CN111388278A

CN111388278A - Phase-adjustable rehabilitation exercise training device with output track capable of being elliptical

Info

Publication number: CN111388278A
Application number: CN202010371992.4A
Authority: CN
Inventors: 王勇; 蔡林; 陈宝亮; 肖飞云; 刘正士
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2020-05-06
Filing date: 2020-05-06
Publication date: 2020-07-10

Abstract

The invention discloses a health exercise training device with an output track capable of being elliptical and adjustable in phase, which comprises a supporting mechanism and more than one pair of training modules, wherein each training module comprises an exercise mechanism and a phase adjusting mechanism; the movement mechanism comprises an inner gear ring, a planetary gear, a planet carrier and a driving motor, the inner gear ring is rotatably installed on the supporting mechanism, the driving motor is fixedly installed on the supporting mechanism, the planet carrier is fixedly connected with an output shaft of the driving motor, the planetary gear is rotatably installed on the planet carrier, and the planetary gear is positioned in the inner gear ring and is meshed with the inner gear ring; the phase adjusting mechanism is used for driving the inner gear ring to rotate. The invention changes the single training mode of the traditional circular motion track or single-phase elliptical motion track, provides rich elliptical track training modes, meets different requirements of different users and greatly improves the training effect of the users.

Description

Phase-adjustable rehabilitation exercise training device with output track capable of being elliptical

Technical Field

The invention relates to the field of fitness and rehabilitation instruments, in particular to a fitness exercise training device with an adjustable phase and an elliptical output track.

Background

At present, limb rehabilitation and body-building training also become research hotspots. Most of devices widely applied to the market are single-degree-of-freedom devices, including elliptical machines and some sole driving devices, the motion trail and the training mode are single, and the rehabilitation patients cannot achieve good rehabilitation effect. The single-degree-of-freedom rehabilitation training device is simple in structure, but the motion form is single, most robots only provide simple curved or linear tracks, and if the most extensive treadmill type rehabilitation training device is used, only circular motion can be realized, but the requirements of personalized and precise rehabilitation and fitness training of different patients are difficult to meet.

Disclosure of Invention

The invention aims to solve the technical problem of providing a rehabilitation exercise training device with an adjustable phase and an elliptical output track.

In order to solve the technical problems, the invention adopts the following technical scheme: a kind of phase place adjustable output orbit can be elliptical health exercise training device, including supporting mechanism and one or more than one pair of training modules, the said training module includes movement mechanism and phase place regulating mechanism;

the movement mechanism comprises an inner gear ring, a planetary gear, a planet carrier and a driving motor, the inner gear ring is rotatably mounted on the support mechanism, the driving motor is fixedly mounted on the support mechanism, an output shaft of the driving motor is coaxial with the inner gear ring, the planet carrier is fixedly connected with an output shaft of the driving motor, the planetary gear is rotatably mounted on the planet carrier, and the planetary gear is positioned in the inner gear ring and is meshed with the inner gear ring; the phase adjusting mechanism is used for driving the inner gear ring to rotate.

Further, the training module still includes rotary mechanism, the ring gear passes through rotary mechanism and rotate and install on the supporting mechanism, rotary mechanism includes fixed disk and rotary disk, the fixed disk is fixed driving motor's casing or on the supporting mechanism, the rotary disk passes through first bearing and rotates and install on the fixed disk, ring gear fixed mounting be in on the rotary disk.

Furthermore, the fixed disc and the rotating disc are both annular, the inner ring of the first bearing is fixed on the outer peripheral surface of the fixed disc, the outer ring of the first bearing is fixed on the inner peripheral surface of the rotating disc, and the fixed disc is sleeved and fixed outside the shell of the driving motor.

Further, a fourth bearing is installed between the planet carrier and the fixed disk.

Further, the training module further comprises a motion output mechanism, the motion output mechanism comprises a support shaft and a bearing seat, the support shaft is fixedly arranged on the planetary gear in an adjustable position, and the axis of the support shaft is parallel to the central line of the planetary gear and offset from the central line of the planetary gear.

Further, phase place adjustment mechanism includes worm wheel, worm and phase place adjustment motor, the worm wheel is coaxial to be fixed on the inner ring gear, phase place adjustment motor fixed mounting be in supporting mechanism is last, the worm rotates to be installed supporting mechanism is last, just the worm with phase place adjustment motor's output shaft fixed connection, the worm with worm wheel intermeshing.

Further, the planet carrier is of a disc-shaped structure, a center hole used for being sleeved on an output shaft of the driving motor is formed in the center of the planet carrier, a gear shaft is arranged at the eccentric position of the planet carrier, and the planetary gear is rotatably installed on the gear shaft through a third bearing.

