CN111388275A - Lower limb muscle rehabilitation training device - Google Patents

Abstract

The invention belongs to a rehabilitation trainer, in particular to a lower limb muscle rehabilitation trainer which comprises a base, two support columns and a support frame which are sequentially connected, wherein the two support columns are arranged in parallel, an exoskeleton training mechanism is arranged on the two support columns, a telescopic loop bar is arranged on the support frame towards the base, the telescopic loop bar comprises a sleeve I, a sleeve II, a sleeve III and a sleeve IV which are sequentially sleeved from large to small, the top of the sleeve I is fixedly connected with the support frame, a trunk binding mechanism is fixedly arranged on the sleeve II, a positioning block I is arranged at the end part of the sleeve IV, a positioning block II detachably connected with the positioning block I is arranged at one end of the sleeve II close to the base, a positioning hole correspondingly matched with the positioning block I is arranged on the base, a driving mechanism II is arranged on the support frame towards the base, the output end of the driving mechanism II is connected with the trunk binding, the patient's butt joint of being convenient for guarantees stability, provides muscle rehabilitation training and closed chain motion training simultaneously.

Description

Lower limb muscle rehabilitation training device

Technical Field

The invention belongs to a rehabilitation trainer, and particularly relates to a lower limb muscle rehabilitation trainer.

Background

With the acceleration of the aging process of the population in China, patients with a large number of cerebrovascular diseases in the aging population, such as craniocerebral injury, cerebral apoplexy and the like, and other health problems caused by the inconvenience of movement due to the degeneration of joint functions are also difficult problems for the aging population. For patients with damaged central nervous system or lower limb movement dysfunction left after orthopedic surgery, particularly after joint-related surgery, the long-term bed-ridden brake or the state of hypokinesia easily causes the reduction or serious degeneration of the movement function of limbs, particularly lower limb muscles, and scientific and reasonable exercise rehabilitation is an effective solution to the problems.

For the motor function recovery of muscles, three processes are roughly divided: in the early stage of the disease, the patient often has a state of myasthenia or serious hypokinesia, and the patient cannot complete the autonomous functional movement of the limbs at the moment, so that the medical staff needs to perform passive movement on the injured limbs of the patient in a 'one-to-one' manner by hands or by means of some power assisting devices; with the recovery of muscle strength and function, the patient in the middle stage can independently complete the movement of limbs, but the strength can only resist the influence of the gravity of the limbs to carry out some activities of the whole joints, which has positive effects on the aspects of maintaining the activity range of the joints, recovering the muscle coordination and the like; the muscle function of the patient in the recovery period is further recovered, the patient needs to further recover the muscle strength through resistance training, and importantly, the phase also needs to be mainly recovered, namely: the coordination among muscle groups in the process of exercise has corresponding requirements on the direction, the impedance strength, the range of activity and the like during muscle training, so that the optimal curative effect can be ensured and the muscles are not injured in the process of exercise.

However, in clinical practice, the recovery of three stages of muscle function recovery is usually performed by 'pure manual' or by means of a combination of recovery instruments at different parts, and most of the recovery instruments are half used, and half are manually assisted or provided with resistance exercises by a recovery technician, and the patient and the medical care personnel are conservative in training due to the fact that no powerful protection device is provided. The nursing staff is used for assisting and guiding rehabilitation exercise, the defects of time and labor waste of manual nursing exist, the actual popularization and treatment effect is not ideal, and the cost is high when manual nursing is carried out for a long time. Through technical search, some devices for lower limb rehabilitation training are found, but the existing devices generally have the following defects: the small limb rehabilitation equipment can only perform reciprocating motion of a single joint, one piece of equipment cannot meet the requirements of patients with different body types, and the training effect is not ideal; the combined use of several devices cannot accurately provide a power-assisted and resistance training mode; the device for training in sitting and lying postures cannot be completely suitable for improving the load bearing function of the lower limbs, and the instrument for training the lower limb functions is rarely used for standing, so that the device is not convenient for protecting patients, and particularly the patients with poor early balance function and easy falling injury are easy to occur; the exoskeleton type lower limb training robot is a rehabilitation training instrument with high automation degree, related technical challenges are carried out at home and abroad, and currently, hospitals and patients have the defects of immature technology, high purchase and treatment cost and the like, cannot meet the requirement of practical application, and is not beneficial to popularization of rehabilitation training technology.

Disclosure of Invention

The invention aims to provide a lower limb muscle rehabilitation training device which can adapt to different training modes.

The exoskeleton training device comprises a base, two support columns and a support, wherein the two support columns are sequentially connected, an exoskeleton training mechanism is arranged on the two support columns, a telescopic loop bar is arranged on the support and faces the base, the telescopic loop bar comprises a sleeve I, a sleeve II, a sleeve III and a sleeve IV, the sleeve I, the sleeve II, the sleeve III and the sleeve IV are sequentially sleeved from large to small, the top of the sleeve I is fixedly connected with the support, a trunk binding mechanism is fixedly arranged on the sleeve II, a positioning block I is arranged at the end part of the sleeve IV, a positioning block II detachably connected with the positioning block I is arranged at one end, close to the base, of the sleeve II, a positioning hole correspondingly matched with the positioning block I is arranged on the base, a driving mechanism II is arranged on the support and faces.

Furthermore, the bottom plate is further provided with a sliding clamping plate which is used for limiting the position of the positioning block I after the positioning block I is matched with the positioning hole.

Furthermore, one of the supporting columns can be relatively close to or far away from the other supporting column along the base and the support, the exoskeleton training mechanism comprises a thigh mechanism and a shank mechanism which are sequentially connected and have telescopic lengths, the thigh mechanism and the shank mechanism are respectively positioned at the crotch part and the knee part and are detachably provided with a crotch strap and a knee strap, the thigh mechanism is arranged on the supporting column in a sliding mode through a sliding block, a driving mechanism I for driving the exoskeleton training mechanism to move up and down along the supporting column is arranged on the supporting column, and the output end of the driving mechanism I is fixedly connected with the sliding block.

Furthermore, the crotch bandage and the knee bandage are provided with clamping blocks, the positions of the thigh mechanism and the shank mechanism corresponding to each other are provided with clamping grooves, and the clamping blocks slide into the clamping grooves to complete fixation, or the crotch bandage and the knee bandage are provided with iron blocks, the positions of the thigh mechanism and the shank mechanism corresponding to each other are provided with electromagnets, the electromagnets are turned on, and the iron blocks are attracted to complete fixation.

Furthermore, thigh mechanism includes telescopic link I and motor I, I fixed the setting of motor is on the slider, and sets up towards another support column, I one end of telescopic link and I output shaft fixed connection of motor.

Furthermore, thigh mechanism still includes motor II, turning block and pivot, motor II is fixed to be set up at I other end of telescopic link, and sets up towards the base, the turning block is connected through the pivot rotation with telescopic link I, is provided with driven gear in the pivot, and the output shaft of motor II is provided with the driving gear with driven gear meshing.

Furthermore, shank mechanism includes telescopic link II, motor III, foot support and motor VI, motor III is fixed to be set up on the turning block, and sets up towards another support column, II one end of telescopic link and III output shaft fixed connection of motor, motor VI sets up in II bottoms of telescopic link, and sets up towards another support column, the foot support is with motor VI output shaft fixed connection.

The invention further comprises a resistance mechanism, the resistance mechanism comprises an installation box arranged at the bottom of the sliding block, two guide sleeves are arranged in the installation box in parallel, tension springs are arranged in the guide sleeves, one ends of the two tension springs extending out of the guide sleeves are connected with a connecting cylinder, one ends of the tension springs are fixedly connected with the installation box, the other ends of the tension springs are fixedly connected with the connecting cylinder, a bolt is arranged in the connecting cylinder, a matching block is arranged on the telescopic rod I corresponding to the bolt, and a jack corresponding to the bolt is arranged on the matching block.

The invention also comprises a lower limb lateral abduction and adduction mechanism, wherein the lower limb lateral abduction and adduction mechanism comprises a square corrugated pipe and a crank rocker mechanism which are arranged on the telescopic rod I and/or the telescopic rod II, the telescopic rod I and/or the telescopic rod II are divided into two sections through the square corrugated pipe and are connected into a whole through the square corrugated pipe, a rack of the crank rocker mechanism is arranged on the upper section of telescopic rod I and/or the telescopic rod II, one end of a rocker, which is far away from the rack, is provided with a motor V which is hinged with the lower section of telescopic rod I and/or the telescopic rod II, and the rack is also provided with.

Furthermore, the base is arranged in front of the exoskeleton training mechanism in a sliding mode and is provided with a gasket in a sliding mode.

The beneficial effect of the invention is that,

the invention can provide the lower limb muscle rehabilitation training and the lower limb closed-chain exercise training, and expands the requirement of the single-joint function training of the lower limb rehabilitation patient; the trunk binding mechanism is matched with the telescopic sleeve rod and the driving mechanism II, so that the butt joint of a patient and the trainer is facilitated, and the stability of the trunk binding mechanism during training is ensured; the lower limb closed-chain exercise training device can also move downwards or ascend along with the back of a patient during lower limb closed-chain exercise training, the patient can carry out weight-bearing squat training, when lower limb walking, side abduction adduction and rotation internal rotation external exercise training are carried out, the sleeve III and the sleeve IV of the telescopic sleeve are accommodated in the sleeve II, the sleeve III and the sleeve IV are prevented from obstructing the wearing convenience of the trunk binding mechanism and the sleeve III and the sleeve IV are prevented from obstructing the training of the lower limb when the lower limb walks backwards, when the lower limb closed-chain training is carried out, the sleeve III and the sleeve IV extend out and are connected with the base, the stability of the trunk binding mechanism is improved, the bending force born by the driving mechanism II is shared, and meanwhile, the trunk binding mechanism simultaneously provides real-time protection for the patient and correction of; the invention provides the lower limb overall weight position movement, carries out the lower limb muscle rehabilitation training and is more close to the real lower limb movement function;

the exoskeleton training mechanisms comprise thigh mechanisms and shank mechanisms which are sequentially connected and have telescopic lengths, so that the exoskeleton training mechanisms can adapt to patients with different thigh lengths and shank lengths, adapt to patients with different body sizes, improve the adaptability of the trainer and the stability after being bound, and improve the rehabilitation training effect;

the exoskeleton training mechanism realizes lower limb walking training through a motor I and a motor III respectively, realizes internal rotation and external rotation through a motor II, realizes external expansion and adduction of legs or soles through a motor V and a motor VI respectively, adapts to the use requirements of patients in different rehabilitation periods, and realizes accurate rehabilitation of lower limb functions by controlling the working sequence, the rotation angle and the rotation direction of each motor in a training mode and a movement range and simultaneously enlarges the requirement of single joint function training of lower limb rehabilitation patients;

the resistance mechanism is arranged, is convenient to butt joint and separate, can provide resistance movement and assistance movement required by rehabilitation training of lower limb functions, and can meet the use requirements of patients in different rehabilitation periods;

the gasket is arranged on the base in a sliding mode in front of the exoskeleton training mechanism, so that the whole weight of a patient can be stressed on the gasket when the lower limb is closed, the stability of the exoskeleton training mechanism is ensured, and the exoskeleton training mechanism can be used for adaptability training of patients in an ultra-early stage and improving the lower limb functions of the patients in a later stage.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a partially enlarged view of a portion a in fig. 1.

Fig. 3 is a schematic structural view of the resistance mechanism.

Figure 4 is a front view of the exoskeleton training mechanism of the present invention.

Fig. 5 is a partially enlarged view of B in fig. 4.

Fig. 6 is a partially enlarged view at C in fig. 4.

Figure 7 is a left side view of the exoskeleton training mechanism of the present invention.

Fig. 8 is a schematic structural view of the present invention during lower limb muscle rehabilitation training.

Fig. 9 is a schematic structural view of the present invention in a lower limb closed-chain exercise.

Fig. 10 is a schematic structural view of the telescopic rod of the present invention.

In the figure, 1, a base; 2. a support pillar; 3. an exoskeleton training mechanism; 31. a thigh mechanism; 311. a telescopic rod I; 312. a motor I; 313. a motor II; 314. rotating the block; 315. a rotating shaft; 316. a driven gear; 317. a driving gear; 32. a shank mechanism; 321. a telescopic rod II; 322. a motor III; 323. a foot support; 324. a motor VI; 33. a square corrugated tube; 34. a crank and rocker mechanism; 341. a frame; 342. a rocker; 343. a crank; 344. a connecting rod; 345. a motor V; 4. a crotch strap; 5. a knee strap; 6. a clamping block; 7. a card slot; 8. a slider; 81. a nut; 9. a driving structure I; 91. a motor IV; 92. a screw; 93. a bearing; 10. a support; 101. a chute; 11. a driving mechanism II; 12. a torso restraint mechanism; 121. a back fixing plate; 1211. a fixed block; 122. an upper limb bandage; 123. an abdominal bandage; 13. a handle; 14. a display; 15. buckling; 16. a gasket; 17. a resistance mechanism; 171. mounting a box; 172. a guide sleeve; 173. a tension spring; 174. a connecting cylinder; 175. a bolt; 176. a matching block; 177. a jack; 18. a telescopic loop bar; 181. a sleeve I; 182. a sleeve II; 1821. a positioning block II; 183. a sleeve III; 184. a bushing IV; 1841. a positioning block I; 19. positioning holes; 191. and (4) a sliding clamping plate.

