CN107320911B - A kind of adjustable recovery training appliance for recovery of the both limbs direction of motion - Google Patents

A kind of adjustable recovery training appliance for recovery of the both limbs direction of motion Download PDF

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Publication number
CN107320911B
CN107320911B CN201710710256.5A CN201710710256A CN107320911B CN 107320911 B CN107320911 B CN 107320911B CN 201710710256 A CN201710710256 A CN 201710710256A CN 107320911 B CN107320911 B CN 107320911B
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CN
China
Prior art keywords
lower extremity
fixed
limb
lower limb
shaft
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Application number
CN201710710256.5A
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Chinese (zh)
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CN107320911A (en
Inventor
段士攀
邵利洁
吴贵军
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Anyang District Hospital Of Puyang
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Anyang District Hospital Of Puyang
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Priority to CN201710710256.5A priority Critical patent/CN107320911B/en
Publication of CN107320911A publication Critical patent/CN107320911A/en
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Classifications

    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/12Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00Apparatus for passive exercising; Vibrating apparatus ; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/008Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters
    • A63B21/0083Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using hydraulic or pneumatic force-resisters of the piston-cylinder type
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12Driving means
    • A61H2201/1253Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A61H2201/1269Passive exercise driven by movement of healthy limbs
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1454Special bearing arrangements
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1602Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164Feet or leg, e.g. pedal
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16Physical interface with patient
    • A61H2201/1657Movement of interface, i.e. force application means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61HPHYSICAL 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
    • A61H2203/00Additional characteristics concerning the patient
    • A61H2203/04Position of the patient
    • A61H2203/0425Sitting on the buttocks
    • A61H2203/0431Sitting on the buttocks in 90°/90°-position, like on a chair
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63BAPPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B2208/00Characteristics or parameters related to the user or player
    • A63B2208/02Characteristics or parameters related to the user or player posture
    • A63B2208/0228Sitting on the buttocks
    • A63B2208/0233Sitting on the buttocks in 90/90 position, like on a chair

Abstract

It includes right side limb mechanism of upper that the present invention, which discloses a kind of adjustable recovery training appliance for recovery of the both limbs direction of motion, right side transmission mechanism, right side lower limb mechanism, lower limb bindiny mechanism, left side lower limb mechanism, left side transmission mechanism, left side limb mechanism of upper, right side limb mechanism of upper and left side limb mechanism of upper, right side transmission mechanism is symmetrical respectively about the symmetrical plane of pedestal left and right directions with left side transmission mechanism, right side limb mechanism of upper is connect by right side transmission mechanism with right side lower limb mechanism, realize reverse drive, right side lower limb mechanism is connect by lower limb bindiny mechanism with left side lower limb mechanism direction, left side lower limb mechanism is provided with and right side lower limb mechanism, or in conjunction with the belt wheel of left side lower limb mechanism loop or separator, lower limb bindiny mechanism connects damping mechanism, realize left and right sides recovery training appliance for recovery lower limbs in the same direction or counter motion, improve the rehabilitation of patient Training enjoyment.

Description

A kind of adjustable recovery training appliance for recovery of the both limbs direction of motion
Technical field
The present invention relates to a kind of adjustable recovery training appliance for recovery of the both limbs direction of motion, belong to rehabilitation medical instrument neck Domain.
Background technique
As the propulsion of process of industrialization, the accelerating rhythm of life, environmental pollution bring health problem gradually show, I State's apoplexy, hemiplegic patient's number increase year by year, and in this context, recovering undertaking is gradually developed, and are limbs disturbance Patient provides better rehabilitation chance, current four limbs linkage recovery training appliance for recovery one side functional bands one, i.e. bilateral limb The direction of motion of body be it is fixed, be unable to adjust, another aspect mechanism is complicated, at high cost, it is difficult to which that promoting in family care makes With.
The adjustable recovery training appliance for recovery of the both limbs direction of motion of the application being capable of paleocinetic limb by patient's Body provides power, is suitble to have the paleocinetic patient of limbs energy in patient limb, drives other limbs while moving, use Gear drive, tape handler, manufacturing cost is low, is suitable for family, medical institutions' use, using rack pinion machine Structure, rack drives guide rail slide block mechanism, slider-actuated damping oil cylinder, the fixing end of damping oil cylinder is adjustable to realize patient's difference fortune The damping load of dynamic position is realized left using gear drive, tape handler, leadscrew-nut mechanism, friction clutch mechanism Right side recovery training appliance for recovery lower limbs in the same direction or counter motion, improve the rehabilitation training enjoyment of patient, motivate the Rehabilitation confidence of patient, reach To preferable rehabilitation efficacy, realize that excessive change does not occur for patient's wrist joints sporting position and forearm using kink four bar linkage Shape improves the comfort level of patient, using bidirectional damper oil cylinder, can carry out different location load damping or be applied in combination, be suitble to The use of different patients, right lower extremity shaft left end cylindrical surface are rotatably assorted with lower limb copper sheathing, realize right lower extremity shaft and left lower extremity Shaft mutually supports, and improves the support stiffness of right lower extremity shaft, left lower extremity shaft, enables the patient to use in family care, Patient is facilitated to carry out rehabilitation training.
Summary of the invention
It is an object of the invention to: providing one kind for patient part's obstacle of limb movement being capable of paleocinetic limbs Movement, drives the recovery training appliance for recovery of other limbs Union Movements, left and right sides limb motion direction is convertible, the damping of limb motion Loading position is adjustable.
The object of the present invention is achieved like this: a kind of adjustable recovery training appliance for recovery of the both limbs direction of motion, including Pedestal 3, right side limb mechanism of upper 2, right side transmission mechanism 4, right side lower limb mechanism 5, lower limb bindiny mechanism 9, left side lower limb mechanism 6, Left side transmission mechanism 7, left side limb mechanism of upper 8, the seat 1 is fixed on the base 3, the symmetrical knot of pedestal 3 Structure, right side limb mechanism of upper 2 and left side limb mechanism of upper 8, right side transmission mechanism 4 and left side transmission mechanism 7 are respectively about pedestal 3 or so The symmetrical plane bilateral symmetry in direction.
The right side limb mechanism of upper 2 includes right connecting rod transmission mechanism, right palmar fixing device, right spindle 1, described Right palmar fixing device by right connecting rod transmission mechanism be sequentially connected right spindle 1.
The right side transmission mechanism 4 includes right support plate 41, right side belt wheel reverse drive mechanism, the right spindle one 214 are connect by right side belt wheel reverse drive mechanism with 51 reverse drive of right lower extremity shaft, and 41 lower end of right support plate is fixed on bottom On seat 3.
