CN110947158A - Walking aid training device based on elliptical motion - Google Patents
Walking aid training device based on elliptical motion Download PDFInfo
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- CN110947158A CN110947158A CN201911276163.1A CN201911276163A CN110947158A CN 110947158 A CN110947158 A CN 110947158A CN 201911276163 A CN201911276163 A CN 201911276163A CN 110947158 A CN110947158 A CN 110947158A
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- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000005021 gait Effects 0.000 abstract description 11
- 208000020339 Spinal injury Diseases 0.000 abstract description 10
- 239000013585 weight reducing agent Substances 0.000 description 19
- 210000002683 foot Anatomy 0.000 description 18
- 210000003141 lower extremity Anatomy 0.000 description 13
- 238000000034 method Methods 0.000 description 12
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- 210000001364 upper extremity Anatomy 0.000 description 11
- 230000006870 function Effects 0.000 description 10
- 210000000544 articulatio talocruralis Anatomy 0.000 description 8
- 229910001220 stainless steel Inorganic materials 0.000 description 6
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- 238000009434 installation Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 206010033799 Paralysis Diseases 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
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- 238000012986 modification Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
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- 230000000149 penetrating effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000037396 body weight Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/04—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with movable multiple steps, i.e. more than one step per limb, e.g. steps mounted on endless loops, endless ladders
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B71/00—Games or sports accessories not covered in groups A63B1/00 - A63B69/00
- A63B71/06—Indicating or scoring devices for games or players, or for other sports activities
- A63B71/0619—Displays, user interfaces and indicating devices, specially adapted for sport equipment, e.g. display mounted on treadmills
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Abstract
The invention relates to a walking aid training device based on elliptical motion, which comprises a supporting and weight reducing unit, a walking elliptical track simulation unit arranged on the supporting and weight reducing unit and a pedal plate unit arranged on the walking elliptical track simulation unit, wherein the supporting and weight reducing unit comprises a mounting bottom plate, a traveling mechanism, a lifting type supporting platform mechanism, a wearable striding traction mechanism and a backrest mechanism, the traveling mechanism, the lifting type supporting platform mechanism, the backrest mechanism and the walking elliptical track simulation unit are all arranged on the mounting bottom plate, and the wearable striding traction mechanism is arranged on the lifting type supporting platform mechanism. Compared with the prior art, the invention is used for rehabilitation training of patients with spinal injuries, provides driving force for the patients with spinal injuries who are difficult to walk independently, standardizes the gait of the patients, enables the patients to carry out training of normal walking gait by the invention, and assists the patients to walk normally.
Description
Technical Field
The invention belongs to the technical field of medical rehabilitation instruments, and relates to a walking aid training device based on elliptical motion.
Background
Most patients with spinal injuries, healthy upper limbs, and paralytic lower limbs, and the lower limbs cause limb muscular atrophy due to long-term lack of training, usually do rehabilitation training during the recovery period in order to prevent further muscular atrophy of the patients during the recovery process. The walking aid is a walking appliance for assisting a patient with spinal injury or a person who is inconvenient to walk to perform rehabilitation training in a recovery period. The walking aid can ensure the body balance of a user, reduce the bearing of the lower limbs, relieve pain and improve the gait through training.
At present, walking aids at home and abroad mainly comprise the following types: the first type only has the function of simply supporting the upper limbs of the patient, has no driving device, and needs to rely on the residual physical ability of the patient to independently exert force to walk, so that the gait of the patient is seriously distorted, a large amount of physical ability is lost, and the first type is not suitable for most patients with spinal injuries and lower limb complete paralysis; the second type comprises manual driving walking aids, and has the advantages that the walking aids can be controlled by hands of a patient to move quickly and slowly, but the walking aids cannot directly drive legs, leg muscle strength cannot be exercised, and the gait of the patient cannot be trained in a standard way; the third type is a power type exoskeleton lower limb rehabilitation training device, the exoskeleton type walking aid can effectively compensate the lower limb function of a patient and realize the standing and walking of the patient, but the existing exoskeleton type walking aid at home and abroad is restricted by driving force and cannot ensure that the patient with lower limb paralysis stands.
Therefore, the walking aid driven by the elliptical orbit plate with the lower limbs controlled by the motor is designed, the problems of gait distortion, how to improve the range of motion and the like of the patient with spinal injury in the standing and gait training process can be solved by means of sound upper limb support, and the walking aid is significant for the walking aid training of the patient with spinal injury.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provide a walking aid training device based on elliptical motion, which is used for rehabilitation training of patients with spinal injuries, provides driving force for the patients with the spinal injuries who are difficult to walk independently, standardizes the gait of the patients, enables the patients to carry out normal walking gait training through the walking aid training device, and assists the patients to walk normally.
The purpose of the invention can be realized by the following technical scheme:
a walking aid training device based on elliptical motion comprises a supporting and weight reducing unit, a walking elliptical track simulation unit arranged on the supporting and weight reducing unit and a pedal plate unit arranged on the walking elliptical track simulation unit, wherein the supporting and weight reducing unit comprises a mounting base plate, a traveling mechanism, a lifting type supporting platform mechanism, a wearable striding traction mechanism and a backrest mechanism, the traveling mechanism, the lifting type supporting platform mechanism, the backrest mechanism and the walking elliptical track simulation unit are all arranged on the mounting base plate, and the wearable striding traction mechanism is arranged on the lifting type supporting platform mechanism.
