CN107496135B - 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
CN107496135B
CN107496135B CN201710710240.4A CN201710710240A CN107496135B CN 107496135 B CN107496135 B CN 107496135B CN 201710710240 A CN201710710240 A CN 201710710240A CN 107496135 B CN107496135 B CN 107496135B
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CN
China
Prior art keywords
lower extremity
belt wheel
lower limb
bearing
shaft
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CN201710710240.4A
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Chinese (zh)
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CN107496135A (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
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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

Abstract

It includes right side rehabilitation training of upper limbs mechanism that the present invention, which discloses a kind of adjustable four limbs recovery training appliance for recovery of resistance positions, 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 about the symmetrical plane of pedestal left and right directions with left side transmission mechanism, right side rehabilitation training of upper limbs mechanism is connect by right side transmission mechanism with right side lower limb rehabilitation training mechanism reverse drive, damping position regulator is provided in 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 in conjunction with the lower limb rehabilitation training mechanism of left side or separator, left side lower limb rehabilitation Training institution is connect with right side lower limb rehabilitation training mechanism by reversing-gear, and resistance positions are adjustable, are suitble to the needs of different patients.

Description

A kind of adjustable four limbs recovery training appliance for recovery of resistance positions
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 technique
China's cardiovascular and cerebrovascular disease, brain trauma, limb injury patient increase year by year, and rejuvenation trend is obvious, greatly There is different degrees of obstacle of limb movement in some patientss, are stimulated by rehabilitation training limbs of patient, make patient Motor function to be restored be relatively common rehabilitation maneuver at present, and on the one hand to rely on import existing for current recovery training appliance for recovery It is expensive as serious;On the other hand, current recovery training appliance for recovery has a single function, and the patient feels are dry as dust, is not achieved optimal Therapeutic effect.
The adjustable four limbs recovery training appliance for recovery of the resistance positions of the application drives without exterior power, is suitble in patient limb There is the paleocinetic patient of limbs energy, drive other limbs while moving, using tape handler, manufacture, installation cost It is low, it is suitable for family, medical institutions' use using damper as the slider-crank mechanism of connecting rod and realizes patient's different motion position The damping load set realizes that excessive deformation does not occur for patient's wrist joints sporting position and forearm using kink four bar linkage, The comfort level for improving patient realizes left and right sides lower limb health using leadscrew-nut mechanism, friction plate, dental inlay mechanism, tape handler Multiple training aids in the same direction or counter motion, improves the rehabilitation training enjoyment of patient, motivates the Rehabilitation confidence of patient, reach preferable health Multiple effect.
Summary 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, including seat 1, pedestal 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 connect machine Structure 9, left side lower limb rehabilitation training mechanism 6, left side transmission mechanism 7, left side rehabilitation training of upper limbs mechanism 8, the seat 1 are fixed On the base 3, the symmetrical structure of pedestal 3, right side rehabilitation training of upper limbs mechanism 2 and left side rehabilitation training of upper limbs machine The symmetrical plane bilateral symmetry of structure 8, right side transmission mechanism 4 and left side transmission mechanism 7 respectively about 3 left and right directions of pedestal;
The right side rehabilitation training of upper limbs mechanism 2 includes right connecting rod transmission mechanism, right palmar fixing device, right spindle one 214, the right palmar fixing device passes through right connecting rod transmission mechanism transmission connection 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.
The right side lower limb rehabilitation training mechanism 5 includes right lower extremity shaft 51, right crus of diaphragm attachment device, right lower extremity belt wheel 56, right damping regulator, 51 right part of right lower extremity shaft and right support plate 41 are rotatablely connected, 51 left side of right lower extremity shaft Right lower extremity belt wheel 56 is fixed, is fixedly connected with right damping regulator and right crus of diaphragm attachment device in right lower extremity shaft 51.
The lower limb bindiny mechanism 9 is by connecting transmission belt 97 and right lower extremity band by the lower limb in lower limb bindiny mechanism Wheel 56 and left lower extremity belt wheel 66 connect, to realize that right lower extremity belt wheel 56 is opposite with 66 rotation direction of left lower extremity belt wheel.