Further, the gear ratio of the ring gear to the planet gear is 2: 1.

furthermore, the supporting mechanism comprises two vertical supporting plates, cross supporting plates connected between the two vertical supporting plates and two bottom supporting plates fixed to the bottoms of the two vertical supporting plates respectively, and the driving motor is fixed to the top of the cross supporting plates.

Further, the training module is configured with two pairs, and the two pairs of training modules are arranged symmetrically with each other.

The invention has the beneficial effects that:

the movement mechanism can drive limbs to do movement training according to the elliptical track, and the phase adjusting mechanism realizes the phase adjusting function, adjusts the phase of the elliptical movement track, enables the long axis of the elliptical movement track to form different angles with the horizontal plane, and generates gait training similar to ascending, descending and horizontal. According to the invention, the rotating mechanism with a compact structure is adopted, and when two training modules are arranged for double-limb training, the design improves the bearing performance, reduces the distance between the two training modules, accords with the normal size of a human body during movement, and improves the supporting strength. The invention changes the single training mode of the traditional circular motion track or single-phase elliptical motion track, provides rich elliptical track training modes, can carry out rehabilitation training on each part of the limb, meets different requirements of different users, and greatly improves the training effect of the users. The invention can be used for upper limb training or lower limb training and is suitable for the requirements of limb training of different parts.

The multifunctional health-care bed has the advantages of simple structure, easy manufacture, economy, practicality, easy operation, simplicity, comfort, good function, high practicability and small and flat occupied space, and is suitable for users to use in various occasions to help the users to recover health.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of the present invention.

Fig. 2 is a front view of fig. 1.

Fig. 3 is a left side view of fig. 2.

Fig. 4 is a top view of fig. 1 (with the drive motor omitted).

Fig. 5 is a schematic view of the mounting structure of the driving motor and the rotating mechanism and part of the moving mechanism.

Fig. 6 is a schematic rear perspective view of fig. 5.

Fig. 7 is a schematic view of the structure of fig. 5 with the planetary gears added.

The components in the drawings are labeled as follows:

1, a supporting mechanism, 11 vertical supporting plates, 12 bottom supporting plates and 13 cross supporting plates;

2 motion mechanism, 21 inner gear ring, 22 planetary gear, 23 planet carrier, 24 driving motor, 25 output shaft of driving motor, 26 central hole, 27 gear shaft;

3 phase adjusting mechanism, 31 worm wheel, 32 worm and 33 phase adjusting motor;

4 a rotating mechanism, 41 a fixed disc, 42 a rotating disc and 43 a first bearing;

5 motion output mechanism, 51 support shaft, 52 bearing seat, 53 second bearing.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The embodiments and features of the embodiments in the present application may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" appearing throughout includes three juxtapositions, exemplified by "A and/or B" including either A or B or both A and B. In addition, "a plurality" means two or more. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

See fig. 1-7.

The invention discloses a rehabilitation exercise training device with an adjustable phase output track capable of being elliptical, which comprises a supporting mechanism 1 and more than one pair of training modules, wherein each training module comprises an exercise mechanism 2 and a phase adjusting mechanism 3;

the movement mechanism 2 comprises an inner gear ring 21, a planetary gear 22, a planet carrier 23 and a driving motor 24, the inner gear ring 21 is rotatably mounted on the support mechanism 1, the driving motor 24 is fixedly mounted on the support mechanism 1, an output shaft 2551 of the driving motor 24 is coaxial with the inner gear ring 21, the planet carrier 23 is fixedly connected with the output shaft 2551 of the driving motor 24, the planetary gear 22 is rotatably mounted on the planet carrier 23, and the planetary gear 22 is located in the inner gear ring 21 and is meshed with the inner gear ring 21; the phase adjusting mechanism 3 is used for driving the inner gear ring 21 to rotate.

When the device is used, the driving motor drives the planet carrier to rotate, then the planet carrier drives the planet gear to revolve around the axis of the inner gear ring, and the planet gear and the inner gear ring are meshed with each other and the planet gear is rotatably arranged on the planet carrier, so that the planet gear can automatically transmit around the axis of the planet gear at the same time, and the limb can be driven to do elliptic motion along the track as long as any structures capable of supporting the limb to move, such as pedals, handles and the like, are arranged at the eccentric position of the planet gear; certainly, a driving motor is not needed, and a user can apply force from the planetary gear to move reversely to perform active training;

if the long axis of the elliptical motion trajectory of the eccentric position of the planetary gear is horizontal, the gait training of horizontal walking of a human can be simulated, if the long axis of the elliptical motion trajectory of the eccentric position of the planetary gear is horizontal, the gait training of climbing and descending can be correspondingly simulated, and the adjustment of the angle of the motion trajectory can be realized by driving the inner gear ring to rotate through the phase adjusting unit, specifically, when the phase adjustment is performed, the motion of the motion mechanism is stopped, then the phase adjusting unit is started, the phase adjusting unit drives the inner gear ring to rotate, the inner gear ