CN107496135A - A kind of adjustable four limbs recovery training appliance for recovery of resistance positions - Google Patents

A kind of adjustable four limbs recovery training appliance for recovery of resistance positions Download PDF

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Publication number
CN107496135A
CN107496135A CN201710710240.4A CN201710710240A CN107496135A CN 107496135 A CN107496135 A CN 107496135A CN 201710710240 A CN201710710240 A CN 201710710240A CN 107496135 A CN107496135 A CN 107496135A
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CN
China
Prior art keywords
lower extremity
belt wheel
lower limb
rotating shaft
bearing
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Granted
Application number
CN201710710240.4A
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Chinese (zh)
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CN107496135B (en
Inventor
朱华伟
任保仙
邓建中
齐进兴
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 CN201710710240.4A priority Critical patent/CN107496135B/en
Publication of CN107496135A publication Critical patent/CN107496135A/en
Application granted granted Critical
Publication of CN107496135B publication Critical patent/CN107496135B/en
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    • 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
    • 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
    • A63B21/00178Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • 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
    • 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
    • A61H2201/1276Passive exercise driven by movement of healthy limbs by the other leg or arm
    • 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
    • A61H2201/1635Hand or arm, e.g. handle
    • A61H2201/1638Holding means therefor
    • 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
    • A61H2201/1642Holding means therefor
    • 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/06Arms
    • 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
    • A61H2205/00Devices for specific parts of the body
    • A61H2205/10Leg

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Biophysics (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The present invention, which discloses a kind of adjustable four limbs recovery training appliance for recovery of resistance positions, includes right side rehabilitation training of upper limbs mechanism,Right side transmission mechanism,Right side lower limb rehabilitation training mechanism,Left side lower limb rehabilitation training mechanism,Left side transmission mechanism,Left side rehabilitation training of upper limbs mechanism,Right side rehabilitation training of upper limbs mechanism and left side rehabilitation training of upper limbs mechanism,Right side transmission mechanism is symmetrical on the symmetrical plane of base left and right directions with left side transmission mechanism,Right side rehabilitation training of upper limbs mechanism is connected by right side transmission mechanism with right side lower limb rehabilitation training mechanism reverse drive,Damping position regulator is provided with the lower limb rehabilitation training mechanism of right side,The difference of left side lower limb rehabilitation training mechanism and right side lower limb rehabilitation training mechanism is that left side lower limb rehabilitation training mechanism is additionally provided with and combined with left side lower limb rehabilitation training mechanism or separator,Left side lower limb rehabilitation training mechanism is connected with right side lower limb rehabilitation training mechanism by reversing-gear,Resistance positions are adjustable,It is adapted to the needs of different patients.

Description

A kind of adjustable four limbs recovery training appliance for recovery of resistance positions
Technical field
The present invention relates to a kind of adjustable four limbs recovery training appliance for recovery of resistance positions, belong to rehabilitation medical instrument field.
Background technology
China's cardiovascular and cerebrovascular disease, brain trauma, the patient of limb injury increase year by year, and rejuvenation trend is obvious, greatly There is different degrees of obstacle of limb movement in some patientss, and limbs of patient is stimulated by rehabilitation training, makes patient Motor function to be restored be relatively common rehabilitation maneuver at present, and on the one hand current recovery training appliance for recovery relies on import and showed It is expensive as serious;On the other hand, current recovery training appliance for recovery function is single, and the patient feels are dry as dust, does not reach optimal Therapeutic effect.
The adjustable four limbs recovery training appliance for recovery of resistance positions of the application drives without exterior power, is adapted in patient's four limbs There is a paleocinetic patient of limbs energy, drive other limbs while move, using tape handler, manufacture, installation cost It is low, used suitable for family, medical institutions, the slider-crank mechanism using damper as connecting rod, realize patient's different motion position The damping loading put, realize that with forearm excessive deformation does not occur for patient's wrist joints sporting position using kink four bar linkage, The comfort level of patient is improved, left and right sides lower limb health is realized using screw-nut body, friction plate, dental inlay mechanism, tape handler Multiple training aids in the same direction or counter motion, improves the rehabilitation training enjoyment of patient, encourages the Rehabilitation confidence of patient, reach preferable health Multiple effect.
The content of the invention
It is an object of the invention to:An a kind of autonomous rehabilitation exercise of limbs is provided for obstacle of limb movement patient, Drive the recovery training appliance for recovery of other limbs Union Movements, the damping position-adjustable of four limbs linkage, left and right sides limb motion direction It is adjustable.
The object of the present invention is achieved like this:A kind of adjustable four limbs recovery training appliance for recovery of resistance positions include seat 1, Base 3, right side rehabilitation training of upper limbs mechanism 2, right side transmission mechanism 4, right side lower limb rehabilitation training mechanism 5, lower limb bindiny mechanism 9th, left side lower limb rehabilitation training mechanism 6, left side transmission mechanism 7, left side rehabilitation training of upper limbs mechanism 8, described seat 1 are fixed on On base 3, described 3 symmetrical structure of base, right side rehabilitation training of upper limbs mechanism 2 and left side rehabilitation training of upper limbs mechanism 8th, right side transmission mechanism 4 and left side transmission mechanism 7 are symmetrical respectively about the symmetrical plane of the left and right directions of base 3;
Described right side rehabilitation training of upper limbs mechanism 2 includes right connecting rod transmission mechanism, right palmar fixing device, right spindle 1, Described right palmar fixing device passes through right connecting rod transmission mechanism drive connection right spindle 1.
Described right side transmission mechanism 4 includes right support plate 41, right side belt wheel reverse drive mechanism, described right spindle one 214 are connected by right side belt wheel reverse drive mechanism with the reverse drive of right lower extremity rotating shaft 51.
Described right side lower limb rehabilitation training mechanism 5 includes right lower extremity rotating shaft 51, right crus of diaphragm attachment means, right lower extremity belt wheel 56th, right damping regulator, the described right part of right lower extremity rotating shaft 51 are rotatablely connected with right support plate 41, the left side of right lower extremity rotating shaft 51 Right lower extremity belt wheel 56 is fixed, right damping regulator and right crus of diaphragm attachment means are fixedly connected with right lower extremity rotating shaft 51.
Described lower limb bindiny mechanism 9 by the lower limb in lower limb bindiny mechanism by connecting transmission belt 97 and right lower extremity band Wheel 56 and left lower extremity belt wheel 66 connect, to realize that right lower extremity belt wheel 56 is opposite with the rotation direction of left lower extremity belt wheel 66.
Described left side lower limb rehabilitation training mechanism 6 is with right side lower limb rehabilitation training mechanism 5 on the left and right directions of base 3 Symmetrical plane almost symmetry, difference are that described left lower extremity rotating shaft 61 is hollow-core construction, and the kink of left lower extremity belt wheel 66 is in lower-left In limb rotating shaft 61, left side lower limb rehabilitation training mechanism 6 also includes left lower extremity leading screw 624, left lower extremity nut 619, friction plate one 621st, friction plate 2 622, left lower extremity leading screw 624 and the left end of left lower extremity rotating shaft 61 are rotatablely connected, the right-hand member spiral shell of left lower extremity leading screw 624 Line screws left lower extremity nut 619, and the left side of right lower extremity rotating shaft 51 is provided with the tooth form 5101 of projection, the right-hand member of left lower extremity nut 619 Face is provided with the groove 6191 being adapted with tooth form 5101, and described left lower extremity nut 619 stretches out tie-beam with lower section upward 6192, fixed friction piece 1 on tie-beam 6192, the right flank of left lower extremity belt wheel 66 is adapted position with friction plate 1 and consolidated Determine friction plate 2 622, the described right side opening of left lower extremity rotating shaft 61 is provided with the sliding groove 611 extended radially through, to adapt to left lower extremity The tie-beam 6192 that nut 619 stretches out slides in left-right direction, and described left lower extremity rotating shaft 61 is provided with tight fixed bolt 626, uses Loosen the left lower extremity leading screw 624 being coaxially disposed in the endoporus of left lower extremity rotating shaft 61 after tightening.
Described lower limb bindiny mechanism 9 by the lower limb in lower limb bindiny mechanism by connecting transmission belt 97 and right lower extremity band Wheel 56 and the structure of the connection of left lower extremity belt wheel 66 are:Described lower limb bindiny mechanism 9 includes lower limb connection rotating shaft 91, lower limb connect Belt wheel 1, lower limb connection belt wheel 2 94, lower limb connection belt wheel 3 99, lower limb connection transmission belt 97, the connection of described lower limb turn Axle 91 fixes lower limb connection belt wheel 1, lower limb connection belt wheel 2 94, lower limb connection belt wheel 3 99 from right part to left part successively, under The right left both ends of limb connection rotating shaft 91 are separately mounted to lower limb connection bearing bearing block 1, lower limb connect bearing bearing block 2 93 In endoporus, lower limb connection bearing bearing block 1, lower limb connection bearing bearing block 2 93 are separately fixed at lower limb connection bearing branch On seat 1, lower limb connection bearing spider 2 92, lower limb connection bearing spider 1, lower limb connection bearing spider 2 92 are fixed on On base 3, lower limb connection transmission belt 97 one end is fixed on lower limb connection belt wheel 1, and lower limb connection transmission belt 97 is successively under The downside of limb connection belt wheel 1 is laid out, and is moved into from the downside of right lower extremity belt wheel 56, is laid out from the upside of right lower extremity belt wheel 56, connect from lower limb The upside of tape splicing wheel 2 94 is moved into, downside is laid out, and from the upside of left lower extremity belt wheel 66 is moved into, downside is laid out, belt wheel three is connected from lower limb 99 upsides are moved into, and the lower limb connection other end of transmission belt 97 is fixed on lower limb connection belt wheel 3 99.
The structure that right damping regulator is fixedly connected with described right lower extremity rotating shaft 51 is:Right damping regulator includes Right crank ring 518, right damping oil cylinder 58, right guide rail clamp 1, right guide rail clamp 2 59, right lower extremity line slideway 516th, right lower extremity sliding block 513, right contiguous block 512, fixed described right crank ring 518, right crank ring 518 in right lower extremity rotating shaft 51 Right beam 5181 is stretched out, the front end of right beam 5181 passes through right lower extremity pin 1 and the piston rod hinge of right damping oil cylinder 58 Connection, the oil cylinder fixing end of right damping oil cylinder 58 pass through the boss 5121 that is set on right lower extremity pin 2 511 and right contiguous block 512 Hinge connection, right contiguous block 512 are fixed on right lower extremity sliding block 513, and right lower extremity sliding block 513 is arranged on right lower extremity line slideway On 516, the front side of right lower extremity line slideway 516, rear side are respectively arranged with right guide rail clamp 1, right guide rail clamp 2 59, Right guide rail clamp 1, right guide rail clamp 2 59 are separately installed with right clamp handle 1, right clamp handle two 510, described right lower extremity line slideway 516 is vertically arranged with right lower extremity rotating shaft 51.
Described right palmar fixing device by right connecting rod transmission mechanism be connected right spindle 1 structure be: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, the described front end of upper right connecting rod 21 is fixed on the left end of right spindle 1, the front side of upper right slide bar 25 with after upper right connecting rod 21 Side endoporus is slidably connected and slides fixed position and can adjust, and the rear end of upper right slide bar 25 passes through right pin 1 and right back link 28 Middle part hinge connection, the front end of bottom right connecting rod 212 is rotatablely connected right pin 2 213, and right pin 2 213 is fixed on right support plate 41 On, the front side of bottom right slide bar 210, which is slidably connected with the rear side endoporus of bottom right connecting rod 212 and slides fixed position, be can adjust, and bottom right is slided For the rear end of bar 210 by the lower end hinge connection of right pin 3 29 and right back link 28, the described right side is fixed in the right upper end of back link 28 Palmar fixing device.
Described right spindle 1 is connected by right side belt wheel reverse drive mechanism with the reverse drive of right lower extremity rotating shaft 51 Structure is:Described 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, described right spindle 1 is rotatablely connected to middle part and right support plate 41, and the right-hand member of right spindle 1 fixes the described right side Belt wheel 1, right belt wheel 1 form V belt translation by right transmission belt 42 and right belt wheel 2 410, and right belt wheel 2 410 is fixed on the right side The right-hand member of rotating shaft 2 411, left end and the right support plate of right spindle 2 411 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-hand member of right lower extremity rotating shaft 51, not wound on described right transmission belt 42 with belt wheel Position sets jagged, and breach both ends extension spring 421 connects, to realize the right transmission belt 42 of tensioning, Left Drive band 72, under Limb connection transmission belt 97 is provided with is tensioned mode with the right identical of transmission belt 42.
The structure that right crus of diaphragm attachment means are fixedly connected with right lower extremity rotating shaft 51 is:Described right crus of diaphragm fixing device includes right crus of diaphragm Link 53, right crus of diaphragm palmrest plate 55, right crus of diaphragm bandage 54, described right lower extremity rotating shaft 51 are anchored the right foot the lower end of link 53, right The transverse axis that the upper end edge left and right horizontal of pin link 53 is set is rotatablely connected with the rear of right crus of diaphragm palmrest plate 55, lower end, right crus of diaphragm palmrest plate Right crus of diaphragm bandage 54 described in upper setting.
The structure that right palmar fixing device is fixed in the right upper end of back link 28 is:Right hand palm frame 26 is fixed in the right upper end of back link 28 Lower end, is provided with right hand bandage 23 on right hand palm frame 26, right hand sponge 24 is fixed with right hand palm frame 26.
Described left lower extremity leading screw 624 and the structure of the left end of left lower extremity rotating shaft 61 rotation connection are:Left lower extremity rotating shaft 61 Left belt wheel 3 76 is passed to the left and fixes left lower extremity leading screw rotation support device 623, and left lower extremity leading screw rotation support device 623 rotates The left part of left lower extremity leading screw 624 is supported, the left end of left lower extremity leading screw 624 fixes left lower extremity handwheel 625, described left left lower extremity leading screw Rotation support device 623 includes circular shaft bearing 6231, left lower extremity bearing 1, left lower extremity bearing 2 6233, embedded end Lid 6234, circlip 1, circlip 2 6235, left lower extremity bearing 1, the endoporus of left lower extremity bearing 2 6233 The left part of left lower extremity leading screw 624 is installed, left lower extremity bearing 1, left lower extremity bearing 2 6233 are the corner connection that back-to-back mode is installed Ball bearing is touched, the left end of left lower extremity rotating shaft 61 fixes circular shaft bearing 6231, the endoporus of circular shaft bearing 6231 installation left lower extremity bearing One 6232, left lower extremity bearing 2 6233, the endoporus left end of circular shaft bearing 6231 are screwed hole, the endoporus of circular shaft bearing 6231 Left end screws embedded end cap 6234, and right side is provided with bullet in fitting left lower extremity bearing 1 position on left lower extremity leading screw 624 Property back-up ring 1, in the position installation circlip 2 6235 of left side fitting left lower extremity bearing 2 6233 on left lower extremity leading screw 624.
The structure of described right damping oil cylinder 58 is to be provided with oil cylinder piston 582, oil cylinder piston 582 in oil cylinder housing 584 On be provided with the damping hole 5821 for axially penetrating through oil cylinder piston 582, piston rod 581, oil cylinder housing are fixed with oil cylinder piston 582 On be provided with oil cylinder fixing end 583, viscous liquid, left damping oil cylinder 68 and right damping oil cylinder 58 be filled with oil cylinder housing 584 With identical structure.
The left end face of cylinder of right lower extremity rotating shaft 51 is rotatably assorted with left lower extremity rotating shaft 61, to realize right lower extremity rotating shaft 51 and a left side Lower limb rotating shaft 61 mutually supports.
Compared with prior art, the invention has the advantages that:
Slider-crank mechanism using damping oil cylinder as connecting rod, realize the damping loading of patient's different motion position;
Realize that with forearm excessive deformation does not occur for patient's wrist joints sporting position using kink four bar linkage, improve patient's Comfort level;
Using screw-nut body, friction plate, dental inlay mechanism, tape handler realize left and right sides recovery training appliance for recovery lower limbs in the same direction or Counter motion, the rehabilitation training enjoyment of patient is improved, encourage the Rehabilitation confidence of patient, reach preferable rehabilitation efficacy;
Using tape handler, manufacture, installation cost are low, are used suitable for family, medical institutions;
Using two bidirectional damper oil cylinders, diverse location loading damping can be carried out or be applied in combination, be adapted to making for different patients With;
The right lower extremity rotating shaft left end face of cylinder is rotatably assorted with lower limb copper sheathing, realizes that right lower extremity rotating shaft is mutually propped up with left lower extremity rotating shaft Support, improve right lower extremity rotating shaft, the support stiffness of left lower extremity rotating shaft.
Brief description of the drawings
Fig. 1 is the adjustable four limbs recovery training appliance for recovery overall construction drawing of resistance positions.
Fig. 2 is right side upper and lower limbs rehabilitation training device drive mechanism schematic diagram.
Fig. 3 is right side upper-limb recovery training device structural representation one.
Fig. 4 is right side upper-limb recovery training device structural representation two.
Fig. 5 is right side lower limb rehabilitation training mechanism schematic diagram.
Fig. 6 is right side lower limb damping oil cylinder installing mechanism schematic diagram.
Fig. 7 is left side lower limb rehabilitation training mechanism schematic diagram.
Fig. 8 is left side lower limb damping oil cylinder mechanism scheme of installation.
Fig. 9 is left side upper and lower limbs rehabilitation training mechanism drive mechanism schematic diagram.
Figure 10 is left side lower limb rehabilitation training mechanism driving structural representation.
Figure 11 is left side rehabilitation training of upper limbs mechanism structure schematic diagram.
Figure 12 is left side lower limb and right side lower limb rehabilitation training mechanism attachment structure schematic diagram.
Figure 13 is left side lower limb and right side lower limb rehabilitation training mechanism attachment structure sectional view.
Figure 14 is the screw mandrel mounting structure schematic diagram of left side lower limb rehabilitation training mechanism.
Figure 15 is the screw mandrel mounting structure enlarged diagram of left side lower limb rehabilitation training mechanism.
Figure 16 is damping oil cylinder structural representation.
Figure 17 is left side transmission belt tension structure schematic diagram.
Figure 18 is right crus of diaphragm link and right crus of diaphragm palmrest board connecting structure schematic diagram.
Embodiment
With reference to Fig. 1~18, a kind of adjustable four limbs recovery training appliance for recovery of resistance positions of the invention includes seat 1, base 3rd, right side rehabilitation training of upper limbs mechanism 2, right side transmission mechanism 4, right side lower limb rehabilitation training mechanism 5, lower limb bindiny mechanism 9, a left side Side lower limb rehabilitation training mechanism 6, left side transmission mechanism 7, left side rehabilitation training of upper limbs mechanism 8, side during seat is seated at according to people Position defines left and right directions, and in order to describe the application, described seat 1 is fixed on the base 3, and described base 3 is right in left and right Claim structure, right side rehabilitation training of upper limbs mechanism 2 and left side rehabilitation training of upper limbs mechanism 8, right side transmission mechanism 4 and left side driver Structure 7 is symmetrical respectively about the symmetrical plane of the left and right directions of base 3, right side lower limb rehabilitation training mechanism 5 and left side lower limb health Symmetrical plane almost symmetry of the multiple training institution 6 on the left and right directions of base 3.