The left side lower limb rehabilitation training mechanism 6 and right side lower limb rehabilitation training mechanism 5 is about 3 left and right directions of pedestal Symmetrical plane almost symmetry, left lower extremity shaft 61 are hollow structure, and 66 loop of left lower extremity belt wheel is in left lower extremity shaft 61, left side Lower limb rehabilitation training mechanism 6 further includes left lower extremity lead screw 624, left lower extremity nut 619, friction plate 1, friction plate 2 622, a left side The left end of lower limb lead screw 624 and left lower extremity shaft 61 is rotatablely connected, 624 right end threaded engagement left lower extremity nut of left lower extremity lead screw 619,51 left side of right lower extremity shaft is provided with the tooth form 5101 of protrusion, and 619 right side of left lower extremity nut is provided with and tooth form 5101 adaptable grooves 6191, the left lower extremity nut 619 stretch out attachment beam 6192, attachment beam 6192 with lower section upwards Upper fixed friction piece 1,66 right side of left lower extremity belt wheel and the adaptable position fixed friction piece 2 622 of friction plate 1, institute 61 right side opening of left lower extremity shaft stated is equipped with the sliding groove 611 extended radially through, to adapt to the connection of the stretching of left lower extremity nut 619 Beam 6192 slides in left-right direction, and the left lower extremity shaft 61 is provided with tight fixed bolt 626, for loosening left lower extremity after tightening The left lower extremity lead screw 624 being coaxially disposed in 61 inner hole of shaft.
The lower limb bindiny mechanism 9 is by connecting transmission belt 97 and right lower extremity band by the lower limb in lower limb bindiny mechanism The structure that wheel 56 and left lower extremity belt wheel 66 connect are as follows: the lower limb bindiny mechanism 9 includes lower limb connection shaft 91, lower limb connection Belt wheel 1, lower limb connection belt wheel 2 94, lower limb connection belt wheel 3 99, lower limb connect transmission belt 97, and the lower limb connection turns Axis 91 successively fixes lower limb connection belt wheel 1, lower limb connection belt wheel 2 94, lower limb from right part to left part and connects belt wheel 3 99, under The limb connection right left both ends of shaft 91 are separately mounted to lower limb connection bearing bearing block 1, lower limb connect bearing bearing block 2 93 In inner hole, 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 pedestal 3, lower limb connection 97 one end of transmission belt is fixed on lower limb connection belt wheel 1, and lower limb connection transmission belt 97 is successively under One 98 downside of limb connection belt wheel is laid out, and is moved on the downside of right lower extremity belt wheel 56, is laid out on the upside of right lower extremity belt wheel 56, connects from lower limb The upside of tape splicing wheel 2 94 moves into, downside is laid out, and moves on the upside of left lower extremity belt wheel 66, downside is laid out, and connects belt wheel three from lower limb 99 upsides move into, and lower limb connection 97 other end of transmission belt is fixed on lower limb connection belt wheel 3 99.
The structure of right damping regulator is fixedly connected in the right lower extremity shaft 51 are as follows: 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 linear guide 516, right lower extremity sliding block 513, right link block 512, the fixed right crank ring 518, right crank ring 518 in right lower extremity shaft 51 Right beam 5181 is stretched out, the front end of right beam 5181 passes through the piston rod hinge of right lower extremity pin 1 and right damping oil cylinder 58 Connection, the oil cylinder fixing end of right damping oil cylinder 58 pass through the boss 5121 being arranged on right lower extremity pin 2 511 and right link block 512 Hinge connection, right link block 512 are fixed on right lower extremity sliding block 513, and right lower extremity sliding block 513 is mounted on right lower extremity linear guide On 516,516 front side of right lower extremity linear guide, 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, the right lower extremity linear guide 516 is vertically arranged with right lower extremity shaft 51.
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 right damping oil cylinder 58 is to be equipped with oil cylinder piston 582, oil cylinder piston 582 in oil cylinder shell 584 On be provided with the damping hole 5821 for axially penetrating through oil cylinder piston 582, piston rod 581, oil cylinder shell are fixed on 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 are filled in oil cylinder shell 584 Structure having the same.
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.
Compared with prior art, the present invention has the advantage that
Using damping oil cylinder as the slider-crank mechanism of connecting rod, the damping load of patient's different motion position is realized;
It realizes that excessive deformation does not occur for patient's wrist joints sporting position and forearm using kink four bar linkage, improves and suffer from The comfort level of person;
Realize that left and right sides recovery training appliance for recovery lower limbs is same using leadscrew-nut mechanism, friction plate, dental inlay mechanism, tape handler To or counter motion, improve the rehabilitation training enjoyment of patient, motivate the Rehabilitation confidence of patient, reach preferable rehabilitation efficacy;
Using tape handler, manufacture, installation cost are low, are suitable for family, medical institutions use;
Using two bidirectional damper oil cylinders, different location load damping can be carried out or be applied in combination, different patients are suitble to Use;
Right lower extremity shaft left end cylindrical surface is rotatably assorted with lower limb copper sheathing, realizes that right lower extremity shaft and left lower extremity shaft are mutual Support improves the support stiffness of right lower extremity shaft, left lower extremity shaft.
Detailed description of the invention
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 schematic diagram one.
Fig. 4 is right side upper-limb recovery training device structural schematic diagram 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 schematic diagram.
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 connection structure cross-sectional view.
Figure 14 is the screw rod mounting structure schematic diagram of left side lower limb rehabilitation training mechanism.
Figure 15 is the screw rod mounting structure enlarged diagram of left side lower limb rehabilitation training 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.
Specific embodiment
In conjunction with Fig. 1~18, a kind of adjustable four limbs recovery training appliance for recovery of resistance positions of the invention, including seat 1, pedestal 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, 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 when seat is seated at according to people Position defines left and right directions, and in order to describe the application, the seat 1 is fixed on the base 3, and the pedestal 3 is in left and right pair 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 Symmetrical plane bilateral symmetry of the structure 7 respectively about 3 left and right directions of pedestal, right side lower limb rehabilitation training mechanism 5 and left side lower limb health Multiple symmetrical plane almost symmetry of the training institution 6 about 3 left and right directions of pedestal.
The 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 column Pin 2 213, the right hand slap frame 26, right hand bandage 23, right hand sponge 24, right spindle 1, and 21 front end of upper right connecting rod is fixed It is hollow structure on rear side of the left end of right spindle 1, upper right connecting rod 21, in 21 rear side of 25 front side of upper right slide bar and upper right connecting rod Hole is slidably connected, and 21 rear end side surface of upper right connecting rod 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 25 rear end of upper right slide bar is connected by the middle part hinge of right pin 1 and right back link 28 It connects, connecting rod 212 front end in bottom right is rotatablely connected the left end of right pin 2 213, and right 2 213 right end of pin is fixed on right support plate 41 On, right pin 2 213 is located at immediately below right spindle 1, is hollow structure, 210 front side of bottom right slide bar on rear side of bottom right connecting rod 212 It is slidably connected with 212 rear side inner hole of bottom right connecting rod, connecting rod 212 rear end side surface in bottom right 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, 210 rear end of bottom right slide bar by right pin 3 29 with The lower end hinge of right back link 28 connects, the lower end of the fixed right hand palm frame 26 in right 28 upper end of back link, is arranged on right hand palm frame 26 There is right hand bandage 23, is fixed with right hand sponge 24 on right hand palm frame 26, for being bonded patient's right hand centre of the palm, improves 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 Support plate 41 forms four-bar linkage, to realize patient's right hand palm lift or dropping process in, wrist joint angle change is most Measure small, the comfort level of raising patient'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 rehabilitation training mechanism 5 includes right lower extremity shaft 51, right crus of diaphragm connection frame 53, right lower extremity belt wheel 56, right crus of diaphragm bandage 54, right crus of diaphragm palmrest plate 55, right lower extremity bearing bearing block 52, right bearing bracket 57, right crank ring 518, right damping Oil cylinder 58, right guide rail clamp 1, right guide rail clamp 2 59, right lower extremity linear guide 516, right lower extremity sliding block 513, the right side Link block 512, right lower extremity pin 1, right lower extremity pin 2 511.Right lower extremity is mounted in the middle part of the right lower extremity shaft 51 In the inner hole of bearing bearing block 52, right lower extremity bearing bearing block 52 is fixed on right bearing bracket 57, and right bearing bracket 57 is fixed On pedestal 3, right lower extremity belt wheel 56 is fixed on the left of right lower extremity shaft 51, right lower extremity shaft 51 is anchored the right foot the lower end of connection frame 53, The horizontal axis 531 of 53 upper end edge left and right horizontal of right crus of diaphragm connection frame setting and 55 rear of right crus of diaphragm palmrest plate, lower end are rotatablely connected, the right crus of diaphragm palm Right crus of diaphragm bandage 54 is provided on supporting plate, right crus of diaphragm connection frame 53 is located between right lower extremity bearing bearing block 52 and right lower extremity belt wheel 56.
The right crank ring 518 in right lower extremity shaft 51, right crank ring 518 upwards, front stretch out right beam 5181, the front end of right beam 5181 is connect by right lower extremity pin 1 with the piston rod hinge of right damping oil cylinder 58, right damping The oil cylinder fixing end of oil cylinder 58 is connect by 5121 hinge of boss being arranged on right lower extremity pin 2 511 and right link block 512, right Link block 512 is fixed on right lower extremity sliding block 513, and right lower extremity sliding block 513 is mounted in right lower extremity linear guide 516, right lower extremity 516 front side of linear guide, 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 linear guide Position on 516, rotating right clamp handle 1 is fixed on guide rail clamp in right lower extremity linear guide 516, similarly Mode adjusts fixation position of the right guide rail clamp 2 59 in right lower extremity linear guide 516, for realizing adjusting Rehabilitation The initial position of kinetic damping, the right damping oil cylinder 58 are two-way resistance oil cylinder, i.e., the piston rod of right damping oil cylinder 58 is drawn Out, process is pushed back to be damped.
The lower limb bindiny mechanism 9 includes lower limb connection shaft 91, lower limb connection belt wheel 1, lower limb connection belt wheel two 94, lower limb connection belt wheel 3 99, lower limb connection transmission belt 97, lower limb connection bearing bearing block 1, lower limb connect bearing bearing Seat 2 93, lower limb connection bearing spider 1, lower limb connect bearing spider 2 92.Lower limb connect 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 connect belt wheel 3 99, and lower limb connect shaft 91 right left two End is separately mounted in the inner hole 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 It holds on support 2 92, lower limb connect bearing spider 1, lower limb connection bearing spider 2 92 is fixed on the base 3, lower limb connection 97 one end of transmission belt is fixed on lower limb connection belt wheel 1, and lower limb connect transmission belt 97 and successively connect under belt wheel 1 from lower limb Side is laid out, and is moved on the downside of right lower extremity belt wheel 56, is laid out on the upside of right lower extremity belt wheel 56, from lower limb connection belt wheel 2 94 upside around It lays out, is moved on the upside of left lower extremity belt wheel 66, downside is laid out into, downside, moved into from 3 99 upside of lower limb connection belt wheel, lower limb connect It connects 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 always.
The left side lower limb rehabilitation training mechanism 6 includes left lower extremity shaft 61, left foot connection frame 63, left lower extremity belt wheel 66, left foot bandage 64, left foot palmrest plate 65, left lower extremity bearing bearing block 62, left bearing bracket 67, left crank ring 618, left damping Oil cylinder 68, left rail clamp 1, left rail clamp 2 69, left lower extremity linear guide 616, left lower extremity sliding block 613, a left side Link block 612, left lower extremity pin 1, left lower extremity pin 2 611.Left lower extremity is mounted in the middle part of the left lower extremity shaft 61 In the inner hole of bearing bearing block 62, left lower extremity bearing bearing block 62 is fixed on left bearing bracket 67, and left bearing bracket 67 is fixed On pedestal 3,61 right side loop of left lower extremity shaft the left lower extremity belt wheel 66 stated, the fixed left foot connection frame 63 of left lower extremity shaft 61 Lower end, the horizontal axis of 63 upper end edge left and right horizontal of left foot connection frame setting and 65 rear of left foot palmrest plate, lower end are rotatablely connected, left Be provided with left foot bandage 64 on sole supporting plate, left foot connection frame 63 be located at left lower extremity bearing bearing block 62 and left lower extremity belt wheel 66 it Between.