The right side lower limb mechanism 5 includes right lower extremity shaft 51, right crus of diaphragm attachment device, right lower extremity gear 56, described 51 right part of right lower extremity shaft and right support plate 41 are rotatablely connected, and fix right lower extremity gear 56, right lower extremity on the left of right lower extremity shaft 51 Right crus of diaphragm attachment device is fixedly connected in shaft 51.
The lower limb bindiny mechanism 9 include lower limb connection shaft 91, lower limb connection belt wheel 93, lower limb connection gear 94, Lower limb connect transmission belt 97, damping mechanism, and lower limb connect belt wheel 93 and connect 97 shape of transmission belt by lower limb with left lower extremity belt wheel 66 At V belt translation, lower limb connection belt wheel 93, lower limb connection gear 94 are fixed in lower limb connection shaft 91, lower limb connect shaft 91 or so Both ends are connected bearing bearing block 2 95 and are supported by fixed bearing bearing block 1 on the base 3, lower limb, lower limb connection gear 94 engage with right lower extremity gear 56, and lower limb connection gear 94 connects damping mechanism.
The left side lower limb mechanism 6 is substantially right about the symmetrical plane of 3 left and right directions of pedestal with right side lower limb mechanism 5 Claim, difference is, the left lower extremity shaft 61 is hollow structure, substitutes left lower extremity gear with left lower extremity belt wheel 66, and left For 66 loop of lower limb belt wheel in left lower extremity shaft 61, it further includes left lower extremity lead screw 624, a left side that difference, which also resides in left side lower limb mechanism 6, Lower limb nut 619, friction plate 1, friction plate 2 626, left friction plate 622, left lower extremity lead screw 624 and left lower extremity shaft 61 Left end rotation connection, 624 right end threaded engagement left lower extremity nut 619 of left lower extremity lead screw, the left lower extremity nut 619 is radial to be stretched Attachment beam 6192 out, 6192 top of attachment beam are provided with the crossbeam 6193 being circumferentially arranged along left lower extremity nut 619, and crossbeam 6193 is left The fixed left friction plate in side surface fixed friction piece 1,66 right side of left lower extremity belt wheel and the adaptable position of friction plate 1 622,6193 right lateral surface fixed friction piece 2 626 of crossbeam, 56 left side of right lower extremity gear and the adaptable position of friction plate 2 626 Fixed right friction plate 57,61 right side opening of left lower extremity shaft is equipped with the sliding groove 611 extended radially through, to adapt to left lower extremity The attachment beam 6192 that nut 619 stretches out slides in left-right direction, in the radial screw bore being arranged in the left lower extremity shaft 61 Screw tight fixed bolt 627, for realizing loosen or 61 inner hole of tightening left lower extremity shaft in the left lower extremity lead screw 624 that is coaxially disposed.
The lower limb connection gear 94 connects the structure of damping mechanism are as follows: the damping mechanism includes rack gear 96, straight Line guide rail 1, linear guide 2 99, damping oil cylinder 914, connection curved bar 911, the linear guide 1, linear guide two 99 fix on the base 3, sliding block 1 are installed in the linear guide 1, sliding block 1 is fixedly connected with rack gear 96, tooth Item 96 is engaged with lower limb connection gear 94, and the one end of connection curved bar 911 is fixedly connected with rack gear 96, connects the another of curved bar 911 End is in the hinge connection by connection pin 1 and the piston rod shape of damping oil cylinder 914, the oil of the damping oil cylinder 914 Cylinder fixing end is in the hinge connection by 9161 shape of boss being arranged on connection pin 2 915 and link block 916, and link block 916 is solid It is scheduled on sliding block 2 918, sliding block 2 918 is mounted in linear guide 2 99, and linear guide 1, linear guide 2 99 are along front and back Direction is horizontally disposed, and guide rail clamp 1, guide rail clamp 2 913 is respectively set in 2 99 front side of linear guide, rear side, leads Rail clamp 1, guide rail clamp 2 913 are separately installed with clamp handle 1, clamp handle 2 9131.
The structure that the right palmar fixing device passes through right connecting rod transmission mechanism transmission connection right spindle 1 are as follows: institute The right connecting rod transmission mechanism stated includes upper right connecting rod 21, upper right slide bar 25, right back link 28, bottom right slide bar 210, bottom right connecting rod 212,21 front end of upper right connecting rod is fixed on the left end of right spindle 1,25 front side of upper right slide bar with after upper right connecting rod 21 Side inner hole is slidably connected and slides fixed position-adjustable, and 25 rear end of upper right slide bar passes through right pin 1 and right back link 28 The connection of middle part hinge, connecting rod 212 front end in bottom right is rotatablely connected right pin 2 213, and right pin 2 213 is fixed on right support plate 41 On, slide bar 210 front side in bottom right is slidably connected with 212 rear side inner hole of bottom right connecting rod and slides fixed position-adjustable, and bottom right is sliding 210 rear end of bar is connect by right pin 3 29 with the lower end hinge of right back link 28, the fixed right side in right 28 upper end of back link Palmar fixing device.
What the right spindle 1 was connect by right side belt wheel reverse drive mechanism with 51 reverse drive of right lower extremity shaft Structure are as follows: the right side belt wheel reverse drive mechanism includes right transmission belt 42, right belt wheel 1, right belt wheel 2 410, right belt wheel 3 46, the right spindle 1 is rotatablely connected to middle part and right support plate 41, the fixed right side of one 214 right end of right spindle Belt wheel 1, right belt wheel 1 form V belt translation with right belt wheel 2 410 by right transmission belt 42, and right belt wheel 2 410 is fixed on the right side The right end of shaft 2 411, the left end of right spindle 2 411 and right support plate are rotatablely connected, and right belt wheel 3 46 is fitted in right transmission belt 42 outside, right belt wheel 3 46 are fixed on the right end of right lower extremity shaft 51, do not wind with belt wheel on the right transmission belt 42 Position setting is jagged, and notch both ends are connected with extension spring 421, to realize the right transmission belt 42 of tensioning, Left Drive band 72, under Limb connection transmission belt 97 is provided with tensioning mode identical with right transmission belt 42.
The structure of right crus of diaphragm attachment device is fixedly connected in right lower extremity shaft 51 are as follows: the fixed device of the right crus of diaphragm includes right crus of diaphragm Connection frame 53, right crus of diaphragm palmrest plate 55, right crus of diaphragm bandage 54, the right lower extremity shaft 51 are anchored the right foot the lower end of connection frame 53, right The horizontal axis of 53 upper end edge left and right horizontal of foot connection frame setting and 55 rear of right crus of diaphragm palmrest plate, lower end are rotatablely connected, right crus of diaphragm palmrest plate Right crus of diaphragm bandage 54 described in upper setting.