Furthermore, the advancing mechanism comprises a pair of front wheel assemblies arranged on the mounting base plate in parallel and a pair of rear wheel assemblies arranged on the mounting base plate in parallel, each front wheel assembly comprises a front wheel fixing support arranged on the mounting base plate and positioned at the front part of the mounting base plate and a front wheel arranged in the front wheel fixing support, each rear wheel assembly comprises a rear wheel hub motor supporting seat arranged on the mounting base plate and positioned at the rear part of the mounting base plate and a rear wheel arranged on the rear wheel hub motor supporting seat, and a rear wheel hub motor matched with the rear wheel hub motor supporting seat is arranged on the rear wheel. The mounting bottom plate is provided with a pair of side plates in parallel, and the lower parts of the side plates are provided with a circular hole which is matched with the rear wheel on the corresponding side and is used for mounting the rear wheel.
Further, the mounting base plate on be equipped with a pair of supporting beam side by side, over-and-under type saddle mechanism include a pair of removal saddle subassembly that sets up on the mounting base plate side by side and set up the handrail between two removal saddle subassemblies, removal saddle subassembly including set up vertical linear guide on corresponding one side supporting beam, set up the saddle slider on vertical linear guide, set up the removal saddle on the saddle slider and set up the electronic jar on the mounting base plate along vertical direction, the side of removal saddle be equipped with the apron, the bottom and the electronic jar transmission of removal saddle be connected.
The electric cylinder and the lifting driving motor thereof are arranged on the motor mounting seat on the mounting bottom plate. The cover plate is made of stainless steel, a main control computer installation space is arranged in the cover plate, and an electric cylinder lifting button is arranged on the outer side of the cover plate and can adjust the height of the movable supporting platform and the armrest. The handrail is connected at the front end of the movable saddle and provides support for the upper limbs of the patient. The middle part of the handrail is provided with a main control computer display which is used for providing a visual page, realizing man-machine interaction and facilitating the control device of a user to realize a proper walking aid function according to the self requirement.
Further, wearing formula tractive mechanism of striding step include the trousers of striding step, set up the area of striding step on the trousers of striding step, set up waistband and a pair of waistband coupling assembling at the trousers top of striding step, waistband coupling assembling establish the bandage that the waistband ring on the waistband, the loop fastening area one end that sets up on the waistband ring link to each other with the loop fastening area and set up the axle fastening area at the bandage other end including the cover, the inboard of apron be equipped with the bandage fixed axle that links to each other with the axle fastening area.
Furthermore, the backrest mechanism comprises a pair of backrest guide rods respectively arranged on the support beam on one corresponding side and a backrest arranged between the two backrest guide rods, a backrest support is arranged on the backrest, and a backrest support buckle matched with the backrest support is arranged on the backrest guide rod.
Furthermore, the walking elliptical trajectory simulation unit comprises a pair of elliptical trajectory simulation mechanisms arranged on the mounting base plate in parallel, each elliptical trajectory simulation mechanism comprises a pair of pedal supports arranged on the mounting base plate in parallel, a motor mounting plate arranged between the two pedal supports and hinged to the pedal supports, a screw rod driving assembly arranged at the bottom of the motor mounting plate and a screw rod nut fixing block arranged on the screw rod driving assembly, elliptical trajectory plates fixedly connected with the mounting base plate are arranged on two sides of the motor mounting plate, and an elliptical trajectory guide assembly is arranged between each elliptical trajectory plate and each screw rod nut fixing block.
A bracket shaft is arranged between the two pedal brackets, and the front end of the motor mounting plate is hinged with the pedal brackets through the bracket shaft. The side of the elliptic orbit plate is provided with an elliptic groove, the elliptic orbit guide component comprises a pedal shaft penetrating through the lead screw nut fixing block and pedal bearings respectively arranged at two ends of the pedal shaft, and the pedal bearings are matched with the elliptic groove.
The screw rod driving assembly comprises a pair of screw rod bearing seats arranged at the bottom of the motor mounting plate in parallel, a screw rod arranged between the two screw rod bearing seats and a screw rod nut sleeved on the screw rod, a coupler is arranged at the bottom of the motor mounting plate, a screw rod driving motor is arranged at one end of the coupler, the other end of the coupler is connected with the end part of the screw rod, and the screw rod nut fixing block is arranged on the screw rod nut.
Further, the bottom of motor mounting panel still be equipped with at least one slider guide rail, the slider guide rail on the cover be equipped with the direction slider, the top fixed connection of direction slider and screw-nut fixed block.
Furthermore, the pedal plate unit comprises a lower pedal plate and an upper pedal plate which are arranged above the motor mounting plate respectively at one position and at the other position, and connecting plates are arranged on two sides of the lower pedal plate and fixedly connected with the lead screw nut fixing block through the connecting plates. The foot pad is arranged on the upper foot pedal.