The left crank ring 618 in left lower extremity shaft 61, left crank ring 618 upwards, front stretch out left beam 6181, the front end of left beam 6181 is connect by left lower extremity pin 1 with the piston rod hinge of left damping oil cylinder 68, left damping The oil cylinder fixing end of oil cylinder 68 is connect by 6121 hinge of boss being arranged on left lower extremity pin 2 611 and left link block 612, left Link block 612 is fixed on left lower extremity sliding block 613, and left lower extremity sliding block 613 is mounted in left lower extremity linear guide 616, left lower extremity 616 front side of linear guide, 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 rotation Clamp handle 1 unclamps guide rail clamp, adjusts mobile left rail clamp 1 in left lower extremity linear guide 616 On position, rotating left clamp handle 1 is fixed on guide rail clamp in left lower extremity linear guide 616, same side Formula adjusts fixation position of the left rail clamp 2 69 in left lower extremity linear guide 616, adjusts Rehabilitation fortune for realizing The initial position of dynamic damping, the 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.
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 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 slap 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 It is hollow structure on rear side of the right end of left rotary shaft 1, upper left connecting rod 81, in 81 rear side of 85 front side of upper left slide bar and upper left connecting rod Hole is slidably connected, and connecting rod 81 rear end side surface in upper left 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 slide bar 85 rear end in upper left is connected by the middle part hinge of left pin 1 and left back connecting rod 88 It connects, 812 front end of left lower link is rotatablely connected the right end of left pin 2 813, and left 2 813 left end of pin is fixed on left support plate 71 On, left pin 2 813 is located at immediately below left rotary shaft 1, is hollow structure, 810 front side of lower-left slide bar on rear side of left lower link 812 It is slidably connected with 812 rear side inner hole of left lower link, 812 rear end side surface of left lower link 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, 810 rear end of lower-left slide bar by left pin 3 89 with The lower end hinge of left back connecting rod 88 connects, the lower end of the fixed left hand palm frame 86 in left back 88 upper end of connecting rod, is arranged on left hand palm frame 86 There is left hand bandage 83, is fixed with left hand sponge 84 on left hand palm frame 86, for being bonded patient's left hand centre of the palm, improves the left hand of patient The comfort level when palm is fixed.
The left side lower limb rehabilitation training 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, friction plate 2 622, clamp screw Bolt 626, the left lower extremity shaft 61 are hollow structure, and left lower extremity shaft 61 is pierced by the fixed left lower extremity silk of left belt wheel 3 76 to the left Thick stick rotation support 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 Left lower extremity handwheel 625 is fixed in 624 left end of lead screw, and 624 right end of left lower extremity lead screw is provided with left lower extremity nut 619, lower-left 619 right end of limb nut is blind hole structure, and 61 inner hole of left lower extremity shaft is equipped with left lower extremity copper sheathing 620,620 inner hole of left lower extremity copper sheathing The installation left lower extremity nut 619 is slidably matched to support left lower extremity nut 619 and be formed therewith, right lower extremity shaft 51 Left end cylindrical surface is rotatably assorted with lower limb copper sheathing 620, right to realize that right lower extremity shaft 51 and left lower extremity shaft 61 mutually support 51 left side of lower limb shaft is provided with the tooth form 5101 of protrusion, and 619 right side of left lower extremity nut is provided with suitable with 5101 phase of tooth form The groove 6191 answered, to realize that right lower extremity shaft 51 is combined or separated, the left lower extremity nut with left lower extremity shaft 61 619 upwards with lower section about symmetrically stretching attachment beam 6192,6192 left-hand face fixed friction piece one of attachment beam 621,66 right side of left lower extremity belt wheel and the adaptable position fixed friction piece 2 622 of friction plate 1, friction plate 1 rub Piece 2 622 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 suitable The attachment beam 6192 for answering left lower extremity nut 619 to stretch out slides in left-right direction, and same 620 right side of left lower extremity copper sheathing also offers diameter It is located at left crank ring 618 in the left lower extremity shaft 61 to realize that 6192 left and right directions of attachment beam slides to perforative slot Tight fixed bolt 626 is screwed in the radial screw bore being arranged between left support plate 71, tight fixed bolt upper end is provided with tightening handwheel, Realize that 626 lower end of tight fixed bolt holds out against left lower extremity lead screw 624 and prevents left lower extremity lead screw 624 from occurring to turn by screwing in tightening handwheel Dynamic, 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 right damping oil cylinder 58 is to be equipped with oil cylinder piston 582, oil cylinder piston 582 in oil cylinder shell 584 On be provided with the damping hole 5821 for axially penetrating through oil cylinder piston 582, piston rod 581, oil cylinder shell are fixed on oil cylinder piston 582 On be provided with oil cylinder fixing end 583, viscous liquid is filled in oil cylinder shell 584.
