CN111388275B

CN111388275B - Lower limb muscle rehabilitation training device

Info

Publication number: CN111388275B
Application number: CN202010224637.4A
Authority: CN
Inventors: 许明; 张泓; 艾坤; 瞿启睿; 秦爽; 李亚; 刘梦君; 姜珊多娇; 张斯琦
Original assignee: Hunan University of Chinese Medicine
Current assignee: Hunan University of Chinese Medicine
Priority date: 2020-03-26
Filing date: 2020-03-26
Publication date: 2024-08-09
Anticipated expiration: 2040-03-26
Also published as: CN111388275A

Abstract

The invention belongs to a rehabilitation trainer, and particularly relates to a lower limb muscle rehabilitation trainer, which comprises a base, support columns and a support, wherein the base, the support columns and the support are sequentially connected, the two support columns are mutually parallel, an exoskeleton training mechanism is arranged on the two support columns, a telescopic sleeve rod is arranged on the support towards the base, the telescopic sleeve rod 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, a trunk restraint 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 which is detachably connected with the positioning block I is arranged at one end of the sleeve II, a positioning hole which is correspondingly matched with the positioning block I is formed in the base, a driving mechanism II is arranged on the support towards the base, the output end of the driving mechanism II is connected with the trunk restraint mechanism, the trunk restraint mechanism is matched with the telescopic sleeve rod and the driving mechanism II, the patient is convenient to dock, stability is ensured, and muscle rehabilitation training and closed-chain movement training are provided at the same time.

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

Along with the acceleration of the aging process of the population in China, a large number of patients with cerebrovascular diseases in the aging population, such as craniocerebral injury, cerebral apoplexy and the like, and the problem of other health problems caused by inconvenient movement due to the degeneration of joint functions is also faced by the aging population. For patients with impaired central nervous system or lower limb movement dysfunction after orthopaedics operation, especially joint related operation, long-term bedridden braking or in a state of hypokinesia, which is easy to cause weakening or serious degeneration of limb, especially lower limb muscle movement function, scientific and reasonable movement rehabilitation exercise is an effective solution to the problems.

For motor function recovery of muscles, three processes are roughly divided: the early stage of the disease is usually a state of muscle weakness or serious hypokinesia, and the patient cannot complete autonomous limb functional movement at the moment, so that medical staff 'handles' and 'one-to-one' are required to perform passive movement on the impaired limb of the patient, or the patient can complete the movement by means of a plurality of power assisting devices; along with the recovery of muscle strength and functions, the patient can autonomously complete the movement of limbs in the middle stage, but the strength can only resist the influence of the gravity of the limbs to perform the movement of some full joints, which has positive effects on the aspects of maintaining the joint movement range, recovering the muscle coordination and the like; the muscle function of the patient in the recovery period is further recovered, the patient needs to perform a muscle force recovery through resistance training, and importantly, the muscle function of the patient needs to be recovered mainly in the recovery period, namely: the coordination among muscle groups in the exercise process has corresponding requirements on the direction, the impedance strength, the activity range and the like during the muscle training, so that the optimal curative effect can be ensured without injury during the exercise.

However, in clinical practice, the rehabilitation of the three stages of muscle function rehabilitation is often performed by "purely manual" or by combining rehabilitation apparatuses at different positions, in most cases, half of the rehabilitation apparatuses are used, and half of the rehabilitation apparatuses are performed by means of manual assistance or resistance exercise by a rehabilitation engineer, and patients and medical staff are often conservative in training due to worry about secondary injury due to no powerful protective device. The nursing staff is used for assisting and guiding rehabilitation exercise, so that the defects of time and labor waste in manual nursing are overcome, the actual popularization and treatment effects are not ideal, and the cost is high when the manual nursing is carried out for a long time. Through technical search, some devices for rehabilitation training of lower limbs are found, but the existing devices generally have the following defects: the small limb rehabilitation equipment can only perform single-joint reciprocating motion, one equipment cannot adapt to the needs of patients with different body types, and the training effect is not ideal; the combined use of several devices cannot accurately provide a power assisting and resistance training mode; the device for training in sitting and lying positions cannot be fully suitable for improving the load function of lower limbs, and the instrument for training the lower limb functions is provided for rarely standing, so that the protection is not conveniently provided for patients, especially for patients with poor early balance function and easy falling injuries; the exoskeleton type lower limb training robot is a rehabilitation training instrument with high automation degree, related technologies are developed at home and abroad, and the exoskeleton type lower limb training robot has the defects of insufficient technology, high purchase and treatment cost and the like for hospitals and patients at present, cannot meet the requirements of practical application, and is not beneficial to popularization of rehabilitation training technologies.