Described right side rehabilitation training of upper limbs mechanism 2 include upper right connecting rod 21, right holding screw 1, upper right slide bar 25, Right pin 1, right back link 28, right pin 3 29, bottom right slide bar 210, right holding screw 2 211, bottom right connecting rod 212, right post Pin 2 213, right hand palm frame 26, right hand bandage 23, right hand sponge 24, right spindle 1, the described front end of upper right connecting rod 21 is fixed In the left end of right spindle 1, the rear side of upper right connecting rod 21 be hollow-core construction, the front side of upper right slide bar 25 with rear side of upper right connecting rod 21 in Hole is slidably connected, and the rear end side surface of upper right connecting rod 21 is provided with right holding screw 1, for realizing upper right slide bar 25 in upper right Sliding position on connecting rod 21 is fixed, and the rear end of upper right slide bar 25 is connected by the middle part hinge of right pin 1 and right back link 28 Connect, the front end of bottom right connecting rod 212 is rotatablely connected the left end of right pin 2 213, and the right right-hand member of pin 2 213 is fixed on right support plate 41 On, right pin 2 213 is located at immediately below right spindle 1, and the rear side of bottom right connecting rod 212 be hollow-core construction, on front side of bottom right slide bar 210 It is slidably connected with the rear side endoporus of bottom right connecting rod 212, the rear end side surface of bottom right connecting rod 212 is provided with right holding screw 2 211, is used for Realize that sliding position of the bottom right slide bar 210 on bottom right connecting rod 212 is fixed, the rear end of bottom right slide bar 210 by right pin 3 29 with The lower end hinge connection of right back link 28, the right upper end of back link 28 are fixed the lower end of right hand palm frame 26, set on right hand palm frame 26 There is right hand bandage 23, be fixed with right hand sponge 24 on right hand palm frame 26, for being bonded patient's right hand centre of the palm, improve the right hand of patient The comfort level when palm is fixed, upper right connecting rod 21, upper right slide bar 25, bottom right connecting rod 212, bottom right slide bar 210, right back link 28, the right side Supporting plate 41 formed four-bar linkage, to realize patient's right hand the palm lift or dropping process in, wrist joint angle change is use up Measure small, the comfort level of raising patient's palm grip.
Described 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, described right spindle one 214 are arranged in the endoporus of right bearing bearing block 1 to the right through its middle part after right support plate 41, right bearing bearing block 1 The upper end of right support plate 41 is fixed on, the right-hand member of right spindle 1 fixes described right belt wheel 1, and right belt wheel 1 passes through right transmission Band 42 forms V belt translation with right belt wheel 2 410, and right belt wheel 2 410 is fixed on the right-hand member of right spindle 2 411, right spindle 2 411 Left end is arranged in the endoporus 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, realizing the rotation direction of right belt wheel 3 46 and right belt wheel 1 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 rotating shaft 51 Right-hand member, the right part of right lower extremity rotating shaft 51 be arranged on right bearing bearing block 3 47 endoporus in, 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.
Described right side lower limb rehabilitation training mechanism 5 includes right lower extremity rotating shaft 51, right crus of diaphragm link 53, right lower extremity belt wheel 56th, right crus of diaphragm bandage 54, right crus of diaphragm palmrest plate 55, right lower extremity bearing bearing block 52, right bearing support 57, right crank ring 518, right damping Oil cylinder 58, right guide rail clamp 1, right guide rail clamp 2 59, right lower extremity line slideway 516, right lower extremity sliding block 513, the right side Contiguous block 512, right lower extremity pin 1, right lower extremity pin 2 511.The described middle part of right lower extremity rotating shaft 51 is arranged on right lower extremity In the endoporus of bearing bearing block 52, right lower extremity bearing bearing block 52 is fixed on right bearing support 57, and right bearing support 57 is fixed On base 3, the fixed right lower extremity belt wheel 56 in the left side of right lower extremity rotating shaft 51, right lower extremity rotating shaft 51 is anchored the right foot the lower end of link 53, The transverse axis 531 that the upper end edge left and right horizontal of right crus of diaphragm link 53 is set is rotatablely connected with the rear of right crus of diaphragm palmrest plate 55, lower end, the right crus of diaphragm palm Right crus of diaphragm bandage 54 is provided with supporting plate, right crus of diaphragm link 53 is located between right lower extremity bearing bearing block 52 and right lower extremity belt wheel 56.
Fixed described right crank ring 518 in right lower extremity rotating shaft 51, right crank ring 518 upward, front stretch out right beam 5181, the front end of right beam 5181 passes through the piston rod hinge connection of right lower extremity pin 1 and right damping oil cylinder 58, right damping The oil cylinder fixing end of oil cylinder 58 passes through the hinge connection of boss 5121 set on right lower extremity pin 2 511 and right contiguous block 512, the right side Contiguous block 512 is fixed on right lower extremity sliding block 513, and right lower extremity sliding block 513 is arranged on right lower extremity line slideway 516, right lower extremity The front side of line slideway 516, rear side are respectively arranged with right guide rail clamp 1, right guide rail clamp 2 59, right guide rail clamp One 515, right guide rail clamp 2 59 is separately installed with right clamp handle 1, right clamp handle 2 510, passes through rotation Right clamp handle 1 unclamps guide rail clamp, and the mobile right guide rail clamp 1 of adjustment is in right lower extremity line slideway Position on 516, rotating right clamp handle 1 makes guide rail clamp be fixed on right lower extremity line slideway 516, same Mode adjusts fixed position of the right guide rail clamp 2 59 on right lower extremity line slideway 516, for realizing regulation Rehabilitation The original position of kinetic damping, described right damping oil cylinder 58 are two-way resistance oil cylinder, i.e., the piston rod of right damping oil cylinder 58 is drawn Go out, push back process and be damped.
Described lower limb bindiny mechanism 9 includes lower limb connection rotating shaft 91, lower limb connection belt wheel 1, lower limb connection belt wheel two 94th, lower limb connection belt wheel 3 99, lower limb connection transmission belt 97, lower limb connection bearing bearing block 1, lower limb connection bearing bearing Seat 2 93, lower limb connection bearing spider 1, lower limb connection bearing spider 2 92.Lower limb connection rotating shaft 91 from right part to left part according to Secondary fixed lower limb connection belt wheel 1, lower limb connection belt wheel 2 94, lower limb connection belt wheel 3 99, lower limb connection rotating shaft 91 right left two End is separately mounted in the endoporus of lower limb connection bearing bearing block 1, lower limb connection bearing bearing block 2 93, lower limb connecting shaft Hold bearing block 1, lower limb connection bearing bearing block 2 93 is separately fixed at lower limb connection bearing spider 1, lower limb connecting shaft Hold on bearing 2 92, lower limb connection bearing spider 1, lower limb connection bearing spider 2 92 are fixed on the base 3, lower limb connection The one end of transmission belt 97 is fixed on lower limb connection belt wheel 1, and lower limb connection transmission belt 97 is connected under belt wheel 1 from lower limb successively Side is laid out, and is moved into from the downside of right lower extremity belt wheel 56, is laid out from the upside of right lower extremity belt wheel 56, from the upside of lower limb connection belt wheel 2 94 around Enter, downside is laid out, from the upside of left lower extremity belt wheel 66 is moved into, downside is laid out, moved into from the upside of lower limb connection belt wheel 3 99, lower limb connect Connect transmission belt 97 other end to be fixed on lower limb connection belt wheel 3 99, to realize right lower extremity belt wheel 56, left lower extremity belt wheel 66 Rotation direction is opposite all the time.
