技术领域Technical field
本发明涉及医疗康复器械领域，具体是指一种节能、被动回弹功能的膝关节康复装置。The invention relates to the field of medical rehabilitation equipment, and specifically refers to an energy-saving, passive rebound function knee joint rehabilitation device.
背景技术Background technique
目前，针对膝关节康复训练装置可分为穿戴式和非穿戴式，穿戴式一般指穿戴于人体腿部的器具，拥有限位模块控制一定的角度范围，辅助膝关节进行屈曲和伸展运动，以达到早期康复膝关节的目的。现今的穿戴式膝关节康复装置体型小、便于操作，适合患者在家庭等环境中使用，但存在着动力不足，康复效果差，易对患者造成二次损伤的缺点；非穿戴式相比较于穿戴式功能更为强大，不仅仅局限于某一关节（膝、髋、踝关节），而是针对患者上肢或下肢整体进行康复训练，它可以增加患者肌力和改善患者对肌肉的控制能力，但是该类装置比较庞大，造价昂贵，一般在康复医疗中心多为常见，所以患者只能到康复中心进行康复，这对有行动障碍的患者来说也是非常不便的。同时，在康复训练时需要有相应的康复辅助人员进行配合且操作繁琐，耗时耗力。At present, knee joint rehabilitation training devices can be divided into wearable and non-wearable types. Wearable devices generally refer to equipment worn on the human legs. They have a limit module to control a certain angle range to assist the knee joint in flexion and extension movements. Achieve the purpose of early rehabilitation of knee joints. Today's wearable knee joint rehabilitation devices are small in size and easy to operate, and are suitable for patients to use in home and other environments. However, they have the disadvantages of insufficient power, poor rehabilitation effects, and easy to cause secondary injuries to patients. Compared with wearable devices, non-wearable knee joint rehabilitation devices The function is more powerful and is not limited to a certain joint (knee, hip, ankle joint), but provides rehabilitation training for the patient's upper or lower limbs as a whole. It can increase the patient's muscle strength and improve the patient's ability to control muscles, but This type of device is relatively large and expensive, and is generally found in rehabilitation medical centers. Therefore, patients can only go to rehabilitation centers for rehabilitation, which is also very inconvenient for patients with mobility impairments. At the same time, rehabilitation training requires the cooperation of corresponding rehabilitation assistance personnel, and the operation is cumbersome, time-consuming and labor-intensive.
对于康复的装置的驱动装置，分为传统的电动机驱动和气、液装置驱动。电动机驱动属于刚性驱动，一般配合相应的转动变直线运动机构（如蜗轮蜗杆）辅助实现膝关节屈曲和伸展运动。但是，电动机电池能耗较大，价格贵，重量大，所以并不适用于患者长期穿戴；气、液装置属于柔性驱动，存在动力不足的现象。另外，整套系统较为复杂，体型庞大，不适用于穿戴式康复装置。传统的膝关节康复训练装置功能健全，有保护措施的体型庞大，造价昂贵且耗时耗力，不方便患者自己进行康复训练；而小型的康复器械虽然操作便捷，但是传统的电动机刚性驱动模式很容易对患者造成二次伤害。综合以上两种情况来看，发明一种小型便捷且能很好地避免二次伤害的膝关节康复训练装置有很广阔的应用前景。For the drive device of the rehabilitation device, it is divided into traditional electric motor drive and pneumatic and hydraulic device drive. The motor drive is a rigid drive, and is generally used in conjunction with a corresponding rotation-to-linear motion mechanism (such as a worm gear) to assist in achieving knee joint flexion and extension movements. However, the electric motor battery consumes a lot of energy, is expensive, and is heavy, so it is not suitable for patients to wear for a long time; the gas and liquid devices are flexible drives and suffer from insufficient power. In addition, the entire system is relatively complex and bulky, making it unsuitable for wearable rehabilitation devices. Traditional knee joint rehabilitation training devices have sound functions, are bulky with protective measures, are expensive and time-consuming, and are inconvenient for patients to perform rehabilitation training on their own. Although small rehabilitation equipment is easy to operate, the traditional motor rigid drive mode is very It is easy to cause secondary harm to the patient. Based on the above two situations, the invention of a small, convenient and well-avoided knee joint rehabilitation training device has broad application prospects.
非洲鸵鸟是世界上现存体重最大、速度最快的两足动物。成年体重可达100公斤，持续速度在50-60公里/小时，可持续30分钟以上，冲刺速度超过70公里/小时。高速奔跑不仅得益于鸵鸟足部优越性，还与鸵鸟的跗骨间关节的结构特性相关。被动回弹特性是鸵鸟跗骨间关节的韧带的主要特性之一，基于鸵鸟跗骨间关节的滚-滑式关节，在弯曲转动过程中，由于骨突和韧带的相互作用，造成了关节啮合-无啮合的变化，被动回弹特性是指当鸵鸟的关节处于最大的伸展状态时，由于胫跗骨远端后部的限位作用，防止了关节的过度伸展。当关节弯曲某一角度时，会释放跗跖骨，回到原始位置，即关节最大伸展位置。The African ostrich is the largest and fastest living bipedal animal in the world. The adult weight can reach 100 kilograms, the sustained speed is 50-60 kilometers/hour, which can last for more than 30 minutes, and the sprint speed exceeds 70 kilometers/hour. High-speed running not only benefits from the superiority of the ostrich's feet, but is also related to the structural characteristics of the ostrich's intertarsal joints. The passive rebound characteristic is one of the main characteristics of the ligaments of the ostrich intertarsal joint. Based on the roll-sliding joint of the ostrich intertarsal joint, during the bending and rotation process, due to the interaction between the bony protrusions and the ligament, the joint meshes. - There is no change in engagement, and the passive rebound characteristic means that when the ostrich joint is in the maximum extension state, due to the limiting effect of the rear part of the distal end of the tibiotarsus, excessive extension of the joint is prevented. When the joint bends at a certain angle, the tarsometatarsal bones are released and return to their original position, which is the maximum extension position of the joint.
本发明基于工程仿生学原理，该装置设计模仿鸵鸟跗骨间关节的被动回弹特性，实现被动回弹功能，以达到患者在使用该发明进行膝关节康复训练时会避免二次伤害效果，而且该发明本身还具有简单易便携，操作简便，节能等优点。The invention is based on the principle of engineering bionics. The device is designed to imitate the passive rebound characteristics of the ostrich intertarsal joint to realize the passive rebound function, so as to avoid secondary injuries when patients use the invention to perform knee joint rehabilitation training, and The invention itself also has the advantages of being simple and portable, easy to operate, and energy-saving.
发明内容Contents of the invention
为了更好地解决上述问题，本发明模仿鸵鸟跗骨间关节被动回弹特性，设计出一种轻便、节能、可避免二次伤害的膝关节康复训练装置。本发明基于工程仿生学原理，该装置设计模仿鸵鸟跗骨间关节的被动回弹特性，实现被动回弹功能，以达到患者在使用该发明进行膝关节康复训练时会避免二次伤害效果，而且该发明本身还具有简单易便携，操作简便，节能等优点。In order to better solve the above problems, the present invention imitates the passive rebound characteristics of the ostrich intertarsal joint and designs a knee joint rehabilitation training device that is lightweight, energy-saving and can avoid secondary injuries. The invention is based on the principle of engineering bionics. The device is designed to imitate the passive rebound characteristics of the ostrich intertarsal joint to realize the passive rebound function, so as to avoid secondary injuries when patients use the invention to perform knee joint rehabilitation training, and The invention itself also has the advantages of being simple and portable, easy to operate, and energy-saving.
本发明包括连接杆件 、大腿护具、第一滑槽、主轴 、小腿护具、气弹簧平衡装置 、电磁力锁装置、紧定螺栓、螺栓、转动臂和绑带；患者的大腿和小腿分别通过绑带与大腿护具、小腿护具进行固定，大腿护具和小腿护具与连接杆件之间均通过螺栓连接；连接杆件与转动臂通过螺栓连接；转动臂上的第一滑槽通过紧定螺栓连接，转动臂一端的孔内嵌有深沟球轴承，两个转动臂的轴承套在主轴上；The invention includes a connecting rod, a thigh protector, a first chute, a spindle, a calf protector, a gas spring balance device, an electromagnetic lock device, a tightening bolt, a bolt, a rotating arm and a strap; the patient's thigh and calf are respectively The thigh protector and calf protector are fixed with straps. The thigh protector and calf protector are connected to the connecting rod through bolts; the connecting rod and the rotating arm are connected through bolts; the first chute on the rotating arm Connected by tightening bolts, a deep groove ball bearing is embedded in the hole at one end of the rotating arm, and the bearings of the two rotating arms are sleeved on the main shaft;
气弹簧平衡装置两端分别固定在两个转动臂上；The two ends of the gas spring balancing device are respectively fixed on two rotating arms;
如图所示，电磁力锁装置 包括有滑轨、顶盖、电磁块和第二滑槽，滑轨中具有两个电磁块，滑轨之上具有顶盖，滑轨的两端具有第二滑槽，两个第二滑槽分别设置在两个转动臂上的滑柱上，第二滑槽在滑柱的限制下能左右移动；两个电磁块 分别与两个转动臂连接，电磁块能在滑轨上滑动，两个电磁块向内滑动能带动大腿护具和小腿护具弯曲；电磁力锁装置的线路安装在顶盖内部。As shown in the figure, the electromagnetic lock device includes a slide rail, a top cover, an electromagnetic block and a second slide groove. There are two electromagnetic blocks in the slide rail. There is a top cover on the slide rail. There are two second slide rails at both ends of the slide rail. The chute, two second chute are respectively arranged on the sliding columns on the two rotating arms, and the second chute can move left and right under the restriction of the sliding column; the two electromagnetic blocks are respectively connected to the two rotating arms, and the electromagnetic blocks It can slide on the slide rail, and the two electromagnetic blocks sliding inward can drive the thigh protector and calf protector to bend; the circuit of the electromagnetic force lock device is installed inside the top cover.
大、小腿护具腔体的材料为医学用塑料，该材料坚韧，富有弹性，具有良好的化学惰性和生物安全性。腔体内部贴合腿部材质为软质EVA，腔体绑带采用尼龙搭扣的方式进行紧固。The material of the upper and calf protective gear cavities is medical plastic, which is tough, elastic, has good chemical inertness and biological safety. The material inside the cavity that fits the legs is soft EVA, and the straps of the cavity are fastened with velcro.
气弹簧平衡装置和电磁锁装置均固定在两转动臂之间，气弹簧平衡装置行程保证了两转动臂的夹角范围，进而不会出现角度过大或过小的情况；电磁力锁装置通电情况下，电磁块会沿滑轨滑动相向吸附，断电磁力消失，电磁块处于自由状态。气弹簧平衡装置与滑块均与转动臂固定，它们二者的直线运动会带动转动臂的转动，进而辅助膝关节进行屈曲和伸展运动。The gas spring balancing device and the electromagnetic lock device are both fixed between the two rotating arms. The stroke of the gas spring balancing device ensures the angle range of the two rotating arms, so that the angle will not be too large or too small; the electromagnetic force lock device is powered on In this case, the electromagnetic blocks will slide along the slide rail and attract toward each other. When the electromagnetic force is off, the electromagnetic force disappears and the electromagnetic blocks are in a free state. The gas spring balance device and the slider are both fixed to the rotating arm, and their linear motion will drive the rotating arm to rotate, thereby assisting the knee joint in flexion and extension movements.
本发明的有益效果：Beneficial effects of the present invention:
本发明结构紧凑合理，转动臂上开有滑槽，方便不同身高腿长的人群使用，穿戴后调整至合适的位置进行紧定便可进行康复训练，人机贴合程度高，体型小容易携带，装置简单操作方便。The invention has a compact and reasonable structure. There is a chute on the rotating arm, which is convenient for people with different heights and leg lengths. After wearing it, it can be adjusted to a suitable position and tightened for rehabilitation training. It has a high degree of human-machine fit and is small and easy to carry. , the device is simple and easy to operate.
气弹簧平衡装置和电磁力锁装置实现被动回弹特性，在两转动臂夹角由小变大，即膝关节由屈曲状态到伸展状态的过程无需能量的消耗，体现了该康复装置节能的特点。The gas spring balance device and the electromagnetic force lock device realize passive rebound characteristics. When the angle between the two rotating arms changes from small to large, that is, the knee joint changes from the flexion state to the extension state without energy consumption, which reflects the energy-saving characteristics of the rehabilitation device. .
该康复装置驱动并没有采取传统意义上的电动机的刚性驱动模式，采用电磁力锁装置既能保证动力足够，又在气弹簧双向阻尼的作用下保证转动速度符合患者的情况，避免了刚性驱动所带给患者的二次损伤。This rehabilitation device does not adopt the rigid drive mode of a motor in the traditional sense. The electromagnetic force lock device is used to ensure sufficient power and ensure that the rotation speed meets the patient's condition under the action of the two-way damping of the gas spring, thus avoiding the problems caused by rigid drive. Secondary injury to the patient.
附图说明Description of the drawings
图1是本发明立体示意图。Figure 1 is a schematic perspective view of the present invention.
图2是本发明的另一视角立体示意图。Figure 2 is a perspective view of the present invention from another perspective.
图3是本发明的电磁力锁装置立体分解示意图。Figure 3 is a three-dimensional exploded schematic view of the electromagnetic lock device of the present invention.
图4是本发明屈曲极限位置时结构示意图，两转动臂夹角为70°。Figure 4 is a schematic structural diagram of the present invention at the buckling limit position. The angle between the two rotating arms is 70°.
图5是本发明伸展极限位置时结构示意图，两转动臂夹角为170°。Figure 5 is a schematic structural diagram of the invention at the extended limit position, and the angle between the two rotating arms is 170°.
其中：1.连接杆件； 2.大腿护具； 3.第一滑槽 ；4.主轴；5.小腿护具 ；6.气弹簧平衡装置 ；8.电磁力锁装置；81.滑轨；82.顶盖； 83.电磁块 ；84.第二滑槽；9.紧定螺栓；10.螺栓； 11.转动臂 ；12.绑带。Among them: 1. Connecting rod; 2. Thigh protector; 3. First chute; 4. Spindle; 5. Calf protector; 6. Gas spring balancing device; 8. Electromagnetic lock device; 81. Slide rail; 82. Top cover; 83. Electromagnetic block; 84. Second chute; 9. Tightening bolt; 10. Bolt; 11. Rotating arm; 12. Strap.
