CN108814899A - A kind of multidigit appearance, the adjustable leg training device in track - Google Patents

Abstract

The invention provides a lower limb training device with multiple postures and adjustable tracks, which includes a foot track generation mechanism, a lower limb angle adjustment mechanism, a sitting posture auxiliary training device and a standing posture auxiliary training device, which are symmetrical on the inner side of the standing posture auxiliary training device A pair of leg side guards are set, and the foot track generation mechanism is built in the leg side guards. The driving device drives the eccentric wheel to rotate, and through the compound transmission of the crank rocker mechanism and the five-bar mechanism, it drives the parallelogram mechanism to move. The pedals outside the side guards are hinged at the lower end of the track output rod of the parallelogram mechanism, and move synchronously with the track output rod. A pair of leg side guards can be driven by the lower limb angle adjustment mechanism to swing back and forth to an inclined state. The sitting posture auxiliary training device is compatible with the standing posture. The auxiliary training devices can be relatively moved. The present invention can provide different types and different amplitudes of quasi-gait foot track training.

Description

A lower limb training device with multiple poses and adjustable tracks

technical field

The invention relates to the fields of rehabilitation medicine and fitness equipment, and more specifically relates to a multifunctional lower limb training device capable of realizing different types and different amplitudes of gait-like training trajectories.

Background technique

For paralyzed patients after acute clinical treatment such as surgery, rehabilitation is the main treatment, and it is usually a fairly long-term continuous process. In the traditional rehabilitation treatment, the patient's exercise training mainly relies on the manual assistance of the physical therapist, which is time-consuming, the training strategy is relatively simple, and the cost is relatively high. Moreover, in the training process, it is often difficult to maintain good consistency in the movement trajectory of the affected limb and the strength applied to the affected limb. The use of rehabilitation robots to assist patients in exercise training can improve efficiency and reduce costs. At the same time, the trajectory of the robot and the force exerted on the affected limb have good consistency.

For example, the application number is CN201710240897.9, the application date is 20170413, and the Chinese invention patent with the application publication date of 20170613 discloses a posture-adjustable lower limb health training device: the health training device includes a lower limb training machine and an adjustment device. The adjustment device includes an angle adjustment mechanism and a horizontal motion mechanism that drives the horizontal displacement of the angle adjustment mechanism; the lower limb training machine is fixed on the cover plate of the angle adjustment mechanism; A support frame and a seat supported by the support frame, the support frame is provided with a controllable slide rail along the length direction of the horizontal motion mechanism, and the seat is arranged on the controllable slide rail through a sliding block . The invention can realize leg movements with different trajectories in multiple postures of lying, sitting and standing, and can realize active and passive rehabilitation training. During active training, it can not only be used as a rehabilitation training device, but also can be used as a fitness equipment to enhance physical fitness;

Another example is a Chinese invention patent with application number CN201510126371.9, application date 20150320, and authorized announcement number CN104800041A, which discloses a multi-position lower limb rehabilitation training robot, including a robot base and a training bed. The training bed includes two sets of leg mechanisms, one set of seats, one set of seat width adjustment mechanisms, one set of body center of gravity adjustment mechanisms, one set of back cushions, one set of weight reduction system and one set of seat cushion angle adjustment mechanisms. The robot base includes a set of bed angle adjustment mechanism, and the bed angle adjustment mechanism cooperates with the seat angle adjustment mechanism to provide paralyzed patients with various posture training methods such as lying, sitting, and standing. The leg mechanism includes three joints of hip, knee and ankle; the hip, knee and ankle joints are all driven by motors, and installed with angle and force sensors, which can be used to identify the patient's movement intention, so as to provide active and Boost training. The human body center of gravity adjustment mechanism, the leg mechanism and the weight reduction system cooperate with each other to realize a bionic gait close to the natural walking of the human body and improve the effect of gait training.

Similar to the existing similar technical solutions of the above two invention patents, the movement trajectory of the lower limbs is relatively single, or the control is complicated due to multiple drives, or there is a contradiction between the size of the mechanism and the size of the human body, and the planning of the training trajectory.

Contents of the invention

The present invention aims to solve the above technical problems. For this reason, the present invention proposes a lower limb training device with multiple poses and adjustable tracks, in order to provide different types and different amplitudes of similar gait foot track training.