The structure of the fixed right palmar fixing device in right 28 upper end of back link are as follows: the fixed right hand in right 28 upper end of back link slaps frame 26 Lower end, is provided with right hand bandage 23 on right hand palm frame 26, is fixed with right hand sponge 24 on right hand palm frame 26.
The structure that the left end of the left lower extremity lead screw 624 and left lower extremity shaft 61 is rotatablely connected are as follows: left lower extremity shaft 61 It is pierced by the fixed left lower extremity lead screw rotation support device 623 of left belt wheel 3 76 to the left, left lower extremity lead screw rotation support device 623 rotates The left part of left lower extremity lead screw 624, the fixed left lower extremity handwheel 625 in 624 left end of left lower extremity lead screw are supported, the left lower extremity lead screw turns Movable support device 623 includes round bearing seat 6231, left lower extremity bearing 1, left lower extremity bearing 2 6233, embedded end cap 6234, circlip 1, circlip 2 6235, the inner hole peace of left lower extremity bearing 1, left lower extremity bearing 2 6233 624 left part of left lower extremity lead screw is filled, left lower extremity bearing 1, left lower extremity bearing 2 6233 are the angular contact that back-to-back mode is installed Ball bearing, the fixed round bearing seat 6231 in 61 left end of left lower extremity shaft, 6231 inner hole of round bearing seat install left lower extremity bearing one 6232, left lower extremity bearing 2 6233, the inner hole left end of round bearing seat 6231 are threaded hole, and the inner hole of round bearing seat 6231 is left End screws embedded end cap 6234, and right side is flexible in the installation of fitting one 6232 position of left lower extremity bearing on left lower extremity lead screw 624 Retaining ring 1 installs circlip 2 6235 in left side fitting 2 6233 position of left lower extremity bearing on left lower extremity lead screw 624.
The structure of the damping oil cylinder 914 are as follows: oil cylinder piston 9142, oil cylinder piston are equipped in oil cylinder shell 9144 It is provided with the damping hole 9145 for axially penetrating through oil cylinder piston 9142 on 9142, is fixed with piston rod 9141 on oil cylinder piston 9142, It is provided with oil cylinder fixing end 9143 on oil cylinder shell, is filled with viscous liquid in oil cylinder shell 9144.
51 left end cylindrical surface of right lower extremity shaft is rotatably assorted with left lower extremity shaft 61, to realize right lower extremity shaft 51 and a left side Lower limb shaft 61 mutually supports.
Lower limb connection shaft 91 is located at front, the lower section of right lower extremity shaft 51, prevents rack gear 96 from colliding right lower extremity gear 56.
Compared with prior art, the present invention has the advantage that
1. using rack and pinion drive mechanism, rack drives guide rail slide block mechanism, slider-actuated damping oil cylinder, damping oil cylinder The adjustable damping load for realizing patient's different motion position of fixing end;
2. realizing left and right sides lower limb using gear drive, tape handler, leadscrew-nut mechanism, friction clutch mechanism Recovery training appliance for recovery in the same direction or counter motion, improve the rehabilitation training enjoyment of patient, motivate the Rehabilitation confidence of patient, reach preferable Rehabilitation efficacy;
3. realizing that excessive deformation does not occur for patient's wrist joints sporting position and forearm using kink four bar linkage, improve The comfort level of patient;
4. using bidirectional damper oil cylinder, different location load damping can be carried out or being applied in combination, it is suitble to different patients' It uses;
5. right lower extremity shaft left end cylindrical surface is rotatably assorted with lower limb copper sheathing, right lower extremity shaft and left lower extremity shaft phase are realized Mutually support improves the support stiffness of right lower extremity shaft, left lower extremity shaft.
Detailed description of the invention
Fig. 1 is the adjustable recovery training appliance for recovery overall construction drawing of the both limbs direction of motion.
Fig. 2 is right side upper and lower extremities mechanism driving structural schematic diagram.
Fig. 3 is right side limb mechanism of upper structural schematic diagram one.
Fig. 4 is right side limb mechanism of upper structural schematic diagram two.
Fig. 5 is right side lower limb mechanism structural scheme of mechanism.
Fig. 6 is lower limb bindiny mechanism schematic diagram one.
Fig. 7 is lower limb bindiny mechanism schematic diagram two.
Fig. 8 is left side lower limb mechanism schematic diagram.
Fig. 9 is left side upper and lower extremities mechanism driving structural schematic diagram.
Figure 10 is left side lower limb mechanism drive mechanism schematic diagram.
Figure 11 is left side limb mechanism of upper structural schematic diagram.
Figure 12 is left side lower limb and right side lower limb mechanism attachment structure schematic diagram.
Figure 13 is left side lower limb and right side lower limb mechanism connection structure cross-sectional view.
Figure 14 is the screw rod mounting structure schematic diagram of left side lower limb mechanism.
Figure 15 is the screw rod mounting structure enlarged diagram of left side lower limb mechanism.
Figure 16 is damping oil cylinder structural schematic diagram.
Figure 17 is left side transmission belt tension structure schematic diagram.
Figure 18 is right crus of diaphragm connection frame and right crus of diaphragm palmrest board connecting structure schematic diagram.
Figure 19 is the structural schematic diagram of left lower extremity nut.
Specific embodiment
In conjunction with Fig. 1~19, a kind of adjustable recovery training appliance for recovery of the both limbs direction of motion of the invention, including seat 1, Pedestal 3, right side limb mechanism of upper 2, right side transmission mechanism 4, right side lower limb mechanism 5, lower limb bindiny mechanism 9, left side lower limb mechanism 6, Left side transmission mechanism 7, left side limb mechanism of upper 8 are seated at bearing definition left and right directions when seat according to people, in order to describe this Shen Please, the seat 1 is fixed on the base 3, the symmetrical structure of pedestal 3, right side limb mechanism of upper 2 and left side upper limb The symmetrical plane bilateral symmetry of mechanism 8, right side transmission mechanism 4 and left side transmission mechanism 7 respectively about 3 left and right directions of pedestal, the right side Side lower limb mechanism 5 and symmetrical plane almost symmetry of the left side lower limb mechanism 6 about 3 left and right directions of pedestal.