Furthermore, a pair of springs are respectively arranged in tandem on the lower pedal plate, sensors are arranged on the springs, an angle control block fixedly connected with the lower pedal plate is arranged between the two sensors, and an angle control block through hole is formed in the angle control block;
the upper pedal is provided with a sensor mounting through hole matched with the sensor and an angle control block mounting through hole matched with the angle control block, and the upper pedal is also provided with an upper pedal middle through hole matched with the angle control block through hole.
In the invention, the supporting weight reduction unit can change the position of the movable support platform by adjusting the lifting of the electric cylinder so as to support the healthy upper limbs of the patient, reduce the bearing of the lower limbs of the patient, assist the patient to stand and carry out rehabilitation training, and can also be suitable for patients with different heights by adjusting the supporting height so that the patient can carry out standing rehabilitation training at the optimal supporting position; the rear wheel hub motor is a driving wheel of the whole device, the movement state of the whole supporting weight reduction unit can be controlled by changing the movement direction and speed of the rear wheel hub motor, so that the movement direction of the supporting weight reduction unit can be changed according to the advancing requirement of a patient in the rehabilitation training process, the front wheel is matched with the rear wheel hub motor to complete the movement of advancing, retreating and the like, and the daily activities and training of the patient in a certain range are realized. The backrest mechanism is installed on the back side of the supporting beam, the lower limb muscle force is insufficient and cannot be exerted forcefully due to spinal injury of a patient, the condition that the patient loses balance and topples backwards can occur in the training process, the backrest mechanism is taken as a protection measure, the safety of the patient in the moving process can be guaranteed, and the moving safety is effectively improved. In the wearable striding traction mechanism, the striding belt is connected with the striding trousers, so that the crotch of a patient can be ensured to be stressed in a balanced manner, and the patient is pulled to a standing posture. The wearable striding traction mechanism is a traction weight reduction and protection measure, when a patient uses the wearable striding traction mechanism, the patient needs to be well worn under the assistance of medical staff, the bandage can move along with the movable supporting platform, the function of the wearable striding traction mechanism can assist the patient with the lower limbs of the spine to stand simultaneously with the movable supporting platform, the patient can train under the weight reduction state, and the patient can be prevented from being injured due to unbalance in the standing rehabilitation training process.
The main control computer and the display thereof are used for providing a visual page, realizing man-machine interaction and facilitating the control device of a user to realize a proper walking aid function according to the self requirement. The internal system of the main control computer provides patient information management and walking aid mode setting, parameters such as step length, pace and the like can be set according to the self condition of a patient, and then the running track of the motor of the mechanical device is controlled, so that proper gait walking aid is provided for the patient. In the using process of a patient, the signals of the sensors are collected in real time and are visually displayed in system software, closed-loop control is achieved, a user can conveniently monitor the self state and evaluate the walking assisting effect, and the using safety of the mechanical device is improved. The system provides a virtual scene game, a patient can sense scene change in the using process, the enthusiasm of the patient can be improved while the interestingness is increased, and the rehabilitation of the walking function of the patient is promoted.
In the walking elliptical orbit simulation unit, a lead screw driving motor drives a lead screw to rotate, the lead screw is matched with a lead screw nut arranged on a lead screw nut fixing block, so that the lead screw nut fixing block moves back and forth on the lead screw, the lower end of the lead screw nut fixing block is connected with a pedal bearing through a pedal shaft, the pedal bearing moves in an elliptical groove of an elliptical orbit plate, so that the lead screw nut fixing block has an elliptical orbit motion, a guide slide block fixed on the lead screw nut fixing block can move back and forth on a slide block guide rail while completing the elliptical motion, a motor mounting plate can be driven to have a motion of lifting up and down, and the motion of lifting up and down the legs when a person walks can be simulated.
The pedal unit comprises an upper pedal, a lower pedal and the like, the lower pedal is fixedly connected with a lead screw nut fixing block of the walking elliptical trajectory simulation unit, a through hole is formed in an angle control block in the middle of the lower pedal and hinged with a through hole in the middle of the upper pedal, springs and sensors are further mounted in front of and behind the lower pedal and used for collecting information such as pressure in the movement process of a patient, reflecting the training condition, providing diagnosis reference and further providing control amplitude for walking training. The upper foot plate can change the inclination angle under the adjustment of the angle control block, thereby adjusting the ankle joint angle of the patient. The lead screw nut fixed block of the walking elliptical track simulation unit realizes an elliptical track motion, the connecting plate on the lower pedal is arranged on the lead screw nut fixed block, the whole pedal unit completes an elliptical track motion along with the lead screw nut fixed block, the walking track is simulated, and the standing rehabilitation training of the patient is realized. The whole pedal plate unit moves along with the lead screw nut fixing block, the angle of the ankle joint of the patient is adjusted through the angle control block, walking gait of a normal person is simulated, and certain rehabilitation training is carried out on the patient. When the pedal plate unit moves to the front upper part of the elliptical orbit plate, the spring at the rear part of the lower pedal plate is compressed, the spring at the front part is stretched, and the upper pedal plate is contacted with the rear inclined surface of the angle control block, so that the movement of the ankle joint of a patient can be effectively adjusted. Accordingly, the movement of the ankle joint of the patient can be effectively regulated when the foot pedal unit moves to other positions of the elliptical orbit plate.
Compared with the prior art, the invention has the following characteristics:
1) the supporting weight reduction unit is adopted, and the armrest and the movable support platform support healthy upper limbs of the patient, so that the patient can train in a standing state, and the walking requirements of patients with different heights are met.
2) The wearable striding traction mechanism is adopted, and the wearable striding traction mechanism and the movable support table act together, so that stress points are increased, the stress of armpits of upper limbs is reduced, and the spine patient is helped to realize standing training.
3) The walking elliptical trajectory simulation unit is adopted to realize the motion of the simulated walking trajectory, provide driving force for the patient who cannot walk independently and assist the patient to walk normally.
4) The pedal plate unit adopts a unique spring mode, and the angle of the upper pedal plate is changed along with the rotation of the ankle joint through the adjustment and the matching of the angle control block, so that the ankle joint of a patient is prevented from being injured in the walking training process.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a support weight reducing unit according to the present invention;
FIG. 3 is a schematic structural diagram of a walking ellipse trajectory simulation unit according to the present invention;
FIG. 4 is a schematic view of the structure of the footrest unit of the present invention;
FIG. 5 is a schematic view of the structure of the lower step plate according to the present invention;
FIG. 6 is a schematic view of the upper footrest in the present invention;
FIG. 7 is a schematic structural view of the wearable stride-pulling mechanism of the present invention;
the notation in the figure is:
1-front wheel, 2-front wheel fixed bracket, 3-mounting bottom plate, 4-motor mounting base, 5-lifting driving motor, 6-electric cylinder, 7-rear wheel hub motor bearing seat, 8-handrail, 9-main control computer display, 10-binding band fixed shaft, 11-backrest guide rod, 12-backrest bracket buckle, 13-backrest bracket, 14-backrest, 15-vertical linear guide rail, 16-waistband, 17-saddle slide block, 18-electric cylinder lifting button, 19-moving saddle, 20-cover plate, 21-support beam, 22-side plate, 23-rear wheel, 24-screw rod driving motor, 25-pedal bracket, 26-bracket shaft, 27-elliptical track plate, 28-coupler, 29-slide block guide rail, 30-screw rod nut, 31-guide slide block, 32-screw rod nut fixed block, 33-screw rod, 34-elliptical groove, 35-screw rod bearing base, 36-motor mounting plate, and 9-screw rod, 37-lower pedal, 38-upper pedal, 39-sensor, 40-angle control block, 41-angle control block through hole, 42-angle control block front inclined surface, 43-spring, 44-angle control block rear inclined surface, 45-angle control block mounting through hole, 46-upper pedal middle through hole, 47-sensor mounting through hole, 48-striding trousers, 49-striding belt, 50-ring fixing belt, 51-binding belt, 52-waist belt ring, 53-shaft fixing belt and 54-connecting plate.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Example 1:
as shown in figure 1, the walking aid training device based on the elliptical motion comprises a supporting weight reduction unit, a walking elliptical track simulation unit and a pedal plate unit. Both the walking elliptical trajectory simulation unit and the foot pedal unit are mounted on the mounting base plate 3 supporting the weight reduction unit.
As shown in fig. 2, the support weight reduction unit includes a mounting base plate 3, and a front wheel fixing bracket 2, an electric cylinder 6, a side plate 22, a rear wheel hub motor support base 7, and a support beam 21 fixed to the mounting base plate 3. The upper end of the front wheel fixing bracket 2 is provided with an internal thread hole which is connected with the front wheel fixing bracket through an external thread at the upper end of the front wheel 1; the side plates 22 are fixedly arranged at the left side and the right side of the rear end of the mounting bottom plate 3, and a circular hole is formed in the lower portion of each side plate 22 and used for being matched with the mounting of the rear wheel 23; the rear wheel 23 is arranged on a rear wheel hub motor supporting seat 7, and the rear wheel hub motor supporting seat 7 is fixedly arranged on the mounting base plate 3 of the supporting weight-reducing unit; the supporting beams 21 are arranged on the left side and the right side of the rear end of the mounting bottom plate 3, vertical linear guide rails 15 are arranged on the outer sides of the supporting beams, and the vertical linear guide rails 15 are connected with the supporting platform sliding blocks 17 on the movable supporting platform 19. The lifting driving motor 5 and the electric cylinder 6 are both fixed on the motor mounting seat 4, the electric cylinder 6 is driven by the lifting driving motor 5, the lower end of the movable support platform 19 is connected with the electric cylinder 6, the support platform sliding block 17 and the movable support platform 19 can be driven to move on the vertical linear guide rail 15, and the upper limb of the patient is supported on the movable support platform 19. The movable supporting platform 19 is provided with a stainless steel cover plate 20, a main control computer installation space is arranged inside the stainless steel cover plate 20, a binding belt fixing shaft 10 is arranged on the inner side of the stainless steel cover plate 20 and used for fixing a waistband 16 in the wearable stepping traction mechanism, and an electric cylinder lifting button 18 is arranged on the outer side of the stainless steel cover plate 20 and can adjust the height of the movable supporting platform 19 and the height of the handrail 8. The front end of the movable supporting platform 19 is connected with a handrail 8 for supporting the upper limbs of the patient. The movable supporting platform 19 is connected with the handrail 8, and the middle part of the handrail 8 is provided with a main control computer display 9 which is used for providing a visual page, realizing man-machine interaction and facilitating a user to realize a proper walking aid function by the control device according to the self requirement.