To achieve the above object, the present invention adopts the following technical solutions:

A lower limb training device with multiple postures and adjustable trajectory, including a foot trajectory generation mechanism, a lower limb angle adjustment mechanism, a sitting posture auxiliary training device and a standing posture auxiliary training device, and its structural characteristics are:

A pair of leg side shields are arranged symmetrically on the inner side of the standing posture auxiliary training device. The foot track generation mechanism is built in the leg side shields, and the eccentric wheel is driven by the driving device to rotate, through the crank rocker mechanism and the five-bar mechanism. The compound transmission drives the parallelogram mechanism to move. The pedals located outside the leg side guards are hinged to the lower end of the track output rod of the parallelogram mechanism and move synchronously with the track output rod. The pair of leg side guards can be controlled by the The lower limb angle adjustment mechanism is driven to swing back and forth to an inclined state, and the sitting posture auxiliary training device and the standing posture auxiliary training device can move relatively to realize multi-position lower limb training of different types and different amplitudes of similar gait training trajectories.

Structural features of the present invention also are:

The structural form in which the crank-rocker mechanism and the five-bar mechanism are combined to drive and drive the parallelogram mechanism to move is:

The first connecting rod is hinged on the outer circumference of the eccentric wheel to form a first hinge point, the other end of the first connecting rod is hinged to the rocker to form a fifth hinge point, and one end of the rocker is hinged on the leg side A fourth hinge point is formed on the guard plate, and a plurality of second hinge points are arranged on the first connecting rod. One end of the second connecting rod is hinged to one of the second hinge points, and the other end is connected to the first parallel connecting rod. One end of the first parallel link is hinged to form a third hinge point, and the other end of the first parallel link is hinged to the fourth hinge point, and the crank-rocker mechanism is formed by sequentially hinged eccentric wheel, first connecting rod and rocker. The sequentially hinged eccentric wheel, first connecting rod, second connecting rod and first parallel connecting rod constitute the five-bar mechanism, and the second hinge point at a different position on the second connecting rod and the first connecting rod Hinged together to achieve different types of ellipse-like foot training tracks;

One end of the second parallel connecting rod is hinged on the third hinge point, and the other end is hinged on the track output rod to form the sixth hinge point, and the upper end of the track output rod is hinged on the rocking bar to form the seventh hinge point. A hinge point, a plurality of output hinge points are set at the lower end, and one of the output hinge points is used as the output end of the foot training track and is hinged with the pedal, and the first parallel link, the second parallel link, and the track are hinged in turn. The output rod and the rocker constitute the parallelogram mechanism, and the pedals are hinged with different output hinge points to realize the proportional scaling of the foot training track.

The structure of the lower limb angle adjustment mechanism is set as follows:

The electric push rod is hinged on the upper end of the training base plate of the standing posture auxiliary training device, the rod end of the push rod is hinged on the front end of the leg side guard, and the rod end of the piston rod of the gas spring is hinged on the rear end of the leg side guard On the top, the joint end is hinged on the upper end of the training base plate, the leg side guard is driven to swing back and forth by the telescopic movement of the electric push rod, and the leg side guard is supported and fixed by the gas spring;

Or, a pair of leg side shields are respectively installed symmetrically on the inner side of the standing posture auxiliary training device through the indexing device, and can swing back and forth around the rotating shaft of the indexing device.

The relative movable structure of the sitting posture auxiliary training device and the standing posture auxiliary training device is:

The sitting posture auxiliary training device is to set a seat supported by a support rod on the lower support plate, and the seat is adjustable in height through the support rod, and a pair of sitting posture armrests are arranged symmetrically on the left and right sides of the seat cushion, and the chair of the seat The angle between the back and the cushion is adjustable;

The standing posture auxiliary training device is to symmetrically arrange a pair of suspension support frames on the left and right sides of the training base plate, and a pair of leg side guards are symmetrically installed on the inner end faces of the pair of suspension support frames, and are mounted on the pair of suspension support frames. A pair of standing handrails are symmetrically arranged on the front upper end of the front side, and the weight reduction belt is suspended on the top of the suspension support frame;

The lower support plate is connected with the training base plate through a moving pair, so that the sitting posture auxiliary training device and the standing posture auxiliary training device can move relatively.