The right side limb mechanism of upper 2 includes upper right connecting rod 21, right holding screw 1, upper right slide bar 25, right pin one 27, right back link 28, right pin 3 29, bottom right slide bar 210, right holding screw 2 211, bottom right connecting rod 212, right pin 2 213, The right hand slaps frame 26, right hand bandage 23, right hand sponge 24, right spindle 1, and 21 front end of upper right connecting rod is fixed on right spindle One 214 left end, is hollow structure on rear side of upper right connecting rod 21, and 25 front side of upper right slide bar connects with the sliding of 21 rear side inner hole of upper right connecting rod It connects, 21 rear end side surface of upper right connecting rod is provided with right holding screw 1, for realizing upper right slide bar 25 on upper right connecting rod 21 Sliding position fix, 25 rear end of upper right slide bar is connect by right pin 1 with the middle part hinge of right back link 28, bottom right company 212 front end of bar is rotatablely connected the left end of right pin 2 213, and right 2 213 right end of pin is fixed in right support plate 41, right pin two 213 are located at immediately below right spindle 1, are hollow structure, 210 front side of bottom right slide bar and bottom right connecting rod on rear side of bottom right connecting rod 212 212 rear side inner holes are slidably connected, and connecting rod 212 rear end side surface in bottom right is provided with right holding screw 2 211, sliding for realizing bottom right Sliding position of the bar 210 on bottom right connecting rod 212 is fixed, and slide bar 210 rear end in bottom right passes through right pin 3 29 and right back link 28 The connection of lower end hinge, the lower end of the fixed right hand palm frame 26 in right 28 upper end of back link is provided with right hand bandage on right hand palm frame 26 23, the right hand is slapped on frame 26 and is fixed with right hand sponge 24, and for being bonded patient's right hand centre of the palm, the right hand for improving patient is slapped when fixing Comfort level, upper right connecting rod 21, upper right slide bar 25, bottom right connecting rod 212, bottom right slide bar 210, right back link 28,41 shape of right support plate At four-bar linkage, to realize patient's right hand palm lift or dropping process in, wrist joint angle change is small as far as possible, improves and suffers from The comfort level of person's palm grip.
The right side transmission mechanism 4 include right support plate 41, right transmission belt 42, right belt wheel 1, right belt wheel 2 410, Right belt wheel 3 46, right bearing bearing block 1, right bearing bearing block 2 49, right bearing bearing block 3 47, the right spindle one 214 are mounted in the inner hole of right bearing bearing block 1 in the middle part of it after right support plate 41 to the right, right bearing bearing block 1 It is fixed on 41 upper end of right support plate, the fixed right belt wheel 1 of one 214 right end of right spindle, right belt wheel 1 passes through right transmission Band 42 and right belt wheel 2 410 form V belt translation, and right belt wheel 2 410 is fixed on the right end of right spindle 2 411, right spindle 2 411 Left end is mounted in the inner hole of right bearing bearing block 2 49, and right bearing bearing block 2 49 is fixed on lower end on the right side of right support plate, right Belt wheel 3 46 is fitted in the outside of right transmission belt 42, to realize right belt wheel 3 46 and right belt wheel 1 rotation direction on the contrary, Patient's upper and lower extremities direction of motion is realized on the contrary, improving the comfort level of Rehabilitation, right belt wheel 3 46 is fixed on right lower extremity shaft 51 Right end, 51 right part of right lower extremity shaft is mounted in the inner hole of right bearing bearing block 3 47, and right bearing bearing block 3 47 is fixed on In the right lateral surface of right support plate 41, right belt wheel 3 46 is located at top, the rear of right belt wheel 2 410.
The right side lower limb mechanism 5 is tied up including right lower extremity shaft 51, right crus of diaphragm connection frame 53, right lower extremity gear 56, right crus of diaphragm Band 54, right crus of diaphragm palmrest plate 55, right lower extremity bearing bearing block 52, right friction plate 57.It is mounted in the middle part of the right lower extremity shaft 51 In the inner hole of right lower extremity bearing bearing block 52, right lower extremity bearing bearing block 52 is fixed on the base 3, solid on the left of right lower extremity shaft 51 Determine right lower extremity gear 56, the fixed right lower extremity shaft 51 in the lower end of right crus of diaphragm connection frame 53,53 upper end edge left and right horizontal of right crus of diaphragm connection frame The horizontal axis 531 of setting and 55 rear of right crus of diaphragm palmrest plate, lower end are rotatablely connected, and are provided with right crus of diaphragm bandage 54 on right crus of diaphragm palmrest plate, right Foot connection frame 53 is located between right lower extremity bearing bearing block 52 and right lower extremity gear 56.
The lower limb bindiny mechanism 9 include lower limb connection shaft 91, lower limb connection belt wheel 93, lower limb connection gear 94, Lower limb connection transmission belt 97, lower limb connection bearing bearing block 1, lower limb connection bearing bearing block 2 95, rack gear 96, straight line are led Rail 1, linear guide 2 99, sliding block 1, sliding block 2 918, damping oil cylinder 914, connection curved bar 911, connection pin one 912, connect pin 2 915, guide rail clamp 1, guide rail clamp 2 913, link block 916, lower limb connect shaft 91 from Right part successively fixes lower limb connection gear 94 to left part, lower limb connect belt wheel 93, and lower limb connection 91 left and right ends of shaft are pacified respectively In the inner hole that lower limb connection bearing bearing block 1, lower limb connect bearing bearing block 2 95, lower limb connect bearing bearing block One 92, lower limb connection bearing bearing block 2 95 is fixed on the base 3, and lower limb connection belt wheel 93 and left lower extremity belt wheel 66 pass through lower limb Connect transmission belt 97 and form V belt translation, lower limb connection gear 94 engages with right lower extremity gear 56, to realize right lower extremity gear 56, The rotation direction of left lower extremity belt wheel 66 is opposite always.
The linear guide 1, linear guide 2 99 are fixed on the base 3, install in the linear guide 1 The sliding block 1, one 910 stationary rack of sliding block, 96 lower surface, rack gear 96 and lower limb connection gear 94 form rack-and-pinion Transmission, lower limb connection shaft 91 are located at front, the lower section of right lower extremity shaft 51, prevent rack gear 96 from colliding right lower extremity gear 56, institute The connection curved bar 911 stated is L-shaped, and L shape one side end of connection curved bar 911 is fixedly connected with the front end of rack gear 96, connects curved bar 911 L shape another side end by connection pin 1 and the piston rod shape of damping oil cylinder 914 be in the hinge connection, the resistance The oil cylinder fixing end of Buddhist nun's oil cylinder 914 forms hinge by the boss 9161 being arranged on connection pin 2 915 and link block 916 and connects It connects, link block 916 is fixed on sliding block 2 918, and sliding block 2 918 is mounted in linear guide 2 99, linear guide 1, straight line Guide rail 2 99 is horizontally disposed with along the longitudinal direction.
