guide rod, 14, a backrest guide rod fixing buckle, 15, a direct current servo motor, 16, a motor mounting seat, 17, a supporting electric cylinder, 18, a stainless steel cover, 19, an emergency stop button, 20, a movable supporting platform, 21, a wearable traction striding bandage, 22, a handrail, 23, a wearable traction striding bandage, 24, a display, 25, a screw rod motor, 26, a coupler, 27, a front screw rod bearing seat, 28, a speed reducing motor, 29, a rack motor, 30, a left rack, 31, a screw rod sliding block, 32, a front sliding block fixing block, 33, a connecting rod shaft, 34 and a connecting rod bearing, 35. lead screw linear guide rail, 36, lead screw nut, 37, pedal slider, 38, pedal shaft, 39, pedal shaft bearing, 40, rear slider fixing block, 41, lead screw, 42, rear lead screw bearing block, 43, lead screw bearing, 44, rack bearing, 45, rack guide block, 46, reducer gear, 47, reduction motor bracket, 48, right rack, 49, rack motor tilt bracket, 50, link, 51, link bracket, 52, bevel gear bearing block, 53, bevel gear shaft, 54, motor mounting plate, 55, mounting plate shaft, 56, mounting plate bearing, 57, motor mounting plate mounting seat, 58, ankle motor, 59, small bevel gear, 60, large bevel gear, 61, bevel gear shaft, 62, pedal mounting shaft, 63, upper pedal, 64, pressure sensor, 65, lower pedal, 66, fixing key, 67, upper end face, 68, lower end face, 69, fixed key, and screw rod bearing, Striding pants, 70, a striding belt, 71, a ring fixing belt, 72, a binding belt, 73, a belt loop, 74 and a shaft fixing belt.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
With reference to fig. 1, 2, 3, 4 and 5, it can be seen that the components of the walking aid training device for patients with spinal injuries in the present embodiment are: a walking aid traveling frame, an upper limb supporting and lifting assembly, a horizontal movement mechanism of a walking track driving assembly and a pedal plate mechanism of the walking track driving assembly. As can be seen from FIG. 1, the horizontal movement mechanism of the upper limb support elevating device of FIG. 3 and the walking path driving device of FIG. 4 and the foot pedal structure of the walking path driving device of FIG. 5 are both mounted on the mounting base plate 1 of the walker advancing frame shown in FIG. 2.
Referring to fig. 2 in cooperation, the walking aid traveling frame in the embodiment comprises a mounting bottom plate 1, a front wheel fixing support 2 fixedly mounted on the mounting bottom plate 1, a side plate 5, a rear wheel hub motor 6, a hub motor bearing seat 4 and a supporting beam 7.
The front wheel fixing support 2 is fixedly installed at the front end of the installation bottom plate 1, an internal thread hole is formed in the upper end of the front wheel fixing support 2 and used for being connected with external threads at the upper end of the front wheel 3, the side plates 5 are fixedly installed on two sides of the installation bottom plate and fixed at the lower end of the supporting beam 7, the rear wheel hub motor 6 is matched with the hub motor bearing seat 4 through the circular holes of the side plates 5, the hub motor bearing seat 4 is fixedly installed on the installation bottom plate 1, the outer side of the supporting beam 7 is fixedly installed with the supporting linear guide rail 9, two supporting beam sliding blocks 8 are embedded on the supporting linear guide rail 9, a backrest guide rod 13 is arranged on the rear side of the supporting beam 7, the upper end and the lower end of the backrest guide rod 13 are fixed through a backrest guide rod fixing buckle 14, the limiting function of the connecting end is achieved, and the backrest 10 is connected with a. The walking function of the walking aid walking frame is realized by controlling the rear wheel hub motor 4, the walking frame can be driven to move backwards, the front wheel of the rear wheel driving walking frame does not generate power when running and only plays a role in bearing and steering, and the rear wheel hub motor only drives the rear wheel to control the functions of advancing, retreating, steering and the like.