Compared with the prior art, the beneficial effects of the present invention are reflected in:

1. The invention innovatively proposes a single-drive foot training mechanism, which can provide a series of elliptical trajectory training that is very close to the gait law of the human body according to different individuals or rehabilitation stages. The trajectory is convenient and adjustable, and different types and different amplitudes can be realized. The similar gait training trajectory, and the trajectory transition is smooth, without causing secondary damage;

2. The present invention adopts the lower limb angle adjustment mechanism to correspond to different postures, which can be flexibly, conveniently and accurately adjusted to a suitable lower limb training angle, and has high reliability;

3. The present invention integrates multi-posture training functions such as lying down, reclining, and standing. It has a compact and flexible structure, and can reasonably match the size of the corresponding device according to the size of the human body. It can perform personalized training in a limited space. The scope of application Wide range of rehabilitation training modes.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the lower limb training device of the present invention;

Fig. 2 is a schematic diagram of the overall structure of another viewing angle of the lower limb training device of the present invention;

Fig. 3 is a side view structural schematic diagram of the lower limb training device of the present invention;

Fig. 4 is a top structural schematic diagram of the lower limb training device of the present invention;

Fig. 5 is a schematic diagram of the structure of the foot track generation mechanism in Fig. 1;

Fig. 6 is a structural schematic diagram of another hinged state of the foot track generation mechanism in Fig. 1;

Fig. 7 is a schematic structural view of the inside of the leg side guard in Fig. 1 .

In the figure, 1 foot trajectory generation mechanism; 2 lower limb angle adjustment mechanism; 3 auxiliary training device for sitting posture; 4 auxiliary training device for standing posture; 5 leg side guard; 6 driving device; 1 connecting rod; 10 second connecting rod; 11 rocker; 12 first parallel connecting rod; 13 second parallel connecting rod; 14 track output rod; 15 first hinge point; 16 second hinge point; 17 third hinge point ;18 the fourth hinge point; 19 the fifth hinge point; 20 the sixth hinge point; 21 the seventh hinge point; 22 output hinge point; Weight reduction belt; 28 guide rail slider mechanism; 29 electric push rod; 30 gas spring; 31 indexing device; 32 lower support plate; 33 support rod; 34 seat cushion; 35 chair back; 38 arc grooves.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the present invention Examples, not all examples. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

Please refer to Fig. 1 to Fig. 7, the multi-posture, track-adjustable lower limb training device of this embodiment includes a foot trajectory generation mechanism 1, a lower limb angle adjustment mechanism 2, a sitting posture auxiliary training device 3 and a standing posture auxiliary training device 4, Its structure is specifically:

A pair of leg side shields 5 are arranged symmetrically inside the standing posture auxiliary training device 4, and the foot track generation mechanism 1 is built in the leg side shields 5, and the eccentric wheel 8 is driven by the driving device 6 to rotate, and the crank and rocker mechanism Combined with the five-bar mechanism to drive the parallelogram mechanism to move, the pedal 23 located outside the leg side guard 5 is hinged on the lower end of the track output rod 14 of the parallelogram mechanism, and moves synchronously with the track output rod 14. A pair of leg side guards 5 can be driven by the lower limb angle adjustment mechanism 2 to swing back and forth to the tilted state, and the sitting posture auxiliary training device 3 and the standing posture auxiliary training device 4 can move relatively, so as to realize multi-position lower limb training of different types and different amplitudes of similar gait training trajectories.

Wherein, the output shaft end of the driving device 6 is connected with the wheel shaft of the eccentric wheel 8 through a coupling 7, see FIG. 7 .

In specific implementation, the corresponding structural settings also include:

Referring to Fig. 5, Fig. 6 and Fig. 7, the structural form of the combined transmission of the crank-rocker mechanism and the five-bar mechanism to drive the movement of the parallelogram mechanism is:

The first connecting rod 9 is hinged on the outer circumference of the eccentric wheel 8 to form a first hinge point 15, and the other end of the first connecting rod 9 is hinged to the rocker 11 to form a fifth hinge point 19, and one end of the rocker 11 is hinged On the leg side shield 5, a fourth hinge point 18 is formed, a plurality of second hinge points 16 are set on the first connecting rod 9, one end of the second connecting rod 10 is hinged with one of the second hinge points 16, and the other One end is hinged with one end of the first parallel connecting rod 12 to form a third hinge point 17, and the other end of the first parallel connecting rod 12 is hinged at the fourth hinge point 18, so that the hinged eccentric wheel 8, the first connecting rod 9 and the rocking bar 11 constitute a crank rocker mechanism, and the eccentric wheel 8, the first connecting rod 9, the second connecting rod 10 and the first parallel connecting rod 12 that are hinged in turn constitute a five-bar mechanism, and the second connecting rod 10 It is hinged with the second hinge point 16 at different positions on the first connecting rod 9 to achieve different types of elliptical foot-end training tracks;

One end of the second parallel connecting rod 13 is hinged on the third hinge point 17, and the other end is hinged on the middle part of the track output rod 14 to form the sixth hinge point 20, and the upper end of the track output rod 14 is hinged on the rocking bar 11 to form the first Seven hinge points 21, the lower end is provided with a plurality of output hinge points 22, with one of the output hinge points 22 as the output end of the foot training track and hinged with the pedal 23, with the first parallel connecting rod 12 hinged in turn, the second parallel The connecting rod 13, the track output rod 14 and the rocking bar 11 form a parallelogram mechanism, and are hinged with the pedal 23 and different output hinge points 22 to realize the proportional scaling of the foot end training track.

The structure of the lower limb angle adjustment mechanism 2 is set as:

The electric push rod 29 is hinged on the training base plate 24 upper end of the standing posture auxiliary training device 4, the push rod rod end is hinged on the front end face of the leg side shield 5, and the piston rod rod end of the gas spring 30 is hinged on the leg side shield 5. On the rear end face, the joint end is hinged on the upper end of the training base plate 24, and the telescopic drive of the electric push rod 29 drives the leg side guard plate 5 to swing back and forth, and forms a buffer in the swing process of the leg side guard plate 5 with the gas spring 30, and The support of the leg side shield 5 in a certain inclined state is fixed;

Or, as another optional scheme, a pair of leg side shields 5 can be symmetrically installed on the inner side of the standing posture auxiliary training device 4 respectively by the indexing device 31, and can swing back and forth around the rotating shaft of the indexing device 31 to form a pair of Adjustment of lower limb angle.

In this embodiment, the electric push rod 29, the gas spring 30 and the indexing device 31 work together to form the adjustment of the angle of the lower limbs.

Specifically, the bottom end of the leg side guard 5 is provided with an arc-shaped structure, and an arc-shaped groove 38 matching the swing track of the leg side guard 5 is correspondingly provided on the training base plate 24 .

The structural form that the sitting posture auxiliary training device 3 and the standing posture auxiliary training device 4 can move relatively is:

The sitting posture auxiliary training device 3 is to set the seat supported by the support bar 33 on the lower support plate 32, and the seat realizes height adjustment by the support bar 33, and a pair of seat guard plates 36 on the left and right sides of the seat cushion 34 are symmetrically arranged. The armrest 37, the angle between the seat back 35 and the seat cushion 34 can be adjusted to meet the patient's comfort needs more flexibly. This part of the structure is easy to understand and easy to implement for those of ordinary skill in the art, and belongs to Conventional technical means, do not repeat;

Standing posture auxiliary training device 4 is that a pair of suspension support frames 25 are arranged symmetrically on the left and right sides of the training base plate 24, and a pair of leg side guard plates 5 are symmetrically installed on a pair of suspension support frames 25 inner side end faces, and on a pair of suspension support frames. A pair of standing handrails 26 are symmetrically arranged on the front side upper end of the suspension support frame 25, as the support of the patient during standing posture rehabilitation training, and the weight reduction belt 27 is suspended on the top of the suspension support frame 25;

The lower support plate 32 is connected to the training base plate 24 through the mobile pair formed by the guide rail slider mechanism 28, so that the sitting posture auxiliary training device 3 and the standing posture auxiliary training device 4 can move relatively.

As a preferred solution, angle and pressure sensors can be installed on the pedals 23, and heart rate sensors can be installed on the sitting armrest 37 and the standing armrest 26 to detect the training state and control the training process.

Although the embodiments of the present invention have been shown and described, those skilled in the art can understand that various changes, modifications, substitutions and modifications can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the invention is defined by the claims and their equivalents.