Described left side lower limb rehabilitation training mechanism 6 includes left lower extremity rotating shaft 61, left foot link 63, left lower extremity belt wheel 66th, left foot bandage 64, left foot palmrest plate 65, left lower extremity bearing bearing block 62, left bearing support 67, left crank ring 618, left damping Oil cylinder 68, left rail clamp 1, left rail clamp 2 69, left lower extremity line slideway 616, left lower extremity sliding block 613, a left side Contiguous block 612, left lower extremity pin 1, left lower extremity pin 2 611.The described middle part of left lower extremity rotating shaft 61 is arranged on left lower extremity In the endoporus of bearing bearing block 62, left lower extremity bearing bearing block 62 is fixed on left bearing support 67, and left bearing support 67 is fixed On base 3, the right side kink of left lower extremity rotating shaft 61 the left lower extremity belt wheel 66 stated, left lower extremity rotating shaft 61 fix left foot link 63 Lower end, transverse axis and the rear of left foot palmrest plate 65 that the upper end edge left and right horizontal of left foot link 63 is set, lower end are rotatablely connected, left Be provided with left foot bandage 64 on sole supporting plate, left foot link 63 be located at left lower extremity bearing bearing block 62 and left lower extremity belt wheel 66 it Between.
Fixed described left crank ring 618 in left lower extremity rotating shaft 61, left crank ring 618 upward, front stretch out left beam 6181, the front end of left beam 6181 passes through the piston rod hinge connection of left lower extremity pin 1 and left damping oil cylinder 68, left damping The oil cylinder fixing end of oil cylinder 68 passes through the hinge connection of boss 6121 set on left lower extremity pin 2 611 and left contiguous block 612, a left side Contiguous block 612 is fixed on left lower extremity sliding block 613, and left lower extremity sliding block 613 is arranged on left lower extremity line slideway 616, left lower extremity The front side of line slideway 616, rear side are respectively arranged with left rail clamp 1, left rail clamp 2 69, left rail clamp One 615, left rail clamp 2 69 installs left clamp handle 1, left clamp handle 2 610 respectively, left by rotating Clamp handle 1 unclamps guide rail clamp, adjusts mobile left rail clamp 1 in left lower extremity line slideway 616 On position, rotating left clamp handle 1 makes guide rail clamp be fixed on left lower extremity line slideway 616, same side 2 69 fixed position on left lower extremity line slideway 616 of formula regulation left rail clamp, for realizing regulation Rehabilitation fortune The original position of dynamic damping, described left damping oil cylinder 68 are two-way resistance oil cylinder, i.e., the piston rod of left damping oil cylinder 68 pulls out, Process is pushed back to be damped.
Described 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, described left rotary shaft one 814 pass through the middle part after left support plate 71 to be arranged in the endoporus of left bearing bearing block 1, and left bearing bearing block 1 is fixed In the upper end of left support plate 71, the left end of left rotary shaft 1 fixes described left belt wheel 1, and 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 In the endoporus of left bearing bearing block 2 79, left bearing bearing block 2 79 is fixed on the left side lower end of left support plate 71, left band 3 76 outsides for being fitted in Left Drive band 72 are taken turns, to realize left belt wheel 3 76 with the rotation direction of 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 rotating shaft 61 Left end, the left part of left lower extremity rotating shaft 61 are arranged in the endoporus 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 supporting plate 71, left belt wheel 3 76 is located at top, the rear of left belt wheel 2 710.
Described left side rehabilitation training of upper limbs mechanism 8 include upper left connecting rod 81, left holding screw 1, upper left slide bar 85, Left pin 1, left back connecting rod 88, left pin 3 89, lower-left slide bar 810, left holding screw 2 811, left lower link 812, Zuo Zhu Pin 2 813, left hand palm frame 86, left hand bandage 83, left hand sponge 84, left rotary shaft 1, the described front end of upper left connecting rod 81 is fixed In the right-hand member of left rotary shaft 1, the rear side of upper left connecting rod 81 be hollow-core construction, the front side of upper left slide bar 85 with rear side of upper left connecting rod 81 in Hole is slidably connected, and the rear end side surface of upper left connecting rod 81 is provided with left holding screw 1, for realizing upper left slide bar 85 in upper left Sliding position on connecting rod 81 is fixed, and the rear end of upper left slide bar 85 is connected by the middle part hinge of left pin 1 and left back connecting rod 88 Connect, the front end of left lower link 812 is rotatablely connected the right-hand member of left pin 2 813, and the left left end of pin 2 813 is fixed on left support plate 71 On, left pin 2 813 is located at immediately below left rotary shaft 1, and the rear side of left lower link 812 be hollow-core construction, on front side of lower-left slide bar 810 It is slidably connected with the rear side endoporus of left lower link 812, the rear end side surface of left lower link 812 is provided with left holding screw 2 811, is used for Realize that sliding position of the lower-left slide bar 810 on left lower link 812 is fixed, the rear end of lower-left slide bar 810 by left pin 3 89 with The lower end hinge connection of left back connecting rod 88, the left back upper end of connecting rod 88 are fixed the lower end of left hand palm frame 86, set on left hand palm frame 86 There is left hand bandage 83, be fixed with left hand sponge 84 on left hand palm frame 86, for being bonded patient's left hand centre of the palm, improve the left hand of patient The comfort level when palm is fixed.