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 626, 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, friction plate 2 622, screws tight fixed bolt 626, prevents left lower extremity lead 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 shaft 51 drives right crus of diaphragm connection frame 53 rotations, right crus of diaphragm palmrest plate 55 drive the right lower extremity movement of patient, and right lower extremity belt wheel 56 connects transmission belt 97 by lower limb and drives Left lower extremity belt wheel 66 rotates backward, and drives 619 turns of left lower extremity nut by the frictional drive of friction plate 1, friction plate 2 622 Dynamic, the attachment beam 6192 that left lower extremity nut 619 stretches out drives left lower extremity shaft 61 to rotate, and realizes the left lower extremity movement of patient, by In the symmetrical plane bilateral symmetry of right side transmission mechanism 4 and left side transmission mechanism 7 about 3 left and right directions of pedestal, right side lower limb health Multiple training institution 5, about the symmetrical of 3 left and right directions of pedestal, realizes the left side upper limb of patient with left side lower limb rehabilitation training mechanism 6 Movement, if the autokinetic movement of patient needs to increase damping force, unscrews right clamp handle 1, right clamp handle two 510, it adjusts right guide rail clamp 1, right guide rail clamp 2 59 and is fixed on 513 both ends of right lower extremity sliding block, limbs of patient When movement, right damping oil cylinder 58 provides resistance always, if patient also needs to increase resistance, same mode adjusts left rail The fixation position of clamp 1, left rail clamp 2 69 makes left damping oil cylinder 68 provide resistance.
If strength is small when lifting on patient's upper limb, when strength is big when two upper limbs fall, adjust when being lifted on right damping oil cylinder 58 , there are damping in undamped, when whereabouts, need to adjust right guide rail clamp 1 and are fixed on 516 middle position of right lower extremity linear guide, Right guide rail clamp 2 59 is fixed on the rear end of right lower extremity linear guide 516.According to the needs of Rehabilitation training, adjusts the right side and lead Limbs of patient health is realized in the fixation position of rail clamp 1, right guide rail clamp 2 59 in right lower extremity linear guide 516 The loading position damped when moving again.If patient motion does not need damping, right guide rail clamp 1, right guide rail are adjusted Clamp 2 59 is located at 516 both ends of right lower extremity linear guide.
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, friction plate 2 622 is detached from, the tooth form that groove 6191 is arranged in 619 right side of left lower extremity nut and right lower extremity shaft 51 is arranged 5101 it is not chimeric when, right lower extremity shaft 51 and left lower extremity shaft 61 are detached from, and realize that the left side lower extremity movement of patient and patient are right Side lower extremity movement is detached from, thus realize that 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, lower-left 619 right side of the limb nut tooth form 5101 that is arranged with right lower extremity shaft 51 of setting groove 6191 is mutually chimeric, right lower extremity shaft 51 and Left lower extremity shaft 61 is synchronous, equidirectional rotation, and left lower extremity belt wheel 66 dallies, and realizes that the both upper extremities of patient are equidirectional, under bilateral The equidirectional movement of limb realizes the rehabilitation exercise diversification of patient, improves 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 The drive path of position change, recovery training appliance for recovery is constant.