Disclosure of Invention

The invention aims to solve the technical problem of providing a lower limb muscle rehabilitation trainer which can adapt to different training modes.

The invention comprises a base, two support columns and a support 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 sleeve rod is arranged on the support towards the base, the telescopic sleeve rod 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, a trunk restraint 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 which is detachably connected with the positioning block I is arranged at one end of the sleeve II, which is close to the base, a positioning hole which is correspondingly matched with the positioning block I is arranged on the base, a driving mechanism II is arranged on the support towards the base, and the output end of the driving mechanism II is connected with the trunk restraint mechanism.

Furthermore, the bottom plate is also provided with a sliding clamping plate which limits the position of the positioning block I after the positioning block I is matched with the positioning hole.

Still further, one of them support column can be close to or keep away from relatively to another support column along base and support, exoskeleton training mechanism is including connecting gradually and length telescopic thigh mechanism and shank mechanism, and thigh mechanism, shank mechanism are located crotch portion and knee department respectively and can dismantle and be provided with crotch bandage and knee bandage, and thigh mechanism passes through the slider and slides and set up on the support column, is provided with driving mechanism I that drives exoskeleton training mechanism along the support column up-and-down motion on the support column, driving structure I output and slider fixed connection.

Still further, be provided with the fixture block on crotch bandage and the knee bandage, thigh mechanism and shank mechanism correspond the position and are provided with the draw-in groove, and the fixture block slides into the draw-in groove and accomplishes fixedly, perhaps be provided with the iron plate on crotch bandage and the knee bandage, thigh mechanism and shank mechanism correspond the position and are provided with the electro-magnet, open the electro-magnet, hold the iron plate and accomplish fixedly.

Still further, thigh mechanism includes telescopic link I and motor I, motor I is fixed to be set up on the slider, and sets up towards another support column, telescopic link I one end and motor I output shaft fixed connection.

Still further, thigh mechanism still includes motor II, turning block and pivot, motor II is fixed to be set up at telescopic link I other end, and towards the base setting, the turning block rotates through the pivot with telescopic link I and is connected, is provided with driven gear in the pivot, and motor II's output shaft is provided with the driving gear with driven gear meshing.

Still further, shank mechanism includes telescopic link II, motor III, foot rest and motor VI, motor III is fixed to be set up on the turning block, and towards another support column setting, telescopic link II one end and motor III output shaft fixed connection, motor VI sets up in telescopic link II bottom, and towards another support column setting, foot rest and motor VI output shaft fixed connection.

The invention further comprises a resistance mechanism, wherein 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 correspondingly arranged between the telescopic rod I and the bolt, and a jack corresponding to the bolt is arranged on the matching block.

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

Still further, the base is provided with the gasket in the preceding sideslip of exoskeleton training mechanism.