实施方式Implementation
如图1和图2所示，本发明包括连接杆件1 、大腿护具2、第一滑槽3、主轴 4、小腿护具5、气弹簧平衡装置 6、电磁力锁装置8、紧定螺栓9、螺栓10、转动臂11和绑带12；患者的大腿和小腿分别通过绑带12与大腿护具2、小腿护具5进行固定，大腿护具2和小腿护具5与连接杆件1之间均通过螺栓10连接；连接杆件1与转动臂11通过螺栓连接；转动臂11上的第一滑槽3通过紧定螺栓9连接，转动臂11一端的孔内嵌有深沟球轴承，两个转动臂11的轴承套在主轴4上；As shown in Figures 1 and 2, the present invention includes a connecting rod 1, a thigh protector 2, a first chute 3, a spindle 4, a calf protector 5, a gas spring balance device 6, an electromagnetic lock device 8, and a tightening device. Bolt 9, bolt 10, rotating arm 11 and strap 12; the patient's thigh and calf are respectively fixed with the thigh protector 2 and calf protector 5 through strap 12, and the thigh protector 2 and calf protector 5 are connected to the connecting rod 1 are connected by bolts 10; the connecting rod 1 and the rotating arm 11 are connected by bolts; the first chute 3 on the rotating arm 11 is connected by a tightening bolt 9, and a deep groove ball is embedded in the hole at one end of the rotating arm 11 Bearings, the bearings of the two rotating arms 11 are sleeved on the main shaft 4;
气弹簧平衡装置6两端分别固定在两个转动臂11上；The two ends of the gas spring balancing device 6 are respectively fixed on two rotating arms 11;
如图3所示，电磁力锁装置8 包括有滑轨81、顶盖82、电磁块83和第二滑槽84，滑轨81中具有两个电磁块83，滑轨81之上具有顶盖82，滑轨81的两端具有第二滑槽84，两个第二滑槽84分别设置在两个转动臂11上的滑柱上，第二滑槽84在滑柱的限制下能左右移动；两个电磁块83 分别与两个转动臂11连接，电磁块83能在滑轨81上滑动，两个电磁块83向内滑动能带动大腿护具2和小腿护具5弯曲；电磁力锁装置8的线路安装在顶盖82内部。As shown in Figure 3, the electromagnetic lock device 8 includes a slide rail 81, a top cover 82, an electromagnetic block 83 and a second slide groove 84. The slide rail 81 has two electromagnetic blocks 83, and there is a top cover above the slide rail 81. 82. There are second slide grooves 84 at both ends of the slide rail 81. The two second slide grooves 84 are respectively arranged on the sliding columns on the two rotating arms 11. The second slide grooves 84 can move left and right under the restrictions of the sliding columns. ; The two electromagnetic blocks 83 are respectively connected to the two rotating arms 11. The electromagnetic blocks 83 can slide on the slide rail 81. The inward sliding of the two electromagnetic blocks 83 can drive the thigh protector 2 and the calf protector 5 to bend; electromagnetic force lock The wiring of the device 8 is installed inside the top cover 82 .
利用本发明进行膝关节康复时，包括以下步骤：When utilizing the present invention for knee joint rehabilitation, the following steps are included:
1）患者穿戴上该康复装置后使用绑带12将自身腿部与大腿护具2和小腿护具5紧固，并根据自身舒适度调节第一滑槽3用紧定螺栓9进行固定1) After the patient puts on the rehabilitation device, he uses straps 12 to fasten his legs with the thigh protector 2 and calf protector 5, and adjusts the first chute 3 according to his own comfort and fixes it with the tightening bolt 9
2）装置工作前调节气弹簧平衡装置6阻尼系数，并将气弹簧平衡装置6的活塞杆行程调至最大；此时电磁块83调至滑轨81两端，膝关节开和角度处于170°，如图5所示。2) Before the device starts working, adjust the damping coefficient of the gas spring balance device 6, and adjust the piston rod stroke of the gas spring balance device 6 to the maximum; at this time, the electromagnetic block 83 is adjusted to both ends of the slide rail 81, and the knee joint opening and angle is at 170° , as shown in Figure 5.
3）装置工作时，将电磁力锁装置8通电，电磁块83会沿滑轨81相向吸附滑动，由于电磁块83与转动臂11固定，故电磁块83直线运动会带动转动臂11转动，辅助膝关节会从伸展极限位置进行弯曲，再由于气弹簧平衡装置6具有双向阻尼作用，气弹簧平衡装置6的膝关节以小速度弯曲，如图4所示，两转动臂弯曲极限夹角为70°3) When the device is working, energize the electromagnetic lock device 8, and the electromagnetic blocks 83 will attract and slide toward each other along the slide rail 81. Since the electromagnetic block 83 is fixed to the rotating arm 11, the linear motion of the electromagnetic block 83 will drive the rotating arm 11 to rotate, assisting the knee. The joint will bend from the extension limit position, and because the gas spring balance device 6 has a two-way damping effect, the knee joint of the gas spring balance device 6 bends at a small speed. As shown in Figure 4, the angle between the bending limits of the two rotating arms is 70°.