Claims (10)

1. a kind of adjustable four limbs recovery training appliance for recovery of resistance positions, including seat (1), pedestal (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), the seat (1) are fixed on pedestal (3) on, the pedestal (3) symmetrical structure, it is characterised in that: in right side rehabilitation training of upper limbs mechanism (2) and left side Limbs rehabilitation training mechanism (8), right side transmission mechanism (4) are with left side transmission mechanism (7) respectively about pair of pedestal (3) left and right directions Claim plane bilateral symmetry;
The right side rehabilitation training of upper limbs mechanism (2) includes right connecting rod transmission mechanism, right palmar fixing device, right spindle one (214), the right palmar fixing device passes through 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 rehabilitation training mechanism (5) includes right lower extremity shaft (51), right crus of diaphragm attachment device, right lower extremity belt wheel (56), right damping regulator, right lower extremity shaft (51) right part and right support plate (41) are rotatablely connected, right lower extremity shaft (51) left side is fixed right lower extremity belt wheel (56), is fixedly connected with right damping regulator in right lower extremity shaft (51) and connects dress with right crus of diaphragm It sets;
The lower limb bindiny mechanism (9) connects transmission belt (97) and right lower extremity belt wheel by the lower limb in lower limb bindiny mechanism (56) it is connected with left lower extremity belt wheel (66), to realize that right lower extremity belt wheel (56) and left lower extremity belt wheel (66) rotation direction are opposite;
The left side lower limb rehabilitation training mechanism (6) and right side lower limb rehabilitation training mechanism (5) is about pedestal (3) left and right directions Symmetrical plane almost symmetry, left lower extremity shaft (61) be hollow structure, left lower extremity belt wheel (66) loop is in left lower extremity shaft (61) on, left side lower limb rehabilitation training mechanism (6) further includes left lower extremity lead screw (624), left lower extremity nut (619), friction plate one (621), friction plate two (622), the left end rotation connection of left lower extremity lead screw (624) and left lower extremity shaft (61), left lower extremity lead screw (624) right end threaded engagement left lower extremity nut (619), right lower extremity shaft (51) left side are provided with the tooth form (5101) of protrusion, Left lower extremity nut (619) right side is provided with the groove (6191) being adapted with tooth form (5101), the left lower extremity nut (619) attachment beam (6192) are stretched out with lower section upwards, fixed friction piece one (621) on attachment beam (6192), left lower extremity belt wheel (66) right side and friction plate one (621) are adapted position fixed friction piece two (622), left lower extremity shaft (61) right side The sliding groove (611) extended radially through is offered, to adapt to the attachment beam (6192) of left lower extremity nut (619) stretching along right and left To sliding, the left lower extremity shaft (61) is provided with tight fixed bolt (626), for tightening or loosens in left lower extremity shaft (61) The left lower extremity lead screw (624) being coaxially disposed in hole.
2. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 1, it is characterised in that: the lower limb Bindiny mechanism (9) connects transmission belt (97) and right lower extremity belt wheel (56) and left lower extremity belt wheel by the lower limb in lower limb bindiny mechanism (66) structure connected are as follows: the lower limb bindiny mechanism (9) includes lower limb connection 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), the lower limb connection Shaft (91) successively fixes lower limb connection belt wheel one (98) from right part to left part, lower limb connect belt wheel two (94), lower limb connecting band Three (99) are taken turns, lower limb connection shaft (91) right left both ends are separately mounted to lower limb connection bearing bearing block one (96), lower limb connection In the inner hole of bearing bearing block two (93), lower limb connect bearing bearing block one (96), lower limb connection bearing bearing block two (93) point It is not fixed on lower limb connection bearing spider one (95), lower limb connect on bearing spider two (92), lower limb connection bearing spider one (95), lower limb connection bearing spider two (92) is fixed on pedestal (3), and lower limb connection transmission belt (97) one end is fixed on lower limb company On tape splicing wheel one (98), lower limb connection transmission belt (97) is successively laid out on the downside of lower limb connection belt wheel one (98), from right lower extremity band Move on the downside of wheel (56), lay out on the upside of the right lower extremity belt wheel (56), moved on the upside of lower limb connection belt wheel two (94), downside around Out, it from left lower extremity belt wheel (66) upside moves into, downside is laid out, is moved on the upside of lower limb connection belt wheel three (99), lower limb connection passes Dynamic band (97) other end is fixed in lower limb connection belt wheel three (99).