Guide rail clamp 1, guide rail clamp 2 913 is respectively set in 2 99 front side of linear guide, rear side, and guide rail is clamped down on Device 1, guide rail clamp 2 913 are separately installed with clamp handle 1, clamp handle 2 9131, pass through rotary clamp Device handle 1 processed unclamps guide rail clamp, adjusts position of the moving guide rail clamp 1 in linear guide 2 99, Rotation clamp handle 1 is fixed on guide rail clamp in linear guide 2 99, and same mode adjusts guide rail clamp The 2 913 fixation position in linear guide 2 99, it is described for realizing the initial position for adjusting exercise-based rehabilitation program on patients damping Damping oil cylinder 914 is two-way resistance oil cylinder, i.e. the piston rod of damping oil cylinder 914 pulls out, pushes back process and be damped.
The left side lower limb mechanism 6 is tied up including left lower extremity shaft 61, left foot connection frame 63, left lower extremity belt wheel 66, left foot Band 64, left foot palmrest plate 65, left lower extremity bearing bearing block 62.Left lower extremity bearing axis is mounted in the middle part of the left lower extremity shaft 61 In the inner hole for holding seat 62, on 62 firm banking 3 of left lower extremity bearing bearing block, 61 right side loop of left lower extremity shaft the lower-left Limb girdle wheel 66, the lower end of the fixed left foot connection frame 63 of left lower extremity shaft 61, the setting of 63 upper end edge left and right horizontal of left foot connection frame Horizontal axis and 65 rear of left foot palmrest plate, lower end are rotatablely connected, and are provided with left foot bandage 64, left foot connection frame 63 on left foot palmrest plate Between left lower extremity bearing bearing block 62 and left lower extremity belt wheel 66.
The left side transmission mechanism 7 include left support plate 71, Left Drive band 72, left belt wheel 1, left belt wheel 2 710, Left belt wheel 3 76, left bearing bearing block 1, left bearing bearing block 2 79, left bearing bearing block 3 77, the left rotary shaft one 814 middle part after left support plate 71 is mounted in the inner hole of left bearing bearing block 1, and left bearing bearing block 1 is fixed In 71 upper end of left support plate, the fixed left belt wheel 1 in one 814 left end of left rotary shaft, left belt wheel 1 passes through Left Drive band 72 V belt translation is formed with left belt wheel 2 710, left belt wheel 2 710 is fixed on the left end of left rotary shaft 2 711, the left end of left rotary shaft 2 711 It is mounted in the inner hole of left bearing bearing block 2 79, left bearing bearing block 2 79 is fixed on 71 left side lower end of left support plate, left band 3 76 outsides for being fitted in Left Drive band 72 are taken turns, to realize the rotation direction of left belt wheel 3 76 and left belt wheel 1 on the contrary, reality For existing patient's upper and lower extremities direction of motion on the contrary, improving the comfort level of Rehabilitation, left belt wheel 3 76 is fixed on left lower extremity shaft 61 Left end, 61 left part of left lower extremity shaft are mounted in the inner hole of left bearing bearing block 3 77, and left bearing bearing block 3 77 is fixed on a left side In the left-hand face of support plate 71, left belt wheel 3 76 is located at top, the rear of left belt wheel 2 710.
The left side limb mechanism of upper 8 includes upper left connecting rod 81, left holding screw 1, upper left slide bar 85, left pin one 87, left back connecting rod 88, left pin 3 89, lower-left slide bar 810, left holding screw 2 811, left lower link 812, left pin 2 813, Left hand slaps frame 86, left hand bandage 83, left hand sponge 84, left rotary shaft 1, and 81 front end of upper left connecting rod is fixed on left rotary shaft One 814 right end, is hollow structure on rear side of upper left connecting rod 81, and slide bar 85 front side in upper left connects with the sliding of 81 rear side inner hole of upper left connecting rod It connects, connecting rod 81 rear end side surface in upper left is provided with left holding screw 1, for realizing upper left slide bar 85 on upper left connecting rod 81 Sliding position fix, slide bar 85 rear end in upper left is connect by left pin 1 with the middle part hinge of left back connecting rod 88, lower-left company 812 front end of bar is rotatablely connected the right end of left pin 2 813, and left 2 813 left end of pin is fixed in left support plate 71, left pin two 813 are located at immediately below left rotary shaft 1, are hollow structure, 810 front side of lower-left slide bar and left lower link on rear side of left lower link 812 812 rear side inner holes are slidably connected, and 812 rear end side surface of left lower link is provided with left holding screw 2 811, sliding for realizing lower-left Sliding position of the bar 810 on left lower link 812 is fixed, and slide bar 810 rear end in lower-left passes through left pin 3 89 and left back connecting rod 88 The connection of lower end hinge, the lower end of the fixed left hand palm frame 86 in left back 88 upper end of connecting rod is provided with left hand bandage on left hand palm frame 86 83, left hand is slapped on frame 86 and is fixed with left hand sponge 84, and for being bonded patient's left hand centre of the palm, the left hand for improving patient is slapped when fixing Comfort level.
The left side lower limb mechanism 6 further includes lower limb lead screw rotation support device 623, left lower extremity lead screw 624, left lower extremity Handwheel 625, left lower extremity nut 619, left lower extremity copper sheathing 620, friction plate 1, left friction plate 622, friction plate 2 626, it is described Left lower extremity shaft 61 be hollow structure, left lower extremity shaft 61 is pierced by the fixed left lower extremity lead screw rotational support of left belt wheel 3 76 to the left Device 623, the left part of 623 rotational support left lower extremity lead screw 624 of left lower extremity lead screw rotation support device, left lower extremity lead screw 624 are left Hold fixed left lower extremity handwheel 625,624 right end of left lower extremity lead screw is provided with left lower extremity nut 619, in left lower extremity shaft 61 Hole is equipped with left lower extremity copper sheathing 620,620 inner hole of the left lower extremity copper sheathing installation left lower extremity nut 619, to support left lower extremity Nut 619 and therewith formation are slidably matched, and 51 left end cylindrical surface of right lower extremity shaft is rotatably assorted with lower limb copper sheathing 620, to reality Existing right lower extremity shaft 51 is mutually supported with left lower extremity shaft 61, and the left lower extremity nut 619 is upwards with lower section about center Attachment beam 6192 is symmetrically stretched out, 6192 top of attachment beam is provided with the crossbeam 6193 being circumferentially arranged along left lower extremity nut 619, horizontal 6193 left-hand face fixed friction piece 1 of beam, 66 right side of left lower extremity belt wheel and the adaptable position of friction plate 1 are fixed left Friction plate 622, friction plate 1, left friction plate 622 form friction auxiliary driving, 6193 right lateral surface fixed friction piece two of crossbeam 626, the fixed right friction plate 57 in 56 left side of right lower extremity gear and the adaptable position of friction plate 2 626, friction plate 2 626, the right side are rubbed Pad 57 forms friction auxiliary driving, and 61 right side opening of left lower extremity shaft is equipped with the sliding groove 611 extended radially through, to adapt to The attachment beam 6192 that left lower extremity nut 619 stretches out slides in left-right direction, and same 620 right side of left lower extremity copper sheathing also offers radial direction Perforative slot is located at left lower extremity bearing axis to realize that 6192 left and right directions of attachment beam slides in the left lower extremity shaft 61 It holds and screws tight fixed bolt 627 in the radial screw bore being arranged between seat 62 and left support plate 71, tight fixed bolt upper end is provided with tightly Determine handwheel, realizes that 627 lower end of tight fixed bolt holds out against left lower extremity lead screw 624 and prevents left lower extremity lead screw 624 by screwing in tightening handwheel It rotates, when screwing out tightening handwheel, rotation left lower extremity lead screw 624 realizes that left lower extremity nut 619 moves in left-right direction.