Detailed Description

As shown in fig. 1-10, comprises a base 1, a supporting column 2 and a bracket 10 which are connected in sequence, two support columns 2 are arranged in parallel, an exoskeleton training mechanism 3 is arranged on the two support columns 2, the bracket 10 is provided with a telescopic loop bar 18 towards the base 1, the telescopic loop bar 18 comprises a sleeve I181, a sleeve II 182, a sleeve III 183 and a sleeve IV 184 which are sequentially sleeved from big to small, the top of the sleeve I181 is fixedly connected with the bracket 10, the sleeve II 182 is fixedly provided with a trunk binding mechanism 12, a positioning block I1841 is arranged at the end part of the sleeve IV 184, a positioning block II 1821 detachably connected with the positioning block I1841 is arranged at one end of the sleeve II 182 close to the base 1, the positioning mechanism is characterized in that a positioning hole 19 correspondingly matched with the positioning block I1841 is formed in the base 1, a driving mechanism II 11 is arranged on the support 10 towards the base 1, and the output end of the driving mechanism II 11 is connected with the trunk binding mechanism 12.

The invention is provided with a trunk binding mechanism 12, which is convenient for rehabilitation training of a patient with mobility difficulty or lower limb paralysis, a driving mechanism II 11 is arranged on a support 10 towards a base 1, the support is matched with an exoskeleton training mechanism 3 to perform lower limb muscle rehabilitation training, the driving mechanism II 11 drives the trunk binding mechanism 12 to move up and down, so that lower limb closed-chain exercise training can be performed, the telescopic loop bar 18 can effectively bear the backward force of the trunk binding mechanism 12 and share the bending force borne by an output shaft of the driving mechanism II 11, meanwhile, the telescopic loop bar 18 can be connected with a positioning hole 19 on a bottom plate 1 through a positioning block I1841 during training, so that the backward force of the trunk binding mechanism 12 can be more effectively borne, the structural stability is improved, meanwhile, the trunk binding mechanism 12 can be driven up and down through the driving mechanism II 11 to complete lower limb closed-chain exercise training, when the trunk binding mechanism 12 is worn by a patient with mobility difficulty or paralysis before the lower limb, the sleeve pipe III 183 and the sleeve pipe IV 184 are contracted into the sleeve pipe I181 and the sleeve pipe II 182, the positioning block I1841 and the positioning block II 1821 are fixed with each other, a person who is inconvenient to move or paralyzed lower limbs enters between two supporting columns 2 by taking a wheelchair, the trunk binding mechanism 12 is moved downwards by the driving mechanism II 11 and enters between the wheelchair and the back of a patient to complete the wearing of the trunk binding mechanism 12, finally the person who is inconvenient to move or paralyzed lower limbs is lifted by the driving mechanism II 11 to train, after the training is carried out, the positioning block I1841 and the positioning block II 1821 are kept in butt joint when muscle rehabilitation training is carried out, the sleeve pipe III 183 and the sleeve pipe IV 184 are contracted into the sleeve pipe I181 and the sleeve pipe II 182, the training of the backward walking of the patient is avoided being influenced, when the training of the closed chain movement of the lower limbs is carried out, the sleeve pipe IV 184 is matched with the positioning hole 19 by, not only can provide safe and reliable protection, but also is convenient for the butt joint of a patient and a trainer, in the embodiment, two groups of telescopic loop bars 18 and positioning holes 19 are arranged along the width direction of a trunk binding mechanism 12, wherein the trunk binding mechanism 12 comprises a hard back fixing plate 121, and an upper limb bandage 122 and an abdomen bandage 123 which are arranged on the back fixing plate 121, the upper limb bandage 122 and the abdomen bandage 123 are provided with buckles 15, when the patient is positioned on a wheelchair, a driving mechanism II 11 is controlled to move downwards until the back fixing plate 121 is positioned at the back position of the patient, the abdomen bandage 123 is fixed on the abdomen of the patient through the buckles 15, and then the patient passes through the armpits to be fixed at the chest part through the buckles 15, the upper limb bandage 122 and the abdomen bandage 123 can be used as a chest fixing band and a waist band to provide comfortable and safe protection for the patient, after the fixing, until the crotch of the patient is flush with the upper part of the thigh mechanism 31, safe lower limb rehabilitation training is provided, and in the embodiment, the driving mechanism II 11 can be an air cylinder or a hydraulic cylinder.

The bottom plate 1 is further provided with a sliding clamping plate 191 which is used for limiting the position of the positioning block I1841 after the positioning block I1841 is matched with the positioning hole 19.

The exoskeleton training mechanism 3 comprises a thigh mechanism 31 and a shank mechanism 32 which are connected in sequence, the thigh mechanism 31 comprises a telescopic rod I311 and a motor I312, the motor I312 is fixedly arranged on the sliding block 8 and arranged towards the other supporting column 2, and one end of the telescopic rod I311 is fixedly connected with an output shaft of the motor I312.

Thigh mechanism 31 still includes motor II 313, turning block 314 and pivot 315, motor II 313 is fixed to be set up at the other end of telescopic link I311, and sets up towards base 1, turning block 314 rotates through pivot 315 with telescopic link I311 and is connected, is provided with driven gear 316 on the pivot 315, and the output shaft of motor II 313 is provided with driving gear 317 with driven gear 316 meshing. The shank mechanism 32 comprises a telescopic rod II 321, a motor III 322, a foot support 323 and a motor VI 324, the motor III 322 is fixedly arranged on the rotating block 314 and is arranged towards the other supporting column 2, one end of the telescopic rod II 321 is fixedly connected with an output shaft of the motor III 322, the motor VI 324 is arranged at the bottom of the telescopic rod II 321 and is arranged towards the other supporting column 2, the foot support 323 is fixedly connected with an output shaft of the motor VI 324, a hip joint and a knee joint of a patient are respectively arranged on the axis where the motor I312 and the motor III 322 are arranged, the motor I312 and the motor III 322 work to drive a thigh and a shank of the patient to bend and extend, forward or backward walking training is provided, the position of the telescopic rod I311 and the telescopic rod II 321 through the motor III 322 is simulated by a human knee joint, and the ankle joint of the patient is arranged on the axis of the motor VI 324, and can drive the ankle.

In order to provide the motion training that the lower limbs revolved the internal rotation and the external rotation, thigh mechanism 31 still includes motor II 313, turning block 314 and pivot 315, motor II 313 is fixed to be set up at the I311 other end of telescopic link, and sets up towards base 1, turning block 314 rotates through pivot 315 with I311 of telescopic link to be connected, is provided with driven gear 316 in the pivot 315, and the output shaft of motor II 313 is provided with driving gear 317 with driven gear 316 meshing, and motor II 313 works, drives to rotate fast 314, II 321 of telescopic link and the rotation that the foot holds in the palm 323 and revolve the internal rotation or revolve the outside, provides the motion training that the patient revolved the internal rotation and the external rotation.

The lower limb lateral abduction and adduction training device further comprises a lower limb lateral abduction and adduction mechanism, the lower limb lateral abduction and adduction mechanism comprises a square corrugated pipe 33 and a crank rocker mechanism 34, the square corrugated pipe 33 and the crank rocker mechanism 34 are arranged on the telescopic rod I311 and/or the telescopic rod II 321, the telescopic rod I311 and/or the telescopic rod II 321 are divided into two sections through the square corrugated pipe 33 and are connected into a whole through the square corrugated pipe 33, a rack 341 of the crank rocker mechanism 34 is arranged on the upper section of telescopic rod I311 and/or the telescopic rod II 321, one end, away from the rack 341, of the rocker 342 is hinged with the lower section of telescopic rod I311 and/or the telescopic rod II 321, a motor V345 for driving the crank 343 to rotate is further arranged on the rack 341, and when the lower limb lateral abduction training device works, the motor V345 drives the.

The exoskeleton training mechanism 3 can realize lower limb walking, side abduction adduction and rotation internal rotation external movement training of a patient, and is respectively driven by the motors, the training mode and the moving range can be accurately controlled by controlling the working sequence, the rotating angle and the rotating direction of each motor, so that the accurate rehabilitation of the lower limb function is realized, the control of the motors can be set to a fixed movement track and a movement sequence through a program, and the requirements of the single-joint function training of the lower limb rehabilitation patient can also be expanded through manual control and field guidance of an operator.

The exoskeleton training mechanism 3 is matched with the trunk binding mechanism 12 to perform lower limb closed-chain exercise training, firstly, the foot support 323 is moved forwards to the position of the gasket 16, so that the body weight of a patient is stressed through the gasket 16, the trunk binding mechanism 12 and the exoskeleton training mechanism 3 are controlled to be matched in a coordinated mode, the squatting training of the patient is realized, in addition, the angles of the hip, the knee and the ankle joint in the squatting process are adjustable and controllable through the motors, in addition, the trunk binding mechanism 12 slides downwards through the telescopic sleeve rod 18 to adapt to the height of the squatting position, meanwhile, the real-time protection and the correction of the trunk standing position are provided for the patient, and the training effect is ensured.

The pad 16 is slidably disposed on the base 1 and located in front of the exoskeleton training mechanism 3, and the sliding arrangement can effectively prevent the exoskeleton training mechanism 3 from hindering the movement of the foot rest 323 during flexion and extension training. .