The back support 21 is provided with a back support guide rod 11 at the back side, and the back support 14 is connected with a back support bracket buckle 12 through a back support bracket 13 and matched with the back support guide rod 11 to form a reliable detachable back support. The traveling function of the supporting weight-reducing unit is realized by controlling the rear wheel 23 through the rear wheel hub motor, so that the rear driving traveling is realized, the front wheel 1 of the supporting weight-reducing unit does not generate power during traveling and only plays a role in bearing and steering, and the rear wheel hub motor only drives the rear wheel 23 to control the functions of advancing, retreating, steering and the like.
As shown in fig. 3, the pedal bracket 25 of the walking elliptical orbit simulation unit is fixedly mounted on the mounting base plate 3 for supporting the weight reduction unit, the left and right pedal brackets 25 are connected with the front end of a motor mounting plate 36 through a bracket shaft 26, the front end of the motor mounting plate 36 is respectively connected with a lead screw 33 and a lead screw driving motor 24 through a coupling 28, a lead screw nut 30 is connected on the lead screw 33, the lead screw nut 30 is mounted on a lead screw nut fixing block 32, the lead screw nut fixing block 32 can move on the lead screw 33 together with the lead screw nut 30, the other end of the lead screw 33 is connected on a lead screw bearing block 35, and the lead screw bearing block 35 is mounted at the rear end of the motor mounting. The bottom of the motor mounting plate 36 is provided with a slide block guide rail set, the slide block guide rail 29 is matched with a guide slide block 31, and the guide slide block 31 is fixedly arranged on the upper end surface of the lead screw nut fixing block 32 and moves on the slide block guide rail 29 along with the movement of the lead screw nut fixing block 32. The linear motion on the screw 33 and the elliptical motion in the elliptical groove 34 of the elliptical orbit plate 27 are combined to form an elliptical orbit, which simulates the walking motion of a human and drives the lower limbs of a patient to perform rehabilitation training.
As shown in fig. 4, 5 and 6, the lower pedal 37 of the pedal unit is fixedly mounted on the lead screw nut fixing block 32 of the walking elliptical orbit simulation unit, two springs 43 are respectively mounted at the front end and the rear end of the top surface of the lower pedal 37, a sensor 39 is connected to the springs 43, an angle control block 40 is arranged in the middle of the lower pedal 37, and an angle control block through hole 41 of the angle control block is connected with an upper pedal middle through hole 46 in the middle of the upper pedal 38 through a hinge, so that the upper pedal 38 can change the inclination angle under the adjustment of the angle control block 40, thereby adjusting the ankle joint angle of the patient.
The upper foot pedal 38 has a sensor mounting through hole 47 at the bottom and an angle control block mounting through hole 45 at the middle, the angle control block 40 having an angle control block forward inclined surface 42 and an angle control block rearward inclined surface 44. The angle control block mounting through hole 45 of the upper foot board 38 is hinged to the angle control block through hole 41 of the lower foot board 37, and when the foot board unit moves to the front upper portion, the upper foot board 38 contacts the angle control block rear inclined surface 44; when the foot pedal unit moves to the front lower portion, the upper foot pedal 38 contacts the angle control block forward inclined surface 42, adjusting the patient's ankle joint angle, making the simulated walking rehabilitation training closer to the real walking movement.
As shown in fig. 7, the shaft fixing band 53 of the wearable striding traction mechanism is connected with the belt fixing shaft 10 of the support weight reduction unit, the wearable striding traction mechanism comprises striding pants 48, a striding band 49, a ring fixing band 50, a binding band 51, a belt ring 52 and a shaft fixing band 53, when a patient uses the wearable striding pants 48, the striding band 49 and the striding pants 48 protect the crotch of the patient, one end of the binding band 51 is connected with the ring fixing band 50, the other end of the binding band 51 is connected with the shaft fixing band 53 and fixed on the belt fixing shaft 10 of the support weight reduction unit, the wearable striding traction mechanism can assist the patient to stand together with the support weight reduction unit and the armrests 8, and protect the patient during training to avoid secondary injury caused by unbalance of the patient.