The left lower extremity lead screw rotation support device 623 includes round bearing seat 6231, left lower extremity bearing 1, a left side Lower limb bearing 2 6233, embedded end cap 6234, circlip 1, circlip 2 6235, left lower extremity bearing 1, The inner hole of left lower extremity bearing 2 6233 installs 624 left part of left lower extremity lead screw, left lower extremity bearing 1, left lower extremity bearing 2 6233 For the angular contact ball bearing that back-to-back mode is installed, the fixed round bearing seat 6231 in 61 left end of left lower extremity shaft, round bearing seat 6231 inner holes install left lower extremity bearing 1, left lower extremity bearing 2 6233, and the inner hole left end of round bearing seat 6231 is screw thread Hole, the inner hole left end of round bearing seat 6231 screw embedded end cap 6234, and right side is in fitting left lower extremity on left lower extremity lead screw 624 One 6232 position of bearing is equipped with circlip 1, is bonded left lower extremity bearing 2 6233 in left side on left lower extremity lead screw 624 Position is installed by circlip 2 6235.
The structure of the damping oil cylinder 914 is to be equipped with oil cylinder piston 9142, oil cylinder piston in oil cylinder shell 9144 It is provided with the damping hole 9145 for axially penetrating through oil cylinder piston 9142 on 9142, is fixed with piston rod 9141 on oil cylinder piston 9142, It is provided with oil cylinder fixing end 9143 on oil cylinder shell, is filled with viscous liquid in oil cylinder shell 9144.
Jagged, notch both ends extension spring 421 is arranged in position on the right transmission belt 42 not with belt wheel winding Connection, to realize that the right transmission belt 42 of tensioning, the Left Drive band 72, lower limb connection transmission belt 97 are provided with and right transmission The identical tensioning mode of band 42.
Rehabilitation is sitting on seat 1, if the right side upper limb of patient can autokinetic movement, need the other of rehabilitation When limbs, the right hand centre of the palm of patient is attached on right hand sponge 24, unscrews right holding screw 1, right holding screw 2 211, is adjusted The front-rear position of upper right slide bar 25, bottom right slide bar 210 is saved, to adapt to the length of upper limb on the right side of patient, right hand bandage 23 is tightened, revolves Tight right holding screw 1, right holding screw 2 211, the right side palm of immobilized patients, above-mentioned same mode immobilized patients The right crus of diaphragm of patient is placed on right crus of diaphragm palmrest plate 55 by left side palm, tightens right crus of diaphragm bandage 54, same mode immobilized patients Left foot, unscrews tight fixed bolt 627, rotates left lower extremity handwheel 625, and left lower extremity lead screw 624 drives left lower extremity nut 619 to moving to left It is dynamic, it is bonded friction plate 1, left friction plate 622, tight fixed bolt 627 is screwed, left lower extremity lead screw 624 is made not rotate, is suffered from The movement of person's right upper extremity drives, and drives right belt wheel 3 46 to rotate backward by right belt wheel 1, right lower extremity shaft 51 drives right crus of diaphragm to connect The rotation of frame 53 is connect, right crus of diaphragm palmrest plate 55 drives the right lower extremity movement of patient, and right lower extremity gear 56 is engaged with lower limb connection gear 94, Lower limb connect belt wheel 93 and connect the drive rotation of left lower extremity belt wheel 66 of transmission belt 97 by lower limb, pass through friction plate 1, left friction The frictional drive of piece 622 drives left lower extremity nut 619 to rotate, and the attachment beam 6192 that left lower extremity nut 619 stretches out drives left lower extremity Shaft 61 rotates, and the left lower extremity movement of patient is realized, since right side transmission mechanism 4 and left side transmission mechanism 7 are about pedestal 3 or so The symmetrical plane bilateral symmetry in direction, right side lower limb mechanism 5 is with left side lower limb mechanism 6 about the symmetrical of 3 left and right directions of pedestal, reality The left side upper extremity exercise of existing patient, if the autokinetic movement of patient needs to increase damping force, unscrew clamp handle 1, Clamp handle 2 9131, the both ends of adjustment guide rail clamp 1,2 913 clamping fixed sliding block 2 918 of guide rail clamp, When limbs of patient moves, damping oil cylinder 914 provides resistance always.
If on patient's upper limb lift when strength it is small, and upper limb fall when strength it is big when, adjust damping oil cylinder 914 on lift when without , there are damping in damping, when whereabouts, need to adjust guide rail clamp 1 and are fixed on 2 99 middle position of linear guide, guide rail is clamped down on Device 2 913 is fixed on the rear end of linear guide 2 99.According to the needs of Rehabilitation training, adjusts guide rail clamp 1, leads Fixation position of the rail clamp 2 913 in linear guide 29, the loading position damped when realizing limbs of patient rehabilitation exercise. If patient motion does not need damping, adjustment guide rail clamp 1, guide rail clamp 2 913 are located at linear guide 2 99 Both ends.
If rotating left lower extremity handwheel 625, left lower extremity lead screw 624 drives left lower extremity nut 619 to move right, and makes friction plate One 621, left friction plate 622 is detached from, and is fixed right friction plate 57 on right lower extremity gear 56 and is not bonded with friction plate 2 626, right lower extremity Shaft 51 and left lower extremity shaft 61 are detached from, and realize that lower extremity movement is detached from the right side of the left side lower extremity movement and patient of patient, thus real Existing left side upper limb drives left side lower extremity movement or right side upper limb to drive right side lower extremity movement, to adapt to the needs of different patients.