Referring to fig. 3 and 7 in a matching manner, the upper limb supporting and lifting assembly of the invention comprises a direct current servo motor 15 and a supporting electric cylinder 17 controlled by the direct current servo motor, the motor and the electric cylinder are both fixedly installed on a motor installation base 16, the motor installation base 16 is fixed on the traveling frame installation bottom plate 1 of fig. 2, the upper end of the supporting electric cylinder 17 is connected with a movable supporting platform 20 through external threads, a stainless steel cover 18 is arranged on the outer side of the movable supporting platform 20, a main control computer installation space is arranged inside the stainless steel cover 18, the main control computer is installed inside the stainless steel cover 18, and an ARM microprocessor is adopted as the main control computer. The inner side of the stainless steel cover 18 is provided with a bandage fixing shaft 23 for connecting a shaft fixing belt 74 of the wearable traction striding bandage 23, and the wearable traction striding bandage 23 comprises striding trousers 69, a striding belt 70, a ring fixing belt 71, a bandage 72, a belt ring 73 and the shaft fixing belt 74; the device can assist the patient to stand together with the upper limb supporting and lifting device and the handrail, protect the patient in the training process and avoid secondary damage caused by unbalance; an emergency stop button 19 is arranged on the outer side of the stainless steel cover 18 and is electrically connected with the direct current servo motor 15, so that emergency braking can be performed, and the direct current servo motor 15 is stopped. The front end of the mobile platform 20 is connected with the armrest 22 through internal threads, the display 24 is connected to the middle part of the armrest 22, and the whole upper limb supporting and lifting assembly can adjust the lifting of the electric cylinder 17 through controlling the motor 15, so as to drive the lifting of the mobile saddle 20 to adapt to the heights of different patients.
Referring to fig. 4 in a matching manner, the horizontal driving assembly of the present invention includes a screw rod motor 25, a coupling 26, a front screw rod bearing block 27, a screw rod 41, a screw rod nut 36, a rear slide block fixing block 40, a pedal slide block 37, a pedal shaft bearing 39, a rear screw rod bearing block 42, a rack motor 29, a reduction motor 28, a rack motor inclined bracket 49, a reduction motor bracket 47, a reduction gear 46, a rack guide block 45, a rack bearing 44, a front slide block fixing block 32, a link bearing 34, a link shaft 33, a screw rod slide block 31, and a screw rod linear guide rail 35.
The screw rod 41 is supported by the front screw rod bearing seat 27 and the rear screw rod bearing seat 42, the pedal shaft 38 penetrates through the pedal shaft bearing 39, the pedal shaft bearing 39 is arranged on the rear sliding block fixing block, two ends of the pedal shaft 38 are connected with the rear end of the motor mounting plate mounting seat 57, referring to fig. 4 and 5, when the screw rod motor 25 is started, the coupling 26 is driven to rotate, the other end of the coupling 26 is connected with the screw rod 41, so that the screw rod 41 is driven to rotate, the screw rod 41 is matched with the screw rod nut 36, the screw rod nut 36 is fixedly arranged on the rear sliding block fixing block 40, the lower part of the rear sliding block fixing block 40 is fixedly connected with the pedal sliding block 37, the pedal sliding block 37 is matched with the linear guide rail 34 to form a moving pair, and the rear sliding block fixing block 40 and other components. The rack motor 29 is matched with the gear motor 28 to realize the output of the rotating torque, the rack motor 29 and the gear motor 28 are fixedly connected on a gear motor bracket 47, the gear motor bracket 47 is fixedly arranged on a rack motor inclined bracket 49, the shaft of the gear motor 28 is connected with the gear 46 through a key, wherein the rack comprises a left rack 30 and a right rack 48 which drive a reducer gear 46 to rotate, the reducer gear 46 is meshed with the rack to drive the rack to horizontally move under the limit of a rack guide block 45, the rack is fixedly connected with a front slider fixed block 32, two lead screw sliders 31 are fixedly arranged at the lower part of the front slider fixed block 31, the lead screw sliders 31 are assembled with a lead screw linear guide rail 35, so that the front slider fixing block 32 and other components mounted thereon realize linear motion in the front-back direction on a horizontal plane on the screw rod linear guide rail 35 under the driving of the rack to move back and forth.