The invention has the advantages that,

The invention can provide lower limb muscle rehabilitation training and lower limb closed-chain exercise training, and enlarges the requirement of single joint function training of lower limb rehabilitation patients; the trunk restraint mechanism is matched with the telescopic loop bar and the driving mechanism II, so that the patient can conveniently dock with the trainer, and meanwhile, the stability of the trunk restraint mechanism during training is ensured; the lower limb closed-chain exercise training device can also move downwards or upwards along with the back of a patient during lower limb closed-chain exercise training, so that the load squatting training of the patient is realized, the sleeve III and the sleeve IV of the telescopic sleeve are retracted in the sleeve II during lower limb walking, lateral abduction adduction and internal rotation external exercise training, the sleeve III and the sleeve IV are prevented from obstructing the wearing convenience of the trunk restraint mechanism and the sleeve III and the sleeve IV are prevented from obstructing the training of the lower limb during backward walking, the sleeve III and the sleeve IV extend out and are connected with the base during lower limb closed-chain exercise, the stability of the trunk restraint mechanism is improved, the bending force born by the driving mechanism II is shared, and simultaneously, the trunk restraint mechanism simultaneously provides real-time protection and correction of the straight three-dimensional position of the trunk for the patient; the invention provides the whole weight bearing position exercise of the lower limb, performs the rehabilitation training of the lower limb muscles, and is closer to the real lower limb exercise function;

According to the invention, the two exoskeleton training mechanisms are arranged on the two support columns in a sliding manner so as to adapt to patients with different leg lengths for training, the two support columns can be relatively close to or far away from each other, and adapt to patients with different hip widths for training, and the exoskeleton training mechanism comprises a thigh mechanism and a shank mechanism which are sequentially connected and have telescopic lengths, so that the exoskeleton training mechanism can adapt to patients with different thigh lengths and shank lengths, thereby adapting to patients with different body types, improving the adaptability and the binding stability of the trainer, and improving the rehabilitation training effect;

The exoskeleton training mechanism provided by the invention realizes lower limb walking training through the motor I and the motor III respectively, realizes rotary internal rotation and external rotation through the motor II, and realizes external expansion and internal retraction of legs or soles through the motor V and the motor VI respectively, is suitable for the use requirements of patients in different rehabilitation periods, can realize 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 movable range, and simultaneously enlarges the single joint function training requirement of lower limb rehabilitation patients;

the resistance mechanism is arranged, is convenient to dock and separate, can provide anti-resistance movement and power-assisted movement required by rehabilitation training of lower limb functions, and can adapt to the use requirements of patients in different rehabilitation periods;

The pad is arranged at the front side of the exoskeleton training mechanism in a sliding manner, so that the whole weight of a patient can be applied to the pad during closed-chain training of the lower limbs, and the stability of the exoskeleton training mechanism is ensured.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a partial enlarged view at a in fig. 1.

FIG. 3 is a schematic diagram of a resistance mechanism.

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

Fig. 5 is a partial enlarged view at B in fig. 4.

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

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

Fig. 8 is a schematic diagram of the structure of the present invention when performing a lower limb muscle rehabilitation training.

Fig. 9 is a schematic diagram of the structure of the invention when the lower limb is in closed-chain movement.

Fig. 10 is a schematic structural view of the telescopic loop bar according to the present invention.

In the figure, 1, a base; 2. a support column; 3. an exoskeleton training mechanism; 31. thigh mechanisms; 311. a telescopic rod I; 312. a motor I; 313. a motor II; 314. a rotating block; 315. a rotating shaft; 316. a driven gear; 317. a drive gear; 32. a lower leg mechanism; 321. a telescopic rod II; 322. a motor III; 323. a foot rest; 324. a motor VI; 33. square corrugated pipe; 34. a crank 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 clamping groove; 8. a slide block; 81. a nut; 9. a driving structure I; 91. a motor IV; 92. a screw; 93. a bearing; 10. a bracket; 101. a chute; 11. a driving mechanism II; 12. a trunk binding mechanism; 121. a back fixing plate; 1211. a fixed block; 122. an upper limb strap; 123. an abdomen binding band; 13. a handle; 14. a display; 15. a buckle; 16. a gasket; 17. a resistance mechanism; 171. a mounting box; 172. a guide sleeve; 173. a tension spring; 174. a connecting cylinder; 175. a plug pin; 176. a mating 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 sleeve IV; 1841. a positioning block I; 19. positioning holes; 191. and (5) sliding the clamping plate.