The invention also comprises a resistance mechanism 17, wherein the resistance mechanism 17 comprises a mounting box 171 arranged at the bottom of the sliding block 8, two guide sleeves 172 are arranged in parallel in the mounting box 171, tension springs 173 are arranged in the guide sleeves 172, one ends of the two tension springs 173, which extend out of the guide sleeves 172, are connected with connecting cylinders 174, one ends of the tension springs 173 are fixedly connected with the mounting box 171, the other ends of the tension springs are fixedly connected with the connecting cylinders 174, bolts 175 are arranged in the connecting cylinders 174, the telescopic rod I311 and the bolts 175 are correspondingly provided with matching blocks 176, the matching blocks 176 are provided with jacks 177 corresponding to the bolts 175, when a patient carries out later-stage lower limb function improvement, the patient can carry out anti-assistant training, in the embodiment, the motor III 322 has a band-type brake function, the thigh mechanism 31 and the shank mechanism 32 are in a linear state, during the anti-assistant training, the bolts 175 are inserted into the jacks 177, so, the resistance training is further carried out under the pulling force of the tension spring 173; when carrying out the helping hand training, only need slide bolt 175 along connecting cylinder 174 axis, the disconnection with the jack 177 be connected can, butt joint and separation and convenient and fast, wherein, extension spring 173 sets up in guide sleeve 172 to fix in the bottom of slider 8 through mounting box 171, improve structural stability and result of use.

One of the supporting columns 2 can relatively approach or leave the other supporting column 2 along the base 1 and the support 10, specifically, a sliding groove is arranged on the base 1, the bottom of the supporting column 2 is arranged in the sliding groove and can only slide along the direction of the sliding groove, a locking device can be arranged at the bottom of the sliding groove or the supporting column 2, the locking device can be fixed by threads or buckles, similarly, a sliding groove 101 is arranged at a corresponding position on the support 10, the top of the supporting column 2 is arranged in the sliding groove 101 and can only slide along the direction of the sliding groove, a locking device can also be arranged at the top of the sliding groove 101 or the supporting column 2, so that the width of the two exoskeleton training mechanisms 3 can be adjusted to adapt to patients with different hip widths, the exoskeleton training mechanisms 3 comprise thigh mechanisms 31 and shank mechanisms 32 which are sequentially connected and have telescopic lengths so as to adapt to patients with different leg lengths, and the adaptability of the trainer and the stability, the rehabilitation training effect is improved, the two sets of exoskeleton training mechanisms 3 are driven up and down through the driving mechanism I9, the automation is improved, the driving mechanism I9 specifically comprises a motor IV 91 arranged on the support column 2 and a screw 92 connected with the motor IV 91, two ends of the screw 92 are round shafts, and the screw is fixedly connected with the support column 2 through a bearing 93, wherein the screw 92 is arranged along the height direction of the support column, the exoskeleton training mechanisms 3 are arranged on the support column 2 in a sliding mode through a sliding block 8, a nut 81 in threaded connection with the screw 92 is fixedly connected onto the sliding block 8, when a patient moves between the two support columns 2, an operator can control the motor IV 91 to work through a controller, the driving screw 92 rotates, the sliding block 8 and the exoskeleton training mechanisms 3 move up and down along the height direction of the support column 2, and the driving mechanism I9 can also be. The thigh mechanism 31 and the shank mechanism 32 are respectively arranged at the crotch part and the knee part and are detachably provided with the crotch bandage 4 and the knee bandage 5, before the rehabilitation training device is used, the crotch bandage 4 and the knee bandage 5 can be firstly bound to the crotch part and the knee part of a patient, and then the rehabilitation training device and the patient can be butted by installing the rehabilitation training device on the corresponding thigh mechanism 31 and shank mechanism 32 during training, so that the butt joint difficulty of the rehabilitation training device and the patient is greatly improved, and the acceptance of the patient is improved.

The crotch bandage 4 and the knee bandage 5 are provided with the clamping blocks 6, the positions of the thigh mechanism 31 and the shank mechanism 32 are provided with the clamping grooves 7, the clamping blocks 6 slide into the clamping grooves 7 to complete fixation, specifically, the clamping grooves 7 can be dovetail grooves or T-shaped grooves with openings at the upper sides, the clamping blocks 6 can be assembled and can only be disassembled through upward sliding, the connection stability is improved while the butt joint difficulty is simplified, when the device is used, the crotch bandage 4 and the knee bandage 5 are correspondingly installed at the crotch and the knee of a patient, the motor IV 91 is controlled to work through the controller, the two clamping grooves 7 on the exoskeleton training mechanism 3 are driven to be positioned below the clamping blocks 6, the movable supporting column 2 is slid inwards to adapt to the hip width of the patient, finally, the motor IV 91 is controlled to work, the exoskeleton training mechanism 3 is driven to move upwards, the installation of the clamping blocks 6 and the clamping grooves 7 is completed, and the butt joint, or, the crotch bandage 4 and the knee bandage 5 are provided with iron blocks, the corresponding positions of the thigh mechanism 31 and the shank mechanism 32 are provided with electromagnets, the electromagnets are turned on to suck the iron blocks to finish the fixation, and the butt joint difficulty is further simplified.