Referring to fig. 4, 5, and 6 in cooperation, the pedal assembly in the present embodiment includes a link shaft 33, a link bearing 34, a link 50, a link bracket 51, a motor mounting plate 54, a bevel gear bearing 52, a bevel gear bearing 61, a bevel gear shaft 53, a small bevel gear 59, a large bevel gear 60, an ankle motor 58, a motor mounting plate mounting seat 57, a mounting plate bearing 56, a mounting plate shaft 55, a pedal mounting shaft 62, an upper pedal 63, a lower pedal 65, and a pressure sensor 64. The connecting rod shaft 33 is matched with the connecting rod bearing 34 and is connected with the front sliding block fixing block 32 shown in the figure 4, the connecting rod 50 is hinged on the connecting rod shaft 33 to form a revolute pair, the other end of the connecting rod 50 is hinged with the other connecting rod shaft 33, the connecting rod shaft 33 is matched with the connecting rod bearing 34 and is connected with the connecting rod support 51, the connecting rod support 51 is connected with the front end of the bottom of the motor mounting plate 54 through a bolt, a motor mounting plate mounting seat 57 is fixedly mounted at the rear end of the bottom of the motor mounting plate 54, a mounting plate shaft 55 is matched with the mounting plate bearing 56 and is connected with the motor mounting plate mounting seat 57 through a bolt, and an ankle motor 58 is fixedly arranged. The motor is connected with the small bevel gear 59 to drive the large bevel gear 60 to rotate, the large bevel gear 60 is meshed with the small bevel gear 59 to drive the large bevel gear 60 to rotate, the large bevel gear 60 is arranged on the bevel gear shaft 53 to drive the bevel gear shaft 53 to rotate, one end of the shaft gear shaft 53 is matched with the pedal mounting shaft 62 to drive the pedal mounting shaft 62 to rotate for a certain angle along with the pedal mounting shaft, the upper end face and the lower end face of the pedal mounting shaft 62 are designed to be horizontal tangent planes, the upper end face 67 is provided with a fixed key 66 which is fixedly matched with a groove at the bottom of the upper pedal 63, and the lower end face 68 of the pedal mounting shaft 62 is tightly matched with an upper panel of the lower pedal 65 through bolts.
When the front slider fixing block 32 shown in fig. 4 moves back and forth on the linear guide 35, the motor mounting plate 54 is driven by the link shaft 33, the link bearing 34 and the link 50 to have a back and forth horizontal movement along the direction of the linear guide 35, the rear end of the motor mounting plate 54 is hinged to the rear slider fixing block 40, when the front slider fixing block 32 moves together with the rear slider fixing block 40, the horizontal distance between the two slider fixing blocks increases or decreases, so that the link 50 and the front end of the motor mounting plate 54 connected thereto are raised or lowered, the movement of the front end of the motor mounting plate 54 in the vertical direction has a raising or lowering process, the bevel gear shaft 53 at the front end of the motor mounting plate 54 is supported by the bevel gear bearing 61 and the bevel gear shaft bearing 52, and one end is connected to the pedal mounting shaft 62, so that the motor mounting plate 54 is raised or lowered, the pedal is also driven to have a lifting and descending action in the vertical direction, so that the leg lifting and putting down movement of a person is simulated. The combination of the forward movement and the lifting and the lowering movement of the foot pedal simulating human is combined to form a normal walking movement track. In addition, the angle of the foot pedal can be controlled by the ankle motor 58, the angle between the instep and the lower leg can be changed, and the rotation of the ankle joint can be simulated when a patient steps on the foot pedal to move to different positions.
When the patient uses the walking aid, the wheelchair on which the patient sits is pushed to the rear part of the walking aid with the assistance of medical personnel, after the detachable backrest device on the walking aid advancing frame is detached, the patient can wear the wearable traction striding bandage with the assistance of the medical personnel, and the shaft fixing belt of the bandage is required to be connected to the bandage fixing shaft on the upper limb supporting and lifting device of the walking aid. The patient can place the foot in the suitable position of footboard department independently or with medical personnel's assistance, also can place the upper limbs on elevating gear platform by oneself, when starting elevating gear and bandage fixed axle, under wearing formula tractive bandage and elevating gear's combined action, can draw the patient from the wheelchair, and upper limbs support elevating gear can bear the weight of patient's most health this moment, starts the running-board trainer, and the footboard begins to drive patient's step and begins to carry out the rehabilitation training motion according to the main control computer setting pace. The front wheel of the walking aid traveling frame is a hub motor and is a driving wheel of the traveling frame, a steering gear is arranged on the front wheel, the steering gear is electrically connected with a microprocessor in a main control computer, the movement state of the whole traveling frame device can be controlled by changing the movement direction and speed of the steering gear, the walking aid can be controlled by a doctor or a patient, so that the advancing direction of the traveling frame can be changed according to the traveling requirement of the patient in the rehabilitation training process, the rear wheel hub motor is matched with accessories such as a hub motor bearing to complete the forward movement, the backward movement and other movements of the whole walking aid, and the patient can move in a certain range of motion.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. A walking aid training device for patients with spinal injuries is characterized by comprising:
the walking aid device advancing frame is a support of a walking aid training device for patients with spinal injuries, and can be horizontally displaced;
the upper limb supporting and lifting assembly is arranged on the walking aid advancing frame and used for supporting and fixing the upper limbs of the patient;
the horizontal driving assembly is arranged on the walking aid advancing frame and comprises a front sliding block fixing block (32), a front sliding block fixing block driving piece, a rear sliding block fixing block (40) and a rear sliding block fixing block driving piece, and the front sliding block fixing block driving piece and the rear sliding block fixing block driving piece respectively drive the front sliding block fixing block (32) and the rear sliding block fixing block (40) to horizontally displace;
the front end of the pedal assembly is movably connected to the front sliding block fixing block (32) through a connecting rod (50), the rear end of the pedal assembly is hinged to the rear sliding block fixing block (40), and the pedal assembly obtains walking type fluctuating displacement through the cooperative operation of the front sliding block fixing block (32) and the rear sliding block fixing block (40).
2. The walking aid training device for patients with spinal injuries according to claim 1, wherein the rear sliding block fixing block driving part comprises a screw rod (41), a screw rod nut (36), a screw rod linear guide rail (35), a screw rod motor (25) and a pedal sliding block (37);
the output shaft of the screw rod motor (25) is connected with the end part of the screw rod (41);
the pedal sliding block (37) is arranged on the screw rod linear guide rail (35) and can horizontally slide along the screw rod linear guide rail (35);
the lead screw nut (36) is provided with an internal thread matched with the lead screw (41), and the lead screw nut (36) is sleeved on the lead screw nut (36) in a penetrating way;
the rear sliding block fixing block (40) is simultaneously connected with the screw rod nut (36) and the pedal sliding block (37).
3. The walking aid training device for patients with spinal injuries according to claim 2, wherein the front slider fixed block driving part comprises a rack motor (29), a speed reducing motor (28), a rack, a speed reducing gear (46) and a screw rod slider (31);
the output shaft of the rack motor (29) is connected with the input shaft of the speed reducing motor (28);
the reducer gear (46) is arranged on an output shaft of the reducing motor (28);
the screw rod sliding block (31) is arranged on the screw rod linear guide rail (35) and can horizontally slide along the screw rod linear guide rail (35);
the front sliding block fixing block (32) is connected with the screw rod sliding block (31), and the rack is fixed on the sliding block fixing block (32);
the teeth on the reducer gear (46) mesh with the teeth on the rack.
4. The walking aid training device for the patient with spinal column injury according to claim 3, further comprising a main control computer, wherein a microprocessor in the main control computer is electrically connected with the lead screw motor (25) and the rack motor (29), and the microprocessor sends a start-stop instruction signal, a steering instruction signal and a rotating speed instruction signal to the lead screw motor (25) and the rack motor (29);
the microprocessor sends a pre-loaded command signal to a screw rod motor (25) and a rack motor (29),
the screw rod motor (25) drives the screw rod (41) to rotate, so that the screw rod nut (36) drives the pedal sliding block (37) to move, and further the rear sliding block fixing block (40) generates periodic reciprocating displacement motion;
the rack motor (29) decelerates the output torsional force through the deceleration motor (28), then drives the reducer gear (46) to rotate, the reducer gear (46) drives the rack to horizontally displace, and further the front slider fixing block (32) generates periodic reciprocating displacement motion different from that of the rear slider fixing block (40).
5. The walking aid training device for patients with spinal injuries according to claim 4, wherein the pedal assembly comprises a motor mounting plate (54), a pedal mounting shaft (62), an upper pedal (63) and a lower pedal (65);
one end of the pedal mounting shaft (62) is connected with the upper pedal (63) and the lower pedal (65); the other end is connected to the motor mounting plate (54).