Detailed Description

As shown in fig. 1-10, including base 1, support column 2 and support 10 that connect gradually, support column 2 parallel arrangement each other has two, is provided with exoskeleton training mechanism 3 on two support columns 2, be provided with flexible loop bar 18 towards base 1 on the support 10, flexible loop bar 18 includes sleeve pipe i 181, sleeve pipe ii 182, sleeve pipe iii 183 and sleeve pipe iv 184 that cup joint in proper order from big to small, sleeve pipe i 181 top and support 10 fixed connection are provided with trunk constraint mechanism 12 on the sleeve pipe ii 182, sleeve pipe iv 184 tip is provided with locating piece i 1841, sleeve pipe ii 182 is close to base 1 one end and is provided with the locating piece ii 1821 of dismantling connection with locating piece i 1841, be provided with the locating hole 19 that corresponds the complex with locating piece i 1841 on the base 1, be provided with actuating mechanism ii 11 towards base 1 on the support 10, actuating mechanism ii 11 output is connected with trunk constraint mechanism 12.

The invention is provided with the trunk restraint mechanism 12, which is convenient for the rehabilitation training of the disabled or paralysed lower limbs, the bracket 10 is provided with the driving mechanism II 11 towards the base 1, the lower limb muscle rehabilitation training is carried out by matching with the exoskeleton training mechanism 3, the trunk restraint mechanism 12 is driven to move up and down through the driving mechanism II 11, the lower limb closed-chain exercise training can be carried out, the rearward force of the trunk restraint mechanism 12 can be effectively born by arranging the telescopic loop bar 18, the bending force born by the output shaft of the driving mechanism II 11 is shared, meanwhile, the telescopic loop bar 18 can be connected with the positioning hole 19 on the base plate 1 through the positioning block I1841 during training, the rearward force of the trunk restraint mechanism 12 is effectively born, the structural stability is improved, the trunk restraint mechanism 12 can be driven to move up and down through the driving mechanism II 11, the lower limb closed-chain exercise training is completed before the training, when a person with mobility impairment or lower limb paralysis wears the trunk restraint mechanism 12, the sleeve III 183 and the sleeve IV 184 are contracted into the sleeve I181 and the sleeve II 182, the positioning block I1841 and the positioning block II 1821 are mutually fixed, the person with mobility impairment or lower limb paralysis takes a wheelchair to enter between the two support columns 2, the driving mechanism II 11 moves down the trunk restraint mechanism 12 and enters between the wheelchair and the back of a patient, the wearing of the trunk restraint mechanism 12 is completed, finally, the person with mobility impairment or lower limb paralysis is lifted by the upward movement of the driving mechanism II 11 to perform training, after the lifting, the positioning block I1841 and the positioning block II 1821 are kept in butt joint during muscle rehabilitation training, the sleeve III 183 and the sleeve IV 184 are contracted into the sleeve I181 and the sleeve II 182 to avoid influencing the training when the patient walks backwards, the positioning block I1841 can be matched with the positioning hole 19 during the lower limb closed-chain movement training, the sleeve IV 184 is connected with the bottom plate 1, and the telescopic loop bar 18 is arranged, so that safe and reliable protection can be provided, a patient can conveniently butt joint with the trainer, in the embodiment, the telescopic loop bar 18 and the positioning holes 19 are arranged in two groups along the width direction of the trunk binding mechanism 12, the trunk binding mechanism 12 comprises a hard back fixing plate 121, an upper limb binding belt 122 and an abdomen binding belt 123 which are arranged on the back fixing plate 121, the upper limb binding belt 122 and the abdomen binding belt 123 are provided with buckles 15, when the patient is positioned on a wheelchair, the driving mechanism II 11 is controlled to move downwards until the back fixing plate 121 is positioned on the back of the patient, the abdomen binding belt 123 is fixed on the abdomen of the patient through the buckles 15, the armpits are penetrated through by the buckles 15, comfortable and safe protection is provided for the patient, after the fixing is completed, the driving mechanism II 11 is controlled to move upwards until the patient is flush with the upper part of the thigh mechanism 31, and safe lower limb rehabilitation training is provided, and in the embodiment, the driving mechanism II 11 can be a pneumatic cylinder or a crotch cylinder.