A fixing block 1211 is arranged on one side of the back of the trunk binding mechanism 12, and the trunk binding mechanism 12 is fixedly connected with the sleeve II 182 through the fixing block 1211, so that the connection difficulty is simplified.

The support 10 of the invention is also provided with a handle 13 for the patient to hold and a display 14 for displaying the training state, the patient can keep the body balance through the handle 13 and can watch the training time, the information of each training angle and intensity of the exoskeleton training mechanism 3 and the like through the display 14, so that the patient can visually observe the training progress of the patient and the acceptance degree is improved.

The multifunctional rehabilitation training device has multiple functions, can provide power-assisted movement, joint movement and resistance movement required by rehabilitation training of lower limb functions, and can meet the use requirements of patients in different rehabilitation periods. The moving angles of the three joints are respectively controlled by the motors, so that the accurate rehabilitation of the lower limb function is realized, and the requirement of the single joint function training of the lower limb rehabilitation patient is expanded.

The whole weight-bearing position of the lower limb moves, which is closer to the real motion function of the lower limb. In the invention, the pad 16 below the sole and the position of the sole can be adjusted to move forwards, so that the weight-bearing squat training of a patient is realized, the moving angles of hip, knee and ankle joints in the squat process can be adjusted and controlled, and in addition, the trunk binding mechanism 12 can adapt to the squat height through the telescopic sleeve rod 18 and simultaneously provide real-time protection for the patient and the correction of the trunk upright position so as to ensure the training effect.

The invention is flexible to adjust and is convenient to adapt to the rehabilitation training requirements of patients with different body types. The exoskeleton training device comprises two exoskeleton training mechanisms which are arranged on two support columns 2 in a sliding mode so as to be matched with patients with different leg lengths for training, wherein the two support columns 2 can be relatively close to or far away from each other and are convenient for being matched with patients with different hip widths for training, each exoskeleton training mechanism 3 comprises a thigh mechanism 31 and a shank mechanism 32 which are sequentially connected and have telescopic lengths so as to be suitable for patients with different thigh lengths and shank lengths, so that the exoskeleton training devices are suitable for patients with different body types, the adaptability of the training devices and the stability after being bound are improved, and the rehabilitation training effect is improved.

The invention is safe and effective, can be used for the adaptability training of the patients in the ultra-early stage and can also be used for improving the lower limb functions of the patients in the later stage. The exoskeleton training mechanism 3 can realize lower limb walking, side abduction adduction and rotation internal rotation external movement training of a patient, the trunk binding mechanism 12 is arranged to improve practical safety performance, the telescopic loop bar 18 is matched to facilitate the butt joint of the patient and a trainer, meanwhile, the stability of the trunk binding mechanism 12 is ensured during training, the handle 13 is arranged, the patient can keep body balance through the handle 13, and a conservative treatment scheme that the patient is afraid of falling or excessive joint movement and does not dare to move and medical staff reduce the angle of rehabilitation training due to worry about secondary damage of joints and the like is effectively avoided.

Claims (10)

1. A lower limb muscle rehabilitation trainer is characterized by comprising a base (1), two support columns (2) and a support (10) which are sequentially connected, wherein the two support columns (2) are arranged in parallel, an exoskeleton training mechanism (3) is arranged on the two support columns (2), a telescopic loop bar (18) is arranged on the support (10) towards the base (1), the telescopic loop bar (18) comprises a sleeve I (181), a sleeve II (182), a sleeve III (183) and a sleeve IV (184) which are sequentially sleeved from large to small, the top of the sleeve I (181) is fixedly connected with the support (10), a trunk binding mechanism (12) is fixedly arranged on the sleeve II (182), a positioning block I (1841) is arranged at the end part of the sleeve IV (184), one end, close to the base (1), of the sleeve II (182) is provided with a positioning block II (1821) which is detachably connected with the positioning block I (1841), the base (1) is provided with a positioning hole (19) correspondingly matched with the positioning block I (1841), the support (10) is provided with a driving mechanism II (11) towards the base (1), and the output end of the driving mechanism II (11) is connected with the trunk binding mechanism (12).

2. The lower limb muscle rehabilitation training device as claimed in claim 1, wherein the bottom plate (1) is further provided with a sliding clamping plate (191) which is matched with the positioning hole (19) to limit the position of the positioning block I (1841) after the positioning block I (1841) is matched with the positioning hole (19).