6. The walking aid training device for patients with spinal injuries according to claim 5, wherein the motor mounting plate (54) is provided with an ankle motor (58);
the output end of the ankle motor (58) is provided with a small bevel gear (59);
a bevel gear bearing seat (52) is further arranged on the motor mounting plate (54), and a bevel gear shaft (53) penetrates through the bevel gear bearing seat (52);
a large bevel gear (60) is sleeved on the bevel gear shaft (53) in a penetrating manner, and the small bevel gear (59) is meshed with the large bevel gear (60);
the bevel gear shaft (53) is connected with the pedal mounting shaft (62), the ankle motor (58) is electrically connected with the microprocessor, the microprocessor sends start-stop command signals, steering command signals and rotating speed command signals to the ankle motor (58), the ankle motor (58) transmits transmission torque to the pedal mounting shaft (62) through the small bevel gear (59), the large bevel gear (60) and the bevel gear shaft (53) in sequence, and the inclination angles of the upper pedal (63) and the lower pedal (65) relative to the horizontal plane are adjusted in real time through the pedal mounting shaft (62).
7. The walking aid training device for patients with spinal injuries according to claim 6, wherein one end of the pedal mounting shaft (62) is connected with the bevel gear shaft (53), and the other end is provided with a connecting part, and the connecting part comprises an upper end surface (67) and a lower end surface (68);
the upper end face (67) is provided with a fixed key (66), the upper pedal (63) is provided with a groove matched with the fixed key (66), and the upper end face (67) is connected with the upper pedal (63) through the fixed key (66);
the lower end surface (68) is connected with the lower pedal (65) through a bolt.
8. The walking aid training device for the spine injury patient according to claim 4, wherein the walking aid traveling frame comprises a mounting base plate (1), and front wheels (3) and rear wheels are arranged below the mounting base plate (1);
a steering gear is arranged on the front wheel (3), and a rear wheel hub motor (6) is connected to the rear wheel;
the steering gear and a rear wheel hub motor (6) are electrically connected with the microprocessor.
The rack motor (29), the screw rod motor (25) and the screw rod linear guide rail (35) are fixed on the mounting base plate (1);
mounting plate (1) still be equipped with supporting beam (7) perpendicularly, supporting beam (7) on be equipped with supporting linear guide (9), supporting linear guide (9) on be equipped with back (10), back (10) accessible supporting linear guide (9) carry out vertical direction's regulation.
9. The walking aid training device for the spine injury patient according to claim 8, wherein the upper limb supporting and lifting assembly is arranged on the mounting base plate (1);
the upper limb supporting and lifting assembly comprises a supporting bracket, a supporting electric cylinder (17) is arranged below the supporting bracket, and the supporting electric cylinder (17) is electrically connected with the microprocessor;
the supporting bracket is provided with armrests (22) and a wearable traction striding bandage (23), and the patient is fixed in the wearable traction striding bandage (23).
10. The walking aid training device for patients with spinal injuries according to claim 9, wherein the wearable pulling striding strap (23) comprises a shaft fixing strap (74), striding pants (68), a striding strap (70), a ring fixing strap (71), a binding strap (72), a belt loop (73) and a shaft fixing strap (74).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276154.2A CN111067764A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device for patients with spinal injuries |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276154.2A CN111067764A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device for patients with spinal injuries |
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| Publication Number | Publication Date |
|---|---|
| CN111067764A true CN111067764A (en) | 2020-04-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911276154.2A Pending CN111067764A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device for patients with spinal injuries |
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| Country | Link |
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| CN (1) | CN111067764A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631917A (en) * | 2020-06-30 | 2020-09-08 | 广州鼎合科技有限公司 | Gait rehabilitation training system |
| CN111658451A (en) * | 2020-07-01 | 2020-09-15 | 南通市第二人民医院 | Children rehabilitation walking aid with gait correction function |
| CN113559463A (en) * | 2021-09-01 | 2021-10-29 | 徐洪伟 | Intelligent lower limb muscle rehabilitation training device |
-
2019
- 2019-12-12 CN CN201911276154.2A patent/CN111067764A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111631917A (en) * | 2020-06-30 | 2020-09-08 | 广州鼎合科技有限公司 | Gait rehabilitation training system |
| CN111658451A (en) * | 2020-07-01 | 2020-09-15 | 南通市第二人民医院 | Children rehabilitation walking aid with gait correction function |
| CN113559463A (en) * | 2021-09-01 | 2021-10-29 | 徐洪伟 | Intelligent lower limb muscle rehabilitation training device |
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