The bottom plate 1 is also provided with a sliding clamping plate 191 which limits the position of the positioning block I1841 after the positioning block I1841 is matched with the positioning hole 19.

Wherein, exoskeleton training mechanism 3 is including thigh mechanism 31 and shank mechanism 32 that connect gradually, thigh mechanism 31 includes telescopic link I311 and motor I312, motor I312 is fixed to be set up on slider 8, and sets up towards another support column 2, telescopic link I311 one end and motor I312 output shaft fixed connection.

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 I311 and is arranged towards the base 1, the rotating block 314 is rotationally connected with the telescopic rod I311 through the rotating shaft 315, a driven gear 316 is arranged on the rotating shaft 315, and an output shaft of the motor II 313 is provided with a driving gear 317 meshed with the driven gear 316. The shank mechanism 32 includes telescopic link II 321, motor III 322, foot rest 323 and motor VI 324, motor III 322 is fixed to be set up on rotating block 314, and sets up towards another support column 2, telescopic link II 321 one end and motor III 322 output shaft fixed connection, motor VI 324 sets up in telescopic link II 321 bottom, and sets up towards another support column 2, foot rest 323 and motor VI 324 output shaft fixed connection, patient's hip joint and knee joint are respectively on the axis at motor I312 and motor III 322, and motor I312 and motor III 322 work drives patient's thigh and shank to bend and stretch, provides the training of walking forward or backward, telescopic link I311 and telescopic link II 321 are the imitation knee joint through motor III 322 department, and patient's ankle joint is on motor VI 324's axis, can drive the ankle and lift up and lift down.

In order to provide the motion training of the lower limb rotation and the rotation, 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 I311 and is arranged towards the base 1, the rotating block 314 is rotationally connected with the telescopic rod I311 through the rotating shaft 315, a driven gear 316 is arranged on the rotating shaft 315, an output shaft of the motor II 313 is provided with a driving gear 317 meshed with the driven gear 316, the motor II 313 works to drive the rotating block 314, the telescopic rod II 321 and the foot support 323 to rotate in or out of the rotation, and the motion training of the patient rotation and the rotation is provided.

The invention also comprises a lower limb lateral abduction and adduction mechanism, wherein the lower limb lateral adduction and adduction mechanism comprises a square corrugated pipe 33 and a crank rocker mechanism 34, which are arranged on a telescopic rod I311 and/or a telescopic rod II 321, the telescopic rod I311 and/or the telescopic rod II 321 is divided into two sections through the square corrugated pipe 33 and connected into a whole through the square corrugated pipe 33, a frame 341 of the crank rocker mechanism 34 is arranged on an upper section telescopic rod I311 and/or the telescopic rod II 321, one end of the rocker 342, which is far away from the frame 341, is provided with a motor V345 hinged with the lower section telescopic rod I311 and/or the telescopic rod II 321, and the frame 341 is also provided with a motor V345 for driving the crank 343 to rotate.

The exoskeleton training mechanism 3 can realize the walking of the lower limbs of the patient, the lateral abduction adduction and the rotation internal-external movement training, and is driven by motors respectively, the training mode and the movement range can be controlled by controlling the working sequence, the rotation angle and the rotation direction of each motor accurately, the accurate rehabilitation of the lower limb functions is realized, the control of the motors can set the fixed movement track and the movement sequence by programs, the manual control of operators can be also realized, the on-site guidance is realized, and meanwhile, the requirement of the single joint function training of the lower limb rehabilitation patient is also enlarged.