The device has the following use process:
when the patient uses the device, the wheelchair on which the patient sits is pushed to the rear part of the device under the assistance of medical staff, after the backrest mechanism of the supporting weight-reducing unit of the device is detached, the patient can wear the wearable striding traction mechanism with the help of the medical staff, and the shaft fixing belt 53 of the bandage 51 needs to be connected to the bandage fixing shaft 10 on the supporting weight-reducing unit. The patient can independently or under the assistance of medical staff place the foot on the appropriate position on the upper foot board 38 of the walking ellipse track simulation unit, also can independently place the upper limbs on the mobile saddle 19, when the electric cylinder 6 of the supporting weight reduction unit operates, under the combined action of the wearable striding traction mechanism and the mobile saddle 19, the patient can be pulled up from the wheelchair, at this moment, the mobile saddle 19 of the supporting weight reduction unit can bear most of the body weight of the patient, then the walking ellipse track simulation unit is started, the foot board unit can start to drive the foot step of the patient to start the rehabilitation training movement according to the set step track of the main control computer. The patient and medical personnel control the movement direction and speed of the support weight reduction unit through the computer to control the movement state of the whole support weight reduction unit, so that the advancing direction of the support weight reduction unit can be changed according to the advancing requirement of the patient in the rehabilitation training process, the rear wheel hub motor is matched with accessories such as a hub motor bearing to complete the forward and backward movements and the like of the whole device, the patient is helped to walk and move in a certain movement range, and meanwhile, the lower limb rehabilitation training is completed.
Example 2:
a walking aid training device based on elliptical motion as shown in figure 1 comprises a supporting weight-reducing unit, a walking elliptical trajectory simulation unit arranged on the supporting weight-reducing unit and a pedal unit arranged on the walking elliptical trajectory simulation unit. As shown in fig. 2, the support weight reduction unit includes a mounting base plate 3, a traveling mechanism, a lifting type pallet mechanism, a wearable striding traction mechanism and a backrest mechanism, the traveling mechanism, the lifting type pallet mechanism, the backrest mechanism and the walking elliptical trajectory simulation unit are all disposed on the mounting base plate 3, and the wearable striding traction mechanism is disposed on the lifting type pallet mechanism.
The advancing mechanism comprises a pair of front wheel assemblies arranged on the mounting base plate 3 in parallel and a pair of rear wheel assemblies arranged on the mounting base plate 3 in parallel, the front wheel assemblies comprise front wheel fixing supports 2 arranged on the mounting base plate 3 and positioned at the front part of the mounting base plate 3 and front wheels 1 arranged in the front wheel fixing supports 2, the rear wheel assemblies comprise rear wheel hub motor supporting seats 7 arranged on the mounting base plate 3 and positioned at the rear part of the mounting base plate 3 and rear wheels 23 arranged on the rear wheel hub motor supporting seats 7, and rear wheel hub motors matched with the rear wheel hub motor supporting seats 7 are arranged on the rear wheels 23. The mounting base plate 3 is provided with a pair of side plates 22 in parallel, and the lower parts of the side plates 22 are provided with a circular hole which is matched with the rear wheel 23 on the corresponding side and is used for matching the mounting of the rear wheel 23.
A pair of supporting beams 21 are arranged on the mounting base plate 3 in parallel, the lifting type tray table mechanism comprises a pair of movable tray table assemblies arranged on the mounting base plate 3 in parallel and handrails 8 arranged between the two movable tray table assemblies, each movable tray table assembly comprises a vertical linear guide rail 15 arranged on the corresponding supporting beam 21 on one side, a tray table sliding block 17 arranged on the vertical linear guide rail 15, a movable tray table 19 arranged on the tray table sliding block 17 and an electric cylinder 6 arranged on the mounting base plate 3 along the vertical direction, a cover plate 20 is arranged on the side surface of the movable tray table 19, and the bottom of the movable tray table 19 is in transmission connection with the electric cylinder 6.
The electric cylinder 6 and the lifting driving motor 5 are both arranged on the motor mounting seat 4 on the mounting bottom plate 3. The cover plate 20 is made of stainless steel, a main control computer installation space is arranged in the cover plate 20, and an electric cylinder lifting button 18 is arranged on the outer side of the cover plate 20 and can adjust the height of the movable supporting platform 19 and the height of the handrail 8. The armrest 8 is attached to the front end of the mobile pallet 19 and provides support for the patient's upper limbs. A main control computer display 9 is arranged in the middle of the handrail 8 and used for providing a visual page, realizing man-machine interaction and facilitating a user to control the device to realize a proper walking aid function according to self needs.
As shown in fig. 7, the wearable striding pulling mechanism comprises striding pants 48, a striding belt 49 arranged on the striding pants 48, a waist belt 16 arranged on the top of the striding pants 48, and a pair of waist belt connecting components, wherein the waist belt connecting components comprise a waist belt ring 52 sleeved on the waist belt 16, a binding belt 51 arranged on the waist belt ring 52 and having one end connected with the ring fixing belt 50, and a shaft fixing belt 53 arranged on the other end of the binding belt 51, and the inner side of the cover plate 20 is provided with a binding belt fixing shaft 10 connected with the shaft fixing belt 53.
The backrest mechanism comprises a pair of backrest guide rods 11 respectively arranged on the support beam 21 on one corresponding side and a backrest 14 arranged between the two backrest guide rods 11, wherein a backrest bracket 13 is arranged on the backrest 14, and a backrest bracket buckle 12 matched with the backrest bracket 13 is arranged on the backrest guide rod 11.