Described left side lower limb rehabilitation training mechanism 6 also includes lower limb leading screw rotation support device 623, left lower extremity leading screw 624th, left lower extremity handwheel 625, left lower extremity nut 619, left lower extremity copper sheathing 620, friction plate 1, friction plate 2 622, clamp screw Bolt 626, described left lower extremity rotating shaft 61 are hollow-core construction, and left lower extremity rotating shaft 61 passes left belt wheel 3 76 and fixes left lower extremity silk to the left Thick stick rotation support device 623, the left part of the rotational support left lower extremity leading screw 624 of left lower extremity leading screw rotation support device 623, left lower extremity The left end of leading screw 624 fixes left lower extremity handwheel 625, and the described right-hand member of left lower extremity leading screw 624 is provided with left lower extremity nut 619, lower-left The right-hand member of limb nut 619 is blind hole structure, and the endoporus of left lower extremity rotating shaft 61 is provided with left lower extremity copper sheathing 620, the endoporus of left lower extremity copper sheathing 620 The described left lower extremity nut 619 of installation, it is slidably matched to support left lower extremity nut 619 and be formed therewith, right lower extremity rotating shaft 51 The left end face of cylinder is rotatably assorted with lower limb copper sheathing 620, right to realize that right lower extremity rotating shaft 51 mutually supports with left lower extremity rotating shaft 61 The left side of lower limb rotating shaft 51 is provided with the tooth form 5101 of projection, and the right side of left lower extremity nut 619 is provided with fits with the phase of tooth form 5101 The groove 6191 answered, to realize that right lower extremity rotating shaft 51 is combined or separated with left lower extremity rotating shaft 61, described left lower extremity nut 619 upward with lower section on symmetrically stretching out tie-beam 6192, the left-hand face fixed friction piece one of tie-beam 6192 621, the right flank of left lower extremity belt wheel 66 is adapted position fixed friction piece 2 622, friction plate 1, friction with friction plate 1 Piece 2 622 forms friction auxiliary driving, and the described right side opening of left lower extremity rotating shaft 61 is provided with the sliding groove 611 extended radially through, to suitable The tie-beam 6192 for answering left lower extremity nut 619 to stretch out slides in left-right direction, and the same right side of left lower extremity copper sheathing 620 also offers footpath To through groove, to realize that the left and right directions of tie-beam 6192 slides, be located at left crank ring 618 in described left lower extremity rotating shaft 61 Tight fixed bolt 626 is screwed in the radial screw bore set between left support plate 71, tight fixed bolt upper end is provided with tightening handwheel, Realize that the lower end of tight fixed bolt 626 holds out against left lower extremity leading screw 624 and prevents left lower extremity leading screw 624 from occurring to turn by screwing in tightening handwheel Dynamic, when screwing out tightening handwheel, rotation left lower extremity leading screw 624 realizes that left lower extremity nut 619 moves in left-right direction.
Described left left lower extremity leading screw rotation support device 623 include circular shaft bearing 6231, left lower extremity bearing 1, Left lower extremity bearing 2 6233, embedded end cap 6234, circlip 1, circlip 2 6235, left lower extremity bearing one 6232nd, the left part of endoporus installation left lower extremity leading screw 624 of left lower extremity bearing 2 6233, left lower extremity bearing 1, left lower extremity bearing 2 6233 be the angular contact ball bearing that back-to-back mode is installed, and the left end of left lower extremity rotating shaft 61 fixes circular shaft bearing 6231, circular The endoporus of bearing block 6231 installation left lower extremity bearing 1, left lower extremity bearing 2 6233, the endoporus left end of circular shaft bearing 6231 For screwed hole, the endoporus left end of circular shaft bearing 6231 screws embedded end cap 6234, and right side is being bonded on left lower extremity leading screw 624 The position of left lower extremity bearing 1 is provided with circlip 1, and left lower extremity bearing is bonded in left side on left lower extremity leading screw 624 2 6233 positions are installed by circlip 2 6235.
The structure of described right damping oil cylinder 58 is to be provided with oil cylinder piston 582, oil cylinder piston 582 in oil cylinder housing 584 On be provided with the damping hole 5821 for axially penetrating through oil cylinder piston 582, piston rod 581, oil cylinder housing are fixed with oil cylinder piston 582 On be provided with oil cylinder fixing end 583, is filled with viscous liquid in oil cylinder housing 584.
Position on described right transmission belt 42 not with belt wheel winding sets jagged, breach both ends extension spring 421 Connection, to realize the right transmission belt 42 of tensioning, described Left Drive band 72, lower limb connection transmission belt 97 are provided with and right transmission The identical of band 42 is tensioned mode.
Rehabilitation is sitting on seat 1, if the right side upper limbs of patient can autokinetic movement, it is necessary to rehabilitation it is other During 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 Upper right slide bar 25, the front and back position of bottom right slide bar 210 are saved, to adapt to the length of upper limbs 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 Left side palm, the right crus of diaphragm of patient is placed on right crus of diaphragm palmrest plate 55, tightens right crus of diaphragm bandage 54, same mode immobilized patients Left foot, unscrews tight fixed bolt 626, rotates left lower extremity handwheel 625, and left lower extremity leading screw 624 drives left lower extremity nut 619 to moving to left It is dynamic, friction plate 1, friction plate 2 622 are bonded, tight fixed bolt 626 is screwed, prevents left lower extremity leading screw 624 from rotating, patient is right Upper extremity exercise drives, and drives right belt wheel 3 46 to rotate backward by right belt wheel 1, right lower extremity rotating shaft 51 drives right crus of diaphragm link 53 rotate, and right crus of diaphragm palmrest plate 55 drives the right lower extremity motion of patient, and right lower extremity belt wheel 56 connects transmission belt 97 by lower limb and driven Left lower extremity belt wheel 66 is rotated backward, and 619 turns of left lower extremity nut is driven by the frictional drive of friction plate 1, friction plate 2 622 Dynamic, the tie-beam 6192 that left lower extremity nut 619 stretches out drives left lower extremity rotating shaft 61 to rotate, and realizes the left lower extremity motion of patient, by In right side transmission mechanism 4 with left side transmission mechanism 7, right side lower limb health symmetrical on the symmetrical plane of the left and right directions of base 3 Multiple training institution 5 and left side lower limb rehabilitation training mechanism 6 realize the left side upper limbs of patient on the symmetrical of the left and right directions of base 3 Motion, if the autokinetic movement of patient needs to increase damping force, unscrew right clamp handle 1, right clamp handle two 510, adjust right guide rail clamp 1, right guide rail clamp 2 59 and be fixed on the both ends of right lower extremity sliding block 513, limbs of patient During motion, right damping oil cylinder 58 provides resistance all the time, if patient also needs to increase resistance, same mode adjusts left rail The fixed position of clamp 1, left rail clamp 2 69, left damping oil cylinder 68 is set to provide resistance.
If strength is small when being lifted on patient's upper limbs, when strength is big when two upper limbs fall, adjust when being lifted on right damping oil cylinder 58 Undamped, there is damping during whereabouts, it is necessary to adjusting right guide rail clamp 1 is fixed on the centre position of right lower extremity line slideway 516, Right guide rail clamp 2 59 is fixed on the rear end of right lower extremity line slideway 516.The needs trained according to Rehabilitation, the regulation right side are led The fixed position of rail clamp 1, right guide rail clamp 2 59 on right lower extremity line slideway 516, realizes limbs of patient health The loading position damped when moving again.If patient motion need not damp, right guide rail clamp 1, right guide rail are adjusted Clamp 2 59 is located at the both ends of right lower extremity line slideway 516.
If rotating left lower extremity handwheel 625, left lower extremity leading screw 624 drives left lower extremity nut 619 to move right, and makes friction plate One 621, friction plate 2 622 departs from, and the right side of left lower extremity nut 619 sets the tooth form that groove 6191 is set with right lower extremity rotating shaft 51 5101 without it is chimeric when, right lower extremity rotating shaft 51 departs from left lower extremity rotating shaft 61, realizes left side lower extremity movement and the patient right side of patient Side lower extremity movement departs from, so as to realize that left side upper limbs drives left side lower extremity movement, or right side upper limbs to drive right side lower extremity movement, To adapt to the needs of different patients.