3. The lower limb muscle rehabilitation training device as claimed in claim 1 or 2, wherein one support column (2) can be relatively close to or far away from the other support column (2) along the base (1) and the support (10), the exoskeleton training mechanism (3) comprises a thigh mechanism (31) and a shank mechanism (32) which are sequentially connected and have telescopic lengths, the thigh mechanism (31) and the shank mechanism (32) are respectively positioned at the crotch and the knee and are detachably provided with a crotch strap (4) and a knee strap (5), the thigh mechanism (31) is slidably arranged on the support column (2) through a sliding block (8), a driving mechanism I (9) for driving the exoskeleton training mechanism (3) to move up and down along the support column (2) is arranged on the support column (2), and the output end of the driving mechanism I (9) is fixedly connected with the sliding block (8).

4. The lower limb muscle rehabilitation training device as claimed in claim 3, wherein the crotch strap (4) and the knee strap (5) are provided with a fixture block (6), the thigh mechanism (31) and the shank mechanism (32) are provided with a fixture groove (7) at corresponding positions, the fixture block (6) slides into the fixture groove (7) to complete the fixation, or the crotch strap (4) and the knee strap (5) are provided with iron blocks, the thigh mechanism (31) and the shank mechanism (32) are provided with electromagnets at corresponding positions, the electromagnets are turned on, and the iron blocks are attracted to complete the fixation.

5. The lower limb muscle rehabilitation training device as claimed in claim 3, wherein the thigh mechanism (31) comprises a telescopic rod I (311) and a motor I (312), the motor I (312) is fixedly arranged on the sliding block (8) and is arranged towards the other supporting column (2), and one end of the telescopic rod I (311) is fixedly connected with an output shaft of the motor I (312).

6. The lower limb muscle rehabilitation training device as claimed in claim 5, wherein the thigh mechanism (31) further comprises a motor II (313), a rotating block (314) and a rotating shaft (315), the motor II (313) is fixedly arranged at the other end of the telescopic rod I (311) and is arranged towards the base (1), the rotating block (314) is rotatably connected with the telescopic rod I (311) through the rotating shaft (315), the rotating shaft (315) is provided with a driven gear (316), and an output shaft of the motor II (313) is provided with a driving gear (317) meshed with the driven gear (316).

7. The lower limb muscle rehabilitation training device as claimed in claim 6, wherein the lower leg mechanism (32) comprises a telescopic rod II (321), a motor III (322), a foot support (323) and a motor VI (324), the motor III (322) is fixedly arranged on the rotating block (314) and is arranged towards the other supporting column (2), one end of the telescopic rod II (321) is fixedly connected with an output shaft of the motor III (322), the motor VI (324) is arranged at the bottom of the telescopic rod II (321) and is arranged towards the other supporting column (2), and the foot support (323) is fixedly connected with the output shaft of the motor VI (324).

8. The lower limb muscle rehabilitation training device as claimed in claim 7, characterized by further comprising a resistance mechanism (17), wherein the resistance mechanism (17) comprises a mounting box (171) arranged at the bottom of the sliding block (8), two guide sleeves (172) are arranged in the mounting box (171) in parallel, tension springs (173) are arranged in the guide sleeves (172), one ends of the two tension springs (173) extending out of the guide sleeves (172) are connected with connecting cylinders (174), one ends of the tension springs (173) are fixedly connected with the mounting box (171), the other ends of the tension springs are fixedly connected with the connecting cylinders (174), plug pins (175) are arranged in the connecting cylinders (174), matching blocks (176) are arranged on the telescopic rod I (311) corresponding to the plug pins (175), and inserting holes (177) corresponding to the plug pins (175) are arranged on the matching blocks (176).

9. The lower limb muscle rehabilitation training device according to claim 8, further comprising a lower limb lateral abduction and adduction mechanism, wherein the lower limb lateral abduction and adduction mechanism comprises a square corrugated tube (33) and a crank rocker mechanism (34) which are arranged on the telescopic rod I (311) and/or the telescopic rod II (321), the telescopic rod I (311) and/or the telescopic rod II (321) are divided into two sections by the square corrugated tube (33) and are connected into a whole by the square corrugated tube (33), a rack (341) of the crank rocker mechanism (34) is arranged on an upper section of telescopic rod I (311) and/or a telescopic rod II (321), one end, deviating from the rack (341), of a rocker (342) is hinged with a lower section of telescopic rod I (311) and/or the telescopic rod II (321), and a motor V (345) for driving the crank (343) to rotate is further arranged on the rack (341).

10. The lower limb muscle rehabilitation training device as claimed in claim 1, wherein the base (1) is slidably provided with a gasket (16) at the front side of the exoskeleton training mechanism (3).

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