As shown in fig. 3, the walking elliptical trajectory simulation unit includes a pair of elliptical trajectory simulation mechanisms arranged in parallel on the mounting base plate 3, the elliptical trajectory simulation mechanism includes a pair of pedal brackets 25 arranged in parallel on the mounting base plate 3, a motor mounting plate 36 arranged between the two pedal brackets 25 and hinged to the pedal brackets 25, a screw rod driving assembly arranged at the bottom of the motor mounting plate 36, and screw rod nut fixing blocks 32 arranged on the screw rod driving assembly, elliptical trajectory plates 27 fixedly connected to the mounting base plate 3 are arranged on both sides of the motor mounting plate 36, and an elliptical trajectory guide assembly is arranged between the elliptical trajectory plates 27 and the screw rod nut fixing blocks 32. A bracket shaft 26 is arranged between the two pedal brackets 25, and the front end of the motor mounting plate 36 is hinged with the pedal brackets 25 through the bracket shaft 26. The side of the elliptical track plate 27 is provided with an elliptical groove 34, the elliptical track guide assembly comprises a pedal shaft penetrating through the lead screw nut fixing block 32 and pedal bearings respectively arranged at two ends of the pedal shaft, and the pedal bearings are matched with the elliptical groove 34.
The screw rod driving assembly comprises a pair of screw rod bearing blocks 35 arranged at the bottom of the motor mounting plate 36 in parallel, a screw rod 33 arranged between the two screw rod bearing blocks 35 and a screw rod nut 30 sleeved on the screw rod 33, a coupler 28 is arranged at the bottom of the motor mounting plate 36, a screw rod driving motor 24 is arranged at one end of the coupler 28, the other end of the coupler is connected with the end part of the screw rod 33, and a screw rod nut fixing block 32 is arranged on the screw rod nut 30. The bottom of the motor mounting plate 36 is also provided with at least one slider guide rail 29, a guide slider 31 is sleeved on the slider guide rail 29, and the guide slider 31 is fixedly connected with the top of the lead screw nut fixing block 32.
As shown in fig. 4, the pedal unit includes a lower pedal 37 and an upper pedal 38, which are respectively disposed above the motor mounting plate 36, one on each side, and connecting plates 54 are disposed on both sides of the lower pedal 37 and fixedly connected to the lead screw nut fixing block 32 through the connecting plates 54. The foot pad is arranged on the upper foot pedal 38.
As shown in fig. 5, a pair of springs 43 are respectively disposed in tandem on the lower pedal 37, a sensor 39 is disposed on the spring 43, an angle control block 40 fixedly connected with the lower pedal 37 is disposed between the two sensors 39, and an angle control block through hole 41 is disposed on the angle control block 40.
As shown in fig. 6, the upper pedal 38 is provided with a sensor mounting through hole 47 adapted to the sensor 39 and an angle control block mounting through hole 45 adapted to the angle control block 40, and the upper pedal 38 is further provided with an upper pedal middle through hole 46 adapted to the angle control block through hole 41.
The embodiments described above are described to facilitate an understanding and use of the invention by those skilled in the art. It will be readily apparent to those skilled in the art that various modifications to these embodiments may be made, and the generic principles described herein may be applied to other embodiments without the use of the inventive faculty. Therefore, the present invention is not limited to the above embodiments, and those skilled in the art should make improvements and modifications within the scope of the present invention based on the disclosure of the present invention.
Claims (10)
1. The walking aid training device based on elliptical motion is characterized by comprising a supporting and weight reducing unit, a walking elliptical track simulation unit arranged on the supporting and weight reducing unit and a pedal plate unit arranged on the walking elliptical track simulation unit, wherein the supporting and weight reducing unit comprises a mounting base plate (3), a travelling mechanism, a lifting type saddle mechanism, a wearable type striding traction mechanism and a backrest mechanism, the travelling mechanism, the lifting type saddle mechanism, the backrest mechanism and the walking elliptical track simulation unit are all arranged on the mounting base plate (3), and the wearable type striding traction mechanism is arranged on the lifting type saddle mechanism.
2. The walking aid training device based on elliptical motion as claimed in claim 1, wherein the traveling mechanism comprises a pair of front wheel assemblies arranged side by side on the mounting base plate (3) and a pair of rear wheel assemblies arranged side by side on the mounting base plate (3), the front wheel assemblies comprise a front wheel fixing bracket (2) arranged on the mounting base plate (3) and positioned in front of the mounting base plate (3) and front wheels (1) arranged in the front wheel fixing bracket (2), the rear wheel assemblies comprise a rear wheel hub motor supporting seat (7) arranged on the mounting base plate (3) and positioned at the rear of the mounting base plate (3) and rear wheels (23) arranged on the rear wheel hub motor supporting seat (7), and the rear wheels (23) are provided with rear wheel hub motors matched with the rear wheel hub motor supporting seats (7).
3. The walking aid training device based on elliptical motion as claimed in claim 1, a pair of supporting beams (21) are arranged on the mounting bottom plate (3) in parallel, the lifting type tray table mechanism comprises a pair of movable tray table components arranged on the mounting bottom plate (3) in parallel and a handrail (8) arranged between the two movable tray table components, the movable saddle assembly comprises a vertical linear guide rail (15) arranged on a support beam (21) on one corresponding side, a saddle sliding block (17) arranged on the vertical linear guide rail (15), a movable saddle (19) arranged on the saddle sliding block (17) and an electric cylinder (6) arranged on the mounting bottom plate (3) along the vertical direction, the side of the movable supporting platform (19) is provided with a cover plate (20), and the bottom of the movable supporting platform (19) is in transmission connection with the electric cylinder (6).