Claims (4)

1. A lower limb training device with multiple postures and adjustable trajectory, comprising a foot trajectory generation mechanism (1), a lower limb angle adjustment mechanism (2), a sitting posture auxiliary training device (3) and a standing posture auxiliary training device (4) , which is characterized by: A pair of leg side shields (5) are symmetrically arranged on the inside of the standing posture auxiliary training device (4), and the foot track generation mechanism (1) is built in the leg side shields (5) and is driven by a driving device (6 ) to drive the eccentric wheel (8) to rotate, through the combined transmission of the crank rocker mechanism and the five-bar mechanism, to drive the movement of the parallelogram mechanism, and the pedal (23) outside the leg side guard (5) is hinged on the parallelogram mechanism. The lower end of the trajectory output rod (14) moves synchronously with the trajectory output rod (14), and the pair of leg side guards (5) can be driven by the lower limb angle adjustment mechanism (2) to swing back and forth to an inclined state, and the The auxiliary training device for sitting posture (3) and the auxiliary training device for standing posture (4) can move relative to each other, so as to realize the multi-position lower body training of different types and different amplitudes of similar gait training trajectories. 2. The multi-posture and track-adjustable lower limb training device according to claim 1, characterized in that the crank-rocker mechanism and the five-bar mechanism are combined to drive and drive the structural form of the parallelogram mechanism to move: The first connecting rod (9) is hinged on the outer circumference of the eccentric wheel (8) to form a first hinge point (15), and the other end of the first connecting rod (9) is hinged to the rocker (11) , forming the fifth hinge point (19), one end of the rocker (11) is hinged on the leg side shield (5) to form the fourth hinge point (18), and multiple A second hinge point (16), one end of the second connecting rod (10) is hinged with one of the second hinge points (16), and the other end is hinged with one end of the first parallel connecting rod (12), forming a third Hinge point (17), the other end of the first parallel connecting rod (12) is hinged on the fourth hinge point (18), so that the eccentric wheel (8), first connecting rod (9) and rocking bar (11) that are hinged in turn ) constitute the crank-rocker mechanism, and constitute the five-bar mechanism with sequentially hinged eccentric wheels (8), first connecting rods (9), second connecting rods (10) and first parallel connecting rods (12), And the second connecting rod (10) is hinged with the second hinge point (16) at different positions on the first connecting rod (9), so as to obtain different types of similar elliptical foot end training trajectories; One end of the second parallel connecting rod (13) is hinged on the third hinge point (17), and the other end is hinged on the track output rod (14), forming the sixth hinge point (20), and the track output rod ( 14) The upper end is hinged on the rocker (11) to form the seventh hinge point (21), and the lower end is provided with a plurality of output hinge points (22), and one of the output hinge points (22) is used as the foot training track output end and is hinged with the pedal (23), the first parallel connecting rod (12), the second parallel connecting rod (13), the track output rod (14) and the rocker (11) which are sequentially hinged constitute the described The parallelogram mechanism realizes equal-proportional scaling of the foot-end training track by hinged pedals (23) and different output hinge points (22). 3. The multi-position and track adjustable lower limb training device according to claim 1, characterized in that the structure of the lower limb angle adjustment mechanism (2) is set to: The electric push rod (29) is hinged on the training base plate (24) upper end of the standing posture auxiliary training device (4), and the push rod rod end is hinged on the front end face of the leg side guard (5), and the gas spring (30) The rod end of the piston rod is hinged on the rear end surface of the leg side guard (5), the joint end is hinged on the upper end of the training base plate (24), and the leg side guard (5) is driven forward and backward by the telescopic movement of the electric push rod (29). swing, and form the support and fixation of the leg side guard (5) with the gas spring (30); Or, a pair of leg side shields (5) are symmetrically installed on the inner side of the standing posture auxiliary training device (4) respectively by the indexing device (31), and can swing back and forth around the rotating shaft of the indexing device (31). 4. multi-posture according to claim 3, adjustable lower limbs training device, it is characterized in that described sitting posture auxiliary training device (3) and standing posture auxiliary training device (4) can relatively movable structural form is: Described sitting posture auxiliary training device (3) is to be provided with the seat supported by support bar (33) on lower support plate (32), and described seat realizes height adjustable by support bar (33), on the seat cushion ( 34) A pair of sitting armrests (37) are arranged symmetrically on the left and right sides, and the angle between the seat back (35) and the seat cushion (34) is adjustable; The stance auxiliary training device (4) is a pair of suspension support frames (25) symmetrically arranged on the left and right sides of the training base plate (24), and a pair of leg side guards (5) are symmetrically installed on the pair of suspension support frames. (25) on the inside end face, and a pair of standing handrails (26) are symmetrically arranged on the front upper end of a pair of suspension support frames (25), and the weight reduction belt (27) is suspended on the suspension support frame ( 25) top; The lower support plate and the training base plate (24) are connected through a moving pair, so that the sitting posture auxiliary training device (3) and the standing posture auxiliary training device (4) can move relatively.