If being rotated further left lower extremity handwheel 625, left lower extremity leading screw 624 drives left lower extremity nut 619 to move right, lower-left The right side of limb nut 619 sets the tooth form 5101 that is set with right lower extremity rotating shaft 51 of groove 6191 mutually chimeric, right lower extremity rotating shaft 51 and The synchronization of left lower extremity rotating shaft 61, equidirectional rotation, left lower extremity belt wheel 66 dally, and realize that the both upper extremities of patient are equidirectional, under bilateral The equidirectional motion of limb, the rehabilitation exercise variation of patient is realized, improve the rehabilitation interest of patient.
If the other limbs of patient can autokinetic movement, the simply power source of driving in the drive path of recovery training appliance for recovery Position changes, and the drive path of recovery training appliance for recovery is constant.

Claims (10)

1. a kind of adjustable four limbs recovery training appliance for recovery of resistance positions includes seat(1), base(3), right side rehabilitation training of upper limbs Mechanism(2), right side transmission mechanism(4), right side lower limb rehabilitation training mechanism(5), lower limb bindiny mechanism(9), left side lower limb rehabilitation Training institution(6), left side transmission mechanism(7), left side rehabilitation training of upper limbs mechanism(8), described seat(1)It is fixed on base (3)On, described base(3)Symmetrical structure, it is characterised in that:Right side rehabilitation training of upper limbs mechanism(2)With on left side Limbs rehabilitation training mechanism(8), right side transmission mechanism(4)With left side transmission mechanism(7)Respectively about base(3)Pair of left and right directions Claim plane symmetrical;
Described right side rehabilitation training of upper limbs mechanism(2)Including right connecting rod transmission mechanism, right palmar fixing device, right spindle one (214), described right palmar fixing device passes through right connecting rod transmission mechanism and is connected right spindle one(214);
Described right side transmission mechanism(4)Including right support plate(41), right side belt wheel reverse drive mechanism, described right spindle one (214)Pass through right side belt wheel reverse drive mechanism and right lower extremity rotating shaft(51)Reverse drive connects, right support plate(41)Lower end is consolidated It is scheduled on base(3)On;
Described right side lower limb rehabilitation training mechanism(5)Including right lower extremity rotating shaft(51), right crus of diaphragm attachment means, right lower extremity belt wheel (56), right damping regulator, described right lower extremity rotating shaft(51)Right part and right support plate(41)Rotation connection, right lower extremity rotating shaft (51)Right lower extremity belt wheel is fixed in left side(56), right lower extremity rotating shaft(51)On be fixedly connected with right damping regulator dress connected with right crus of diaphragm Put;
Described lower limb bindiny mechanism(9)Transmission belt is connected by the lower limb in lower limb bindiny mechanism(97)With right lower extremity belt wheel (56)With left lower extremity belt wheel(66)Connection, to realize right lower extremity belt wheel(56)With left lower extremity belt wheel(66)Rotation direction is opposite;
Described left side lower limb rehabilitation training mechanism(6)With right side lower limb rehabilitation training mechanism(5)On base(3)Left and right directions Symmetrical plane almost symmetry, difference is, described left lower extremity rotating shaft(61)For hollow-core construction, left lower extremity belt wheel(66)Kink In left lower extremity rotating shaft(61)On, left side lower limb rehabilitation training mechanism(6)Also include left lower extremity leading screw(624), left lower extremity nut (619), friction plate one(621), friction plate two(622), left lower extremity leading screw(624)With left lower extremity rotating shaft(61)Left end rotate connect Connect, left lower extremity leading screw(624)Right-hand member threaded engagement left lower extremity nut(619), right lower extremity rotating shaft(51)Left side is provided with projection Tooth form(5101), left lower extremity nut(619)Right side is provided with and tooth form(5101)Adaptable groove(6191), it is described Left lower extremity nut(619)Upward tie-beam is stretched out with lower section(6192), tie-beam(6192)Upper fixed friction piece one(621), Left lower extremity belt wheel(66)Right flank and friction plate one(621)It is adapted position fixed friction piece two(622), described left lower extremity turns Axle(61)Right side opening is provided with the sliding groove extended radially through(611), to adapt to left lower extremity nut(619)The tie-beam of stretching (6192)Slide in left-right direction, described left lower extremity rotating shaft(61)It is provided with tight fixed bolt(626), for tightening or loosen a left side Lower limb rotating shaft(61)The left lower extremity leading screw being coaxially disposed in endoporus(624).
2. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1, it is characterised in that:Described lower limb Bindiny mechanism(9)Transmission belt is connected by the lower limb in lower limb bindiny mechanism(97)With right lower extremity belt wheel(56)With left lower extremity belt wheel (66)The structure of connection is:Described lower limb bindiny mechanism(9)Including lower limb connection rotating shaft(91), lower limb connection belt wheel one (98), lower limb connection belt wheel two(94), lower limb connection belt wheel three(99), lower limb connection transmission belt(97), described lower limb connection Rotating shaft(91)Fix lower limb connection belt wheel one successively from right part to left part(98), lower limb connection belt wheel two(94), lower limb connect band Wheel three(99), lower limb connection rotating shaft(91)Right left both ends are separately mounted to lower limb connection bearing bearing block one(96), lower limb connection Bearing bearing block two(93)Endoporus in, lower limb connection bearing bearing block one(96), lower limb connection bearing bearing block two(93)Point Lower limb connection bearing spider one is not fixed on(95), lower limb connection bearing spider two(92)On, lower limb connection bearing spider one (95), lower limb connection bearing spider two(92)It is fixed on base(3)On, lower limb connection transmission belt(97)One end is fixed on lower limb company Tape splicing wheel one(98)On, lower limb connection transmission belt(97)Successively belt wheel one is connected from lower limb(98)Downside is laid out, from right lower extremity band Wheel(56)Downside moves into, from right lower extremity belt wheel(56)Upside is laid out, and belt wheel two is connected from lower limb(94)Upside moves into, downside around Go out, from left lower extremity belt wheel(66)Upside is moved into, downside is laid out, and belt wheel three is connected from lower limb(99)Upside moves into, and lower limb connection passes Dynamic band(97)The other end is fixed on lower limb connection belt wheel three(99)On.
3. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1 or 2, it is characterised in that:Described Right lower extremity rotating shaft(51)On be fixedly connected with the structure of right damping regulator and be:Right damping regulator includes right crank ring (518), right damping oil cylinder(58), right guide rail clamp one(515), right guide rail clamp two(59), right lower extremity line slideway (516), right lower extremity sliding block(513), right contiguous block(512), right lower extremity rotating shaft(51)Right crank ring described in upper fixation(518), Right crank ring(518)Stretch out right beam(5181), right beam(5181)Front end pass through right lower extremity pin one(517)With right damping Oil cylinder(58)Piston rod hinge connection, right damping oil cylinder(58)Oil cylinder fixing end pass through right lower extremity pin two(511)With the right side Contiguous block(512)The boss of upper setting(5121)Hinge connection, right contiguous block(512)It is fixed on right lower extremity sliding block(513)On, it is right Lower limb sliding block(513)Installed in right lower extremity line slideway(516)On, right lower extremity line slideway(516)Front side, rear side are set respectively There is right guide rail clamp one(515), right guide rail clamp two(59), right guide rail clamp one(515), right guide rail clamp two (59)It is separately installed with right clamp handle one(514), right clamp handle two(510), described right lower extremity line slideway (516)With right lower extremity rotating shaft(51)It is vertically arranged.
4. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1 or 2, it is characterised in that:Described Right palmar fixing device passes through right connecting rod transmission mechanism drive connection right spindle one(214)Structure be:Described right connecting rod passes Motivation structure 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 right spindle one(214)Left end, upper right slide bar(25)Front side and upper right connecting rod (21)Rear side endoporus is slidably connected and slides fixed position and can adjust, upper right slide bar(25)Rear end passes through right pin one(27)With Right back link(28)Middle part hinge connection, bottom right connecting rod(212)Front end is rotatablely connected right pin two(213), right pin two (213)It is fixed on right support plate(41)On, bottom right slide bar(210)Front side and bottom right connecting rod(212)Rear side endoporus is slidably connected simultaneously And slide fixed position and can adjust, bottom right slide bar(210)Rear end passes through right pin three(29)With right back link(28)Lower end hinge Chain link, right back link(28)Described right palmar fixing device is fixed in upper end.
5. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 2, it is characterised in that:Described right-hand rotation Axle one(214)Pass through right side belt wheel reverse drive mechanism and right lower extremity rotating shaft(51)Reverse drive connection structure be:Described Right side belt wheel reverse drive mechanism includes right transmission belt(42), right belt wheel one(44), right belt wheel two(410), right belt wheel three(46), Described right spindle one(214)To middle part and right support plate(41)Rotation connection, right spindle one(214)Right-hand member fixes the described right side Belt wheel one(44), right belt wheel one(44)Pass through right transmission belt(42)With right belt wheel two(410)Form V belt translation, right belt wheel two (410)It is fixed on right spindle two(411)Right-hand member, right spindle two(411)Left end and right support plate be rotatablely connected, right belt wheel three (46)It is fitted in right transmission belt(42)Outside, right belt wheel three(46)It is fixed on right lower extremity rotating shaft(51 right-hand member, described right biography Dynamic band(42)On not with belt wheel winding position set jagged, breach both ends extension spring(421)Connection, opened to realize Tight right transmission belt(42), Left Drive band(72), lower limb connection transmission belt(97)It is provided with and right transmission belt(42)Identical Tight mode.
6. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1 or 2, it is characterised in that:Right lower extremity Rotating shaft(51)On be fixedly connected with the structures of right crus of diaphragm attachment means and be:Described right crus of diaphragm fixing device includes right crus of diaphragm link(53)、 Right crus of diaphragm palmrest plate(55), right crus of diaphragm bandage(54), described right lower extremity rotating shaft(51)Anchor the right foot link(53)Lower end, right crus of diaphragm Link(53)The transverse axis that upper end edge left and right horizontal is set and right crus of diaphragm palmrest plate(55)Rear, lower end rotation connection, right crus of diaphragm palmrest Described right crus of diaphragm bandage is set on plate(54).
7. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 4, it is characterised in that:Right back link (28)The structure that right palmar fixing device is fixed in upper end is:Right back link(28)Right hand palm frame is fixed in upper end(26)Lower end, it is right Palm frame(26)On be provided with right hand bandage(23), right hand palm frame(26)On be fixed with right hand sponge(24).
8. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1 or 2, it is characterised in that:Described Left lower extremity leading screw(624)With left lower extremity rotating shaft(61)Left end rotation connection structure be:Left lower extremity rotating shaft(61)Pass to the left Left belt wheel three(76)Fixed left lower extremity leading screw rotation support device(623), left lower extremity leading screw rotation support device(623)Rotate branch Support left lower extremity leading screw(624)Left part, left lower extremity leading screw(624)Left end fixes left lower extremity handwheel(625), described left left lower extremity Leading screw rotation support device(623)Including circular shaft bearing(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)、 Left lower extremity bearing two(6233)Endoporus installation left lower extremity leading screw(624)Left part, left lower extremity bearing one(6232), left lower extremity bearing Two(6233)The angular contact ball bearing installed for back-to-back mode, left lower extremity rotating shaft(61)Left end fixes circular shaft bearing (6231), circular shaft bearing(6231 endoporus installation left lower extremity bearing one(6232、)Left lower extremity bearing two(6233), round bearing Seat(6231)Endoporus left end be screwed hole, circular shaft bearing(6231)Endoporus left end screw embedded end cap(6234), it is left Lower limb leading screw(624)Upper right side is in fitting left lower extremity bearing one(6232)Position is provided with circlip one(6236), left lower extremity Leading screw(624)On in left side fitting left lower extremity bearing two(6233)Position is installed by circlip two(6235).
9. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 3, it is characterised in that:Described right resistance Buddhist nun's oil cylinder(58)Structure be oil cylinder housing(584)Oil cylinder piston is inside installed(582), oil cylinder piston(582)On be provided with axle To through oil cylinder piston(582)Damping hole(5821), oil cylinder piston(582)On be fixed with piston rod(581), on oil cylinder housing It is provided with oil cylinder fixing end(583), oil cylinder housing(584)It is interior to be filled with viscous liquid, left damping oil cylinder(68)With right damping oil Cylinder(58)With identical structure.
10. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1, it is characterised in that:Right lower extremity turns Axle(51)The left end face of cylinder and left lower extremity rotating shaft(61)It is rotatably assorted, to realize right lower extremity rotating shaft(51)With left lower extremity rotating shaft (61)Mutually support.
CN201710710240.4A 2017-08-18 2017-08-18 A kind of adjustable four limbs recovery training appliance for recovery of resistance positions Active CN107496135B (en)

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CN108618936A (en) * 2018-05-29 2018-10-09 福建江夏学院 A kind of device for healing and training of gait motion
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CN114191190A (en) * 2021-12-10 2022-03-18 长沙经开医院有限公司 Cerebral apoplexy equilibrium rehabilitation training device based on nonlinear fluid
CN114191190B (en) * 2021-12-10 2023-06-13 长沙经开医院有限公司 Cerebral apoplexy equilibrium rehabilitation training device based on nonlinear fluid

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