The exoskeleton training mechanism 3 cooperates with the trunk restraint mechanism 12 to perform lower limb closed-chain exercise training, firstly, the foot support 323 is moved forward to the position of the gasket 16, the body weight of a patient is stressed through the gasket 16, the cooperation of the trunk restraint mechanism 12 and the exoskeleton training mechanism 3 is controlled to realize squatting training of the patient, the angles of hip, knee and ankle joint movement in the squatting process are adjustable and controllable through each motor, and in addition, the trunk restraint mechanism 12 slides downwards through the telescopic loop bar 18 to adapt to squatting height and simultaneously provide real-time protection and correction of straight three-dimensional positions of the trunk for the patient so as to ensure training effect.

The pad 16 is slidably disposed on the base 1 and located on the front side of the exoskeleton training mechanism 3, where the sliding arrangement can effectively prevent the movement of the foot rest 323 from being blocked when the exoskeleton training mechanism 3 performs flexion and extension training. .

The invention also comprises a resistance mechanism 17, 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 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, a plug pin 175 is arranged in the connecting cylinders 174, a matching block 176 is arranged on a telescopic rod I311 and the plug pin 175 correspondingly, a jack 177 corresponding to the plug pin 175 is arranged on the matching block 176, when the later lower limb function of a patient is improved, the electric motor III 322 has a brake holding function, the thigh mechanism 31 and the lower leg mechanism 32 are in a straight state, and when the electric motor III is used for the anti-resistance training, the plug pin 175 is inserted into the jack 177, so that the telescopic rod I311 receives the pulling force of the tension springs 173 when the electric motor I312 rotates actively, and further the anti-resistance training is carried out; when carrying out the helping hand training, only need slide bolt 175 along connecting cylinder 174 axis, break off with jack 177 be connected can, dock and separation and convenient and fast thereof, wherein, extension spring 173 sets up in guide sleeve 172 to fix the bottom at slider 8 through mounting box 171, improve structural stability and result of use.

Wherein one support column 2 can relatively approach or separate from the other support column 2 along the base 1 and the support 10, specifically, a sliding groove is arranged on the base 1, the bottom of the support 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 support column 2, the locking device can be fixed by threads or buckles, a sliding groove 101 is arranged at the corresponding position on the support 10, the top of the support column 2 is arranged in the sliding groove 101 and can only slide along the direction of the sliding groove, the sliding groove 101 or the top of the support column 2 can also be provided with the locking device, so as to adjust the width of two exoskeleton training mechanisms 3 to adapt to patients with different hip widths, the exoskeleton training mechanisms 3 comprise a thigh mechanism 31 and a calf mechanism 32 which are connected in sequence and have telescopic lengths to adapt to patients with different leg lengths, the adaptability of the trainer and the stability after binding are improved, the rehabilitation training effect is improved, two groups of exoskeleton training mechanisms 3 are driven up and down through a driving mechanism I9, automation is improved, the driving mechanism I9 specifically comprises a motor IV 91 arranged on a support column 2 and a screw 92 connected with the motor IV 91, two ends of the screw 92 are round shafts and fixedly connected with the support column 2 through bearings 93, 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 manner through a sliding block 8, nuts 81 in threaded connection with the screw 92 are fixedly connected on 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 screw 92 is driven to rotate, the sliding block 8 and the exoskeleton training mechanisms 3 move up and down along the height direction of the support column 2, the driving mechanism I9 can also be an air cylinder or a hydraulic cylinder. The thigh mechanism 31 and the shank mechanism 32 are respectively positioned at the crotch and the knees and can be 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 tied to the crotch and the knee of a patient, and then the rehabilitation training device and the patient are butted by installing the thigh mechanism 31 and the shank mechanism 32 corresponding to the thigh mechanism 31 and the shank mechanism 32 during training, so that the butting 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 clamping blocks 6, the corresponding positions of the thigh mechanism 31 and the shank mechanism 32 are provided with clamping grooves 7, the clamping blocks 6 slide into the clamping grooves 7 to complete fixation, in particular, the clamping grooves 7 can be dovetail grooves or T-shaped grooves which are opened at the upper side, the clamping blocks 6 can only be disassembled by sliding upwards after finishing assembly, the connection stability is improved while the butt joint difficulty is simplified, when in use, the crotch bandage 4 and the knee bandage 5 are correspondingly arranged at the crotch and the knee of a patient, and the motor IV 91 is controlled to work through a controller to drive the two clamping grooves 7 on the exoskeleton training mechanism 3 to be positioned below the clamping blocks 6, the movable supporting columns 2 slide inwards to adapt to the hip width of the patient, finally, the exoskeleton training mechanism 3 is driven to move upwards by the operation of the control motor IV 91, the installation of the clamping blocks 6 and the clamping grooves 7 is completed, the butt joint of a patient is extremely simplified, or the iron blocks are arranged on the crotch strap 4 and the knee strap 5, the electromagnets are arranged at the corresponding positions of the thigh mechanism 31 and the shank mechanism 32, the electromagnets are started, the iron blocks are sucked to complete fixation, and the butt joint difficulty is further simplified.

A fixed 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 fixed block 1211, so that the connection difficulty is simplified.

The support 10 is also provided with the handle 13 for holding the patient and the display 14 for displaying the training state, so that the patient can keep the body balance through the handle 13, and can watch the training time, the training angles and the intensity of the exoskeleton training mechanism 3 and other information through the display 14, thereby enabling the patient to intuitively observe the training progress of the patient and improving the acceptance degree.

The invention has multiple functions, can provide the power-assisted movement, joint movement and resistance movement required by the rehabilitation training of the lower limb function, and can adapt to the use requirements of patients in different rehabilitation periods. The movement angles of the three joints are controlled by the motors respectively, so that the accurate rehabilitation of the lower limb functions is realized, and meanwhile, the requirement of single joint function training of a patient with lower limb rehabilitation is also enlarged.

The whole weight bearing position of the lower limb moves, and the lower limb movement function is closer to the real lower limb movement function. The pad 16 below the sole and the forward movement of the sole position can be adjusted in the invention, so that the weight-bearing squatting training of a patient is realized, the angles of hip, knee and ankle joint movements in the squatting process are adjustable and controllable, and in addition, the trunk restraint mechanism 12 can provide real-time protection and correction of the straight three-dimensional position of the trunk for the patient through the telescopic loop bar 18 so as to adapt to the squatting height, thereby ensuring the training effect.

The invention has flexible adjustment and is convenient for adapting to the rehabilitation training requirements of patients with different body types. According to the invention, two exoskeleton training mechanisms are slidably arranged on two support columns 2 to adapt to patients with different leg lengths for training, the two support columns 2 can be relatively close to or far away from each other, meanwhile, the two support columns are convenient to adapt to patients with different hip widths for training, the exoskeleton training mechanism 3 comprises a thigh mechanism 31 and a shank mechanism 32 which are sequentially connected and have telescopic lengths to adapt to patients with different thigh lengths and shank lengths, so that the adaptability of the trainer and the stability after binding are improved, and the rehabilitation training effect is improved.

The invention is safe and effective, can be used for the adaptive training of the ultra-early patients and can also be used for improving the lower limb functions of the later patients. The exoskeleton training mechanism 3 can realize the lower limb walking, lateral abduction and adduction and rotary internal rotation external movement training of a patient, the trunk restraint 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 the trainer, meanwhile, the stability of the trunk restraint mechanism 12 during training is ensured, the handle 13 is arranged, the patient can keep body balance through the handle 13, the conservative treatment scheme that the patient is afraid of falling or excessive joint movement and the rehabilitation training angle is reduced due to secondary damage of joints and the like caused by fear of the patient and medical staff is effectively avoided, and the accurate and efficient rehabilitation can be realized on the premise of ensuring the treatment safety.