4. The elliptical exercise-based walking aid training device as claimed in claim 3, wherein the wearable walking aid pulling mechanism comprises a pair of walking pants (48), a walking belt (49) arranged on the walking pants (48), a waist belt (16) arranged on the top of the walking pants (48) and a pair of waist belt connecting assemblies, each waist belt connecting assembly comprises a waist belt ring (52) sleeved on the waist belt (16), a strap (51) arranged on the waist belt ring (52) and having one end connected with the ring fixing belt (50), and a shaft fixing belt (53) arranged on the other end of the strap (51), and the inner side of the cover plate (20) is provided with a strap fixing shaft (10) connected with the shaft fixing belt (53).
5. The walking aid training device based on elliptical motion as claimed in claim 3, wherein the backrest mechanism comprises a pair of backrest guide rods (11) respectively arranged on the support beam (21) on one side and a backrest (14) arranged between the two backrest guide rods (11), the backrest (14) is provided with a backrest bracket (13), and the backrest guide rods (11) are provided with backrest bracket buckles (12) matched with the backrest bracket (13).
6. The walking aid training device based on elliptical motion as claimed in claim 1, the walking elliptical orbit simulation unit comprises a pair of elliptical orbit simulation mechanisms which are arranged on the mounting base plate (3) in parallel, the elliptical orbit simulation mechanism comprises a pair of pedal brackets (25) which are arranged on the mounting base plate (3) in parallel, a motor mounting plate (36) which is arranged between the two pedal brackets (25) and is hinged with the pedal brackets (25), a screw rod driving assembly which is arranged at the bottom of the motor mounting plate (36) and a screw rod nut fixing block (32) which is arranged on the screw rod driving assembly, the two sides of the motor mounting plate (36) are both provided with elliptical orbit plates (27) fixedly connected with the mounting bottom plate (3), an elliptical track guide assembly is arranged between the elliptical track plate (27) and the lead screw nut fixing block (32).
7. The walking aid training device based on elliptical motion as claimed in claim 6, wherein the lead screw driving assembly comprises a pair of lead screw bearing seats (35) arranged at the bottom of the motor mounting plate (36) in parallel, a lead screw (33) arranged between the two lead screw bearing seats (35), and a lead screw nut (30) sleeved on the lead screw (33), the bottom of the motor mounting plate (36) is provided with a coupler (28), one end of the coupler (28) is provided with a lead screw driving motor (24), the other end of the coupler is connected with the end of the lead screw (33), and the lead screw nut fixing block (32) is arranged on the lead screw nut (30).
8. The walking aid training device based on elliptical motion as claimed in claim 7, characterized in that at least one slider guide rail (29) is further arranged at the bottom of the motor mounting plate (36), a guide slider (31) is sleeved on the slider guide rail (29), and the guide slider (31) is fixedly connected with the top of the screw nut fixing block (32).
9. The walking aid training device based on elliptical motion as claimed in claim 6, wherein the pedal unit comprises a lower pedal (37) and an upper pedal (38) which are respectively arranged above the motor mounting plate (36) at one lower position and one upper position, and both sides of the lower pedal (37) are provided with connecting plates (54) and fixedly connected with the lead screw nut fixing block (32) through the connecting plates (54).
10. An elliptical motion based walker training device as claimed in claim 9,
a pair of springs (43) are respectively arranged on the lower foot pedal (37) in tandem, a sensor (39) is arranged on each spring (43), an angle control block (40) fixedly connected with the lower foot pedal (37) is arranged between the two sensors (39), and an angle control block through hole (41) is formed in each angle control block (40);
the upper pedal (38) is provided with a sensor mounting through hole (47) matched with the sensor (39) and an angle control block mounting through hole (45) matched with the angle control block (40), and the upper pedal (38) is also provided with an upper pedal middle through hole (46) matched with the angle control block through hole (41).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276163.1A CN110947158A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device based on elliptical motion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911276163.1A CN110947158A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device based on elliptical motion |
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| CN110947158A true CN110947158A (en) | 2020-04-03 |
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| CN201911276163.1A Pending CN110947158A (en) | 2019-12-12 | 2019-12-12 | Walking aid training device based on elliptical motion |
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| CN111530016A (en) * | 2020-05-18 | 2020-08-14 | 日照市精神卫生中心(日照市荣军康复医院) | Device is tempered with relaxing to psychiatric department |
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Inventor after: Zou Renling Inventor after: Wang Haibin Inventor after: Hu Xiubing Inventor after: Liu Erning Inventor after: Li Yuchen Inventor after: Zhou Xiaobo Inventor after: Qu Chunge Inventor after: Xu Yandong Inventor after: Xu Xiulin Inventor after: Lu Xuhua Inventor before: Hu Xiubing Inventor before: Wang Haibin Inventor before: Zou Renling Inventor before: Liu Erning Inventor before: Li Yuchen Inventor before: Zhou Xiaobo Inventor before: Qu Chunge Inventor before: Xu Yandong Inventor before: Xu Xiulin Inventor before: Lu Xuhua |
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