当到达屈曲极限位置时，电磁力锁装置8断电，磁力消失，此时由于气弹簧平衡装置6的弹簧处于压缩状态，在没有外力的作用下要恢复初始状态，气弹簧平衡装置6的弹簧与活塞杆相连，故弹簧在有阻尼情况下慢慢恢复推动活塞杆，而气弹簧的活塞杆和缸筒分别与转动臂11固定，所以可带动两转动臂11夹角变大，辅助膝关节从屈曲极限状态慢慢张开直至伸展极限状态。When reaching the buckling limit position, the electromagnetic lock device 8 is powered off and the magnetic force disappears. At this time, since the spring of the gas spring balance device 6 is in a compressed state, it needs to return to the initial state without the action of external force. The spring of the gas spring balance device 6 It is connected to the piston rod, so the spring slowly resumes pushing the piston rod under the condition of damping. The piston rod and cylinder of the gas spring are respectively fixed with the rotating arm 11, so it can drive the angle between the two rotating arms 11 to become larger, assisting the knee joint. Slowly open from the flexion limit state to the extension limit state.
重复步骤2）和步骤3）为该装置的正常工作过程，辅助膝关节进行伸展——屈曲——伸展的动作。Repeat steps 2) and 3) for the normal working process of the device to assist the knee joint in the extension-flexion-extension movements.
该装置设有安全模块，位于气弹簧平衡装置6一端旋钮，自锁模式可随时将弹簧的压缩量进行恒定，整个装置停止工作，避免意外的发生。The device is equipped with a safety module, which is located on the knob at one end of the gas spring balancing device 6. The self-locking mode can keep the compression amount of the spring constant at any time, and the entire device stops working to avoid accidents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810114922.3ACN108095976B (en) | 2018-02-06 | 2018-02-06 | Bionic knee joint rehabilitation training device with passive rebound function |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810114922.3ACN108095976B (en) | 2018-02-06 | 2018-02-06 | Bionic knee joint rehabilitation training device with passive rebound function |
| Publication Number | Publication Date |
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| CN108095976A CN108095976A (en) | 2018-06-01 |
| CN108095976Btrue CN108095976B (en) | 2023-09-29 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810114922.3AActiveCN108095976B (en) | 2018-02-06 | 2018-02-06 | Bionic knee joint rehabilitation training device with passive rebound function |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| US6416448B1 (en)* | 1995-03-20 | 2002-07-09 | Andreas Hassler | Therapy and training device |
| TW200410667A (en)* | 2002-12-30 | 2004-07-01 | Ind Tech Res Inst | Continuous passive motion exercise system with driven monitoring |
| WO2012044621A1 (en)* | 2010-09-27 | 2012-04-05 | Vanderbilt University | Movement assistance device |
| CN102716002A (en)* | 2012-06-29 | 2012-10-10 | 中国科学院自动化研究所 | Seated horizontal type lower limb rehabilitation robot and corresponding passive training control method |
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| CN204684102U (en)* | 2015-05-15 | 2015-10-07 | 四川旭康医疗电器有限公司 | A kind of twin axle knee joint drawing-off training devices |
| CN205163359U (en)* | 2015-11-04 | 2016-04-20 | 王维光 | Novel treatment of knee joint rehabilitation device |
| CN105380774A (en)* | 2015-12-14 | 2016-03-09 | 林新 | Progressive bending trainer used for knee-joint rehabilitation training |
| CN105686929A (en)* | 2016-05-04 | 2016-06-22 | 杭州电子科技大学 | Auxiliary rehabilitation device capable of flexibly driving knee joint |
| CN206950326U (en)* | 2017-01-12 | 2018-02-02 | 上海理工大学 | Lower limbs active-passive rehabilitation training aids |
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