If continuing to rotate left lower extremity handwheel 625, left lower extremity lead screw 624 drives left lower extremity nut 619 to move right, bottom right It fixes right friction plate 57 on limb gear 56 to be bonded with friction plate 2 626, right lower extremity shaft 51 is synchronous with left lower extremity shaft 61, Tongfang To rotation, left lower extremity belt wheel 66 dallies, and realizes that the both upper extremities of patient are equidirectional, the equidirectional movement of bilateral lower limb, realizes patient Rehabilitation exercise diversification, improve the rehabilitation interest of patient.
If the other limbs of patient can autokinetic movement, the only power source of driving in the drive path of recovery training appliance for recovery Position change, four limbs recovery training appliance for recovery equally realize four limbs rehabilitation exercise simultaneously.

Claims (10)

1. a kind of adjustable recovery training appliance for recovery of the both limbs direction of motion, including pedestal (3), right side limb mechanism of upper (2), right side Transmission mechanism (4), right side lower limb mechanism (5), lower limb bindiny mechanism (9), left side lower limb mechanism (6), left side transmission mechanism (7), Left side limb mechanism of upper (8), seat (1) are fixed on pedestal (3), and the pedestal (3) symmetrical structure, feature exists In: right side limb mechanism of upper (2) and left side limb mechanism of upper (8), right side transmission mechanism (4) and left side transmission mechanism (7) respectively about The symmetrical plane bilateral symmetry of pedestal (3) left and right directions;
The right side limb mechanism of upper (2) includes right connecting rod transmission mechanism, right palmar fixing device, right spindle one (214), described Right palmar fixing device by right connecting rod transmission mechanism transmission connection right spindle one (214);
The right side transmission mechanism (4) includes right support plate (41), right side belt wheel reverse drive mechanism, the right spindle one (214) it is connect by right side belt wheel reverse drive mechanism with right lower extremity shaft (51) reverse drive, right support plate (41) lower end is solid It is scheduled on pedestal (3);
The right side lower limb mechanism (5) includes right lower extremity shaft (51), right crus of diaphragm attachment device, right lower extremity gear (56), described Right lower extremity shaft (51) right part and right support plate (41) be rotatablely connected, fixed right lower extremity gear on the left of right lower extremity shaft (51) (56), right crus of diaphragm attachment device is fixedly connected in right lower extremity shaft (51);
The lower limb bindiny mechanism (9) includes lower limb connection shaft (91), lower limb connection belt wheel (93), lower limb connection gear (94), lower limb connect transmission belt (97), damping mechanism, and lower limb connection belt wheel (93) is connect with left lower extremity belt wheel (66) by lower limb Transmission belt (97) forms V belt translation, and lower limb connection belt wheel (93), lower limb connection gear (94) are fixed in lower limb connection shaft (91), Lower limb connect shaft (91) left and right ends and connect bearing axis by bearing bearing block one (92), the lower limb being fixed on pedestal (3) Seat two (95) support is held, lower limb connection gear (94) is engaged with right lower extremity gear (56), lower limb connection gear (94) connection damping Mechanism;
The left side lower limb mechanism (6) is substantially right about the symmetrical plane of pedestal (3) left and right directions with right side lower limb mechanism (5) Claim, difference is, the left lower extremity shaft (61) is hollow structure, substitutes right lower extremity gear with left lower extremity belt wheel (66) (56), and left lower extremity belt wheel (66) loop is on left lower extremity shaft (61), and difference also resides in left side lower limb mechanism (6) and further includes Left lower extremity lead screw (624), left lower extremity nut (619), friction plate one (621), friction plate two (626), left friction plate (622), it is left The left end of lower limb lead screw (624) and left lower extremity shaft (61) is rotatablely connected, left lower extremity lead screw (624) right end threaded engagement left lower extremity Nut (619), the left lower extremity nut (619) extend radially out attachment beam (6192), and attachment beam (6192) top is provided with edge The crossbeam (6193) that left lower extremity nut (619) is circumferentially arranged, crossbeam (6193) left-hand face fixed friction piece one (621), lower-left Limb girdle wheel (66) right side and friction plate one (621) are adapted the fixed left friction plate (622) in position, crossbeam (6193) right lateral surface Fixed friction piece two (626), right lower extremity gear (56) left side and friction plate two (626) are adapted the fixed right friction plate in position (57), left lower extremity shaft (61) right side opening is equipped with the sliding groove (611) extended radially through, to adapt to left lower extremity nut (619) attachment beam (6192) stretched out slides in left-right direction, the radial screw bore being arranged in the left lower extremity shaft (61) Tight fixed bolt (627) are screwed, inside for realizing loosening or tightening left lower extremity lead screw (624).
2. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 1, it is characterised in that: described The structure of lower limb connection gear (94) connection damping mechanism are as follows: the damping mechanism includes rack gear (96), linear guide one (98), linear guide two (99), damping oil cylinder (914), connection curved bar (911), the linear guide one (98), linear guide Two (99) are fixed on pedestal (3), install sliding block one (910) in the linear guide one (98), and sliding block one (910) is fixed to be connected It connects rack gear (96), rack gear (96) is engaged with lower limb connection gear (94), and the one end of connection curved bar (911) is fixedly connected with rack gear (96), the other end for connecting curved bar (911) is formed by the piston rod of connection pin one (912) and damping oil cylinder (914) cuts with scissors Chain link, the oil cylinder fixing end of the damping oil cylinder (914) in connection pin two (915) and link block (916) by being arranged Boss (9161) shape be in the hinge connection, link block (916) is fixed on sliding block two (918), and sliding block two (918) is mounted on straight line On guide rail two (99), linear guide one (98), linear guide two (99) are horizontally disposed with along the longitudinal direction, before linear guide two (99) Guide rail clamp one (919), guide rail clamp two (913) is respectively set in side, rear side, and guide rail clamp one (919), guide rail are clamped down on Device two (913) is separately installed with clamp handle one (9191), clamp handle two (9131).
3. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 1 or 2, it is characterised in that: institute The structure that the right palmar fixing device stated passes through right connecting rod transmission mechanism transmission connection right spindle one (214) are as follows: the right company Bar transmission mechanism includes upper right connecting rod (21), upper right slide bar (25), right back link (28), bottom right slide bar (210), bottom right connecting rod (212), described upper right connecting rod (21) front end is fixed on the left end of right spindle one (214), upper right slide bar (25) front side and upper right Inner hole is slidably connected and slides fixed position-adjustable on rear side of connecting rod (21), and upper right slide bar (25) rear end passes through right pin one (27) it is connect with the middle part hinge of right back link (28), connecting rod (212) front end in bottom right is rotatablely connected right pin two (213), right column Pin two (213) is fixed on right support plate (41), is connected on front side of bottom right slide bar (210) with inner hole sliding on rear side of bottom right connecting rod (212) Fixed position-adjustable is connect and slides, slide bar (210) rear end in bottom right passes through under right pin three (29) and right back link (28) Hold hinge connection, the fixed right palmar fixing device in right back link (28) upper end.
4. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 2, it is characterised in that: described Right spindle one (214) passes through the structure that right side belt wheel reverse drive mechanism is connect with right lower extremity shaft (51) reverse drive are as follows: institute The right side belt wheel reverse drive mechanism stated includes right transmission belt (42), right belt wheel one (44), right belt wheel two (410), right belt wheel three (46), the right spindle one (214) is rotatablely connected to middle part and right support plate (41), the fixed institute of right spindle one (214) right end The right belt wheel one (44) stated, right belt wheel one (44) form V belt translation, right belt wheel by right transmission belt (42) and right belt wheel two (410) Two (410) are fixed on the right end of right spindle two (411), and the left end of right spindle two (411) and right support plate are rotatablely connected, right belt wheel Three (46) are fitted in the outside of right transmission belt (42), and right belt wheel three (46) is fixed on the right end of right lower extremity shaft (51), described Position setting on right transmission belt (42) not with belt wheel winding is jagged, and notch both ends are connected with extension spring (421), to reality It is now tensioned right transmission belt (42), Left Drive band (72), lower limb connection transmission belt (97) are provided with identical as right transmission belt (42) Tensioning mode.
5. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 1 or 2, it is characterised in that: right The structure of right crus of diaphragm attachment device is fixedly connected in lower limb shaft (51) are as follows: the fixed device of the right crus of diaphragm includes right crus of diaphragm connection frame (53), right crus of diaphragm palmrest plate (55), right crus of diaphragm bandage (54), the right lower extremity shaft (51) are anchored the right foot under connection frame (53) End, the horizontal axis of right crus of diaphragm connection frame (53) upper end edge left and right horizontal setting and right crus of diaphragm palmrest plate (55) rear, lower end are rotatablely connected, right The right crus of diaphragm bandage (54) is set on sole supporting plate.
6. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 3, it is characterised in that: connect after right The structure of the fixed right palmar fixing device in bar (28) upper end are as follows: the lower end of fixed right hand palm frame (26) in right back link (28) upper end, It is provided with right hand bandage (23) on right hand palm frame (26), is fixed with right hand sponge (24) on right hand palm frame (26).
7. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 1 or 2, it is characterised in that: institute The structure that the left end of the left lower extremity lead screw (624) and left lower extremity shaft (61) stated is rotatablely connected are as follows: left lower extremity shaft (61) is to the left It is fixed left lower extremity lead screw rotation support device (623) to be pierced by left belt wheel three (76), left lower extremity lead screw rotation support device (623) turns The left part of dynamic support left lower extremity lead screw (624), left lower extremity lead screw (624) left end is fixed left lower extremity handwheel (625), the lower-left Limb lead screw rotation support device (623) includes round bearing seat (6231), left lower extremity bearing one (6232), left lower extremity bearing two (6233), embedded end cap (6234), circlip one (6236), circlip two (6235), left lower extremity bearing one (6232), The inner hole of left lower extremity bearing two (6233) installs left lower extremity lead screw (624) left part, left lower extremity bearing one (6232), left lower extremity bearing Two (6233) are the angular contact ball bearing that back-to-back mode is installed, the fixed round bearing seat in left lower extremity shaft (61) left end (6231), round bearing seat (6231) inner hole installs left lower extremity bearing one (6232), left lower extremity bearing two (6233), round bearing The inner hole left end of seat (6231) is threaded hole, and the inner hole left end of round bearing seat (6231) screws embedded end cap (6234), left Right side is equipped with circlip one (6236), left lower extremity in fitting left lower extremity bearing one (6232) position on lower limb lead screw (624) In left side fitting left lower extremity bearing two (6233) position installation circlip two (6235) on lead screw (624).
8. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 2, it is characterised in that: described The structure of damping oil cylinder (914) are as follows: be equipped with oil cylinder piston (9142) in oil cylinder shell (9144), oil cylinder piston is set on (9142) It is equipped with the damping hole (9145) for axially penetrating through oil cylinder piston (9142), is fixed with piston rod (9141) on oil cylinder piston (9142), It is provided on oil cylinder shell oil cylinder fixing end (9143), viscous liquid is filled in oil cylinder shell (9144).
9. the adjustable recovery training appliance for recovery of the both limbs direction of motion according to claim 1, it is characterised in that: right lower extremity Shaft (51) left end cylindrical surface is rotatably assorted with left lower extremity shaft (61), to realize right lower extremity shaft (51) and left lower extremity shaft (61) mutually support.
10. according to the adjustable recovery training appliance for recovery of the both limbs direction of motion as claimed in claim 2, it is characterised in that: lower limb connect Switch through front, lower section that axis (91) is located at right lower extremity shaft (51), prevents rack gear (96) from colliding right lower extremity gear (56).
CN201710710256.5A 2017-08-18 2017-08-18 A kind of adjustable recovery training appliance for recovery of the both limbs direction of motion Active CN107320911B (en)

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CN108479001B (en) * 2018-05-29 2024-03-19 安阳师范学院 Device for driving part of limbs to actively move to drive other limbs to move
CN108433944B (en) * 2018-05-29 2024-02-06 安阳师范学院 Autonomous motion bilateral limb tractor
CN108618936B (en) * 2018-05-29 2020-01-24 福建江夏学院 Gait movement rehabilitation training device
CN108938323B (en) * 2018-05-29 2020-03-31 安阳师范学院 Four limbs rehabilitation training device with motion angle detects
CN108721834B (en) * 2018-05-29 2020-04-07 安阳工学院 Bilateral limb synchronous movement device
CN109701222B (en) * 2019-02-19 2024-03-01 河南省祥和康复产业技术研究院有限责任公司 Multifunctional upper limb trainer
CN112023358B (en) * 2020-09-15 2021-06-22 安阳工学院 Ball ejection upper limb training device with electronic counting function
CN112121365B (en) * 2020-09-21 2021-08-31 安阳工学院 Upper limb rehabilitation training device with ball rotating on annular track
CN112618251B (en) * 2020-11-30 2022-05-31 中国人民解放军陆军军医大学第一附属医院 Rehabilitation training device for muscle injury of lower limbs

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US7841973B2 (en) * 2007-01-21 2010-11-30 Jerome Trancart Stretch pal exercise set
CN103505342B (en) * 2013-10-16 2014-12-17 河北工业大学 External skeleton type gait rehabilitation training device
CN106963601B (en) * 2017-05-18 2019-02-22 安阳工学院 A kind of four limbs Union Movement recovery training appliance for recovery

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