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 The structure of right damping regulator is fixedly connected in right lower extremity shaft (51) are as follows: 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 linear guide (516), right lower extremity sliding block (513), right link block (512), the fixed right crank ring (518) in right lower extremity shaft (51), Right crank ring (518) stretches out right beam (5181), and the front end of right beam (5181) passes through right lower extremity pin one (517) and right damping The piston rod hinge of oil cylinder (58) connects, and the oil cylinder fixing end of right damping oil cylinder (58) passes through right lower extremity pin two (511) and the right side Boss (5121) the hinge connection being arranged on link block (512), right link block (512) is fixed on right lower extremity sliding block (513), right Lower limb sliding block (513) is mounted on right lower extremity linear guide (516), and right lower extremity linear guide (516) front side, rear side are respectively set There are right guide rail clamp one (515), right guide rail clamp two (59), right guide rail clamp one (515), right guide rail clamp two (59) right clamp handle one (514), right clamp handle two (510), the right lower extremity linear guide are separately installed with (516) it is vertically arranged with right lower extremity shaft (51).
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 The structure that right palmar fixing device passes through right connecting rod transmission mechanism transmission connection right spindle one (214) are as follows: the 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 the left end of right spindle one (214), upper right slide bar (25) front side and upper right connecting rod (21) rear side inner hole is slidably connected and slides fixed position-adjustable, upper right slide bar (25) rear end by right pin one (27) with The middle part hinge of right back link (28) connects, and connecting rod (212) front end in bottom right is rotatablely connected right pin two (213), right pin two (213) it is fixed on right support plate (41), is slidably connected simultaneously on front side of bottom right slide bar (210) with inner hole on rear side of bottom right connecting rod (212) And fixed position-adjustable is slided, slide bar (210) rear end in bottom right is cut with scissors by the lower end of right pin three (29) and right back link (28) Chain link, the fixed right palmar fixing device in right back link (28) upper end.
5. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 2, it is characterised in that: the right-hand rotation Axis 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: 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), The right spindle one (214) is rotatablely connected to middle part and right support plate (41), the fixed right side of right spindle one (214) right end Belt wheel one (44), right belt wheel one (44) form V belt translation, right belt wheel two by right transmission belt (42) and right belt wheel two (410) (410) it is fixed on the right end of right spindle two (411), the left end of right spindle two (411) and right support plate are rotatablely connected, right belt wheel three (46) it is fitted in the outside of right transmission belt (42), right belt wheel three (46) is fixed on right lower extremity shaft (51 right end, the right biography The position setting moved on band (42) with belt wheel winding is jagged, and notch both ends are connected with extension spring (421), are opened to realize Tight right transmission belt (42), Left Drive band (72), lower limb connection transmission belt (97) are 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 The structure of right crus of diaphragm attachment device is fixedly connected in shaft (51) are as follows: the fixed device of the right crus of diaphragm include 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 ends of connection frame (53), right crus of diaphragm The horizontal axis of 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 crus of diaphragm palmrest The right crus of diaphragm bandage (54) is set on plate.
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) structure of the fixed right palmar fixing device in upper end are as follows: the lower end of fixed right hand palm frame (26) in right back link (28) upper end, it is right It is provided on palm frame (26) right hand bandage (23), is fixed with right hand sponge (24) on right hand palm frame (26).
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 The structure that the left end of left lower extremity lead screw (624) and left lower extremity shaft (61) is rotatablely connected are as follows: left lower extremity shaft (61) is pierced by the left Left belt wheel three (76) is fixed left lower extremity lead screw rotation support device (623), left lower extremity lead screw rotation support device (623) rotation branch The left part of left lower extremity lead screw (624) is supportted, left lower extremity lead screw (624) left end is fixed left lower extremity handwheel (625), the left lower extremity silk Thick stick 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), (6231 inner holes install left lower extremity bearing one (6232) left lower extremity bearing two (6233), round bearing to round bearing seat 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).
9. the adjustable four limbs recovery training appliance for recovery of resistance positions according to claim 3, it is characterised in that: the right resistance The structure of Buddhist nun's oil cylinder (58) is to be equipped with oil cylinder piston (582) in oil cylinder shell (584), and oil cylinder piston is provided with axis on (582) To the damping hole (5821) for running through oil cylinder piston (582), it is fixed with piston rod (581) on oil cylinder piston (582), on oil cylinder shell It is provided with oil cylinder fixing end (583), viscous liquid, left damping oil cylinder (68) and right damping oil is filled in oil cylinder shell (584) Cylinder (58) structure having the same.
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 Axis (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.
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