Claims

1. The utility model provides a lower limb muscle rehabilitation training device, its characterized in that, including base (1), support column (2) and support (10) that connect gradually, support column (2) are provided with two each other parallel arrangement, are provided with exoskeleton training mechanism (3) on two support columns (2), be provided with flexible loop bar (18) towards base (1) on support (10), flexible loop bar (18) include from big to little sleeve pipe I (181), sleeve pipe II (182), sleeve pipe III (183) and sleeve pipe IV (184) that cup joint in proper order, sleeve pipe I (181) top and support (10) fixed connection, sleeve pipe II (182) are last to be fixedly provided with trunk constraint mechanism (12), sleeve pipe IV (184) tip is provided with locating piece I (1841), sleeve pipe II (182) are close to base (1) one end and are provided with locating piece II (1821) with locating piece I (1841) detachably connected, are provided with locating hole (19) with corresponding cooperation with locating piece I (1841) on base (1), are provided with driving mechanism II (11) towards base (1) on support (10), driving mechanism II (11) output and constraint mechanism (12) are connected;

the base (1) is also provided with a sliding clamping plate (191) which limits the position of the positioning block I (1841) after the positioning block I (1841) is matched with the positioning hole (19);

The base (1) is positioned at the front side of the exoskeleton training mechanism (3) and is provided with a gasket (16) in a sliding way;

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 binding band (4) and a knee binding band (5), the thigh mechanism (31) is arranged on the support column (2) in a sliding manner 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);

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 support column (2), and one end of the telescopic rod I (311) is fixedly connected with an output shaft of the motor I (312);

The novel telescopic device is characterized by further comprising a resistance mechanism (17), wherein the resistance mechanism (17) comprises an installation box (171) arranged at the bottom of the sliding block (8), two guide sleeves (172) are arranged in parallel in the installation box (171), 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 installation 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), matching blocks (176) are arranged on the telescopic rods I (311) corresponding to the bolts (175), and jacks (177) corresponding to the bolts (175) are arranged on the matching blocks (176);

Still include low limbs side abduction adduction mechanism, low limbs side adduction mechanism is including setting up square bellows (33) and crank rocker mechanism (34) on telescopic link I (311) and/or telescopic link II (321), and telescopic link I (311) and/or telescopic link II (321) cut apart into two sections and link into an organic whole through square bellows (33), frame (341) of crank rocker mechanism (34) set up on upper segment telescopic link I (311) and/or telescopic link II (321), and rocker (342) deviate from frame (341) one end and lower segment telescopic link I (311) and/or telescopic link II (321) hinge, still are provided with motor V (345) of drive crank (343) pivoted on frame (341).

2. The lower limb muscle rehabilitation training device according to claim 1, wherein clamping blocks (6) are arranged on the crotch binding band (4) and the knee binding band (5), clamping grooves (7) are arranged at corresponding positions of the thigh mechanism (31) and the calf mechanism (32), the clamping blocks (6) slide into the clamping grooves (7) to complete fixation, or iron blocks are arranged on the crotch binding band (4) and the knee binding band (5), electromagnets are arranged at corresponding positions of the thigh mechanism (31) and the calf mechanism (32), and the electromagnets are started to attract the iron blocks to complete fixation.

3. The lower limb muscle rehabilitation training device according to claim 1, 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 rotationally connected with the telescopic rod i (311) through the rotating shaft (315), a driven gear (316) is arranged on the rotating shaft (315), and an output shaft of the motor ii (313) is provided with a driving gear (317) meshed with the driven gear (316).

4. A lower limb muscle rehabilitation training device according to claim 3, wherein the lower leg mechanism (32) comprises a telescopic rod ii (321), a motor iii (322), a foot rest (323) and a motor vi (324), the motor iii (322) is fixedly arranged on the rotating block (314) and is arranged towards the other support 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 support column (2), and the foot rest (323) is fixedly connected with the output shaft of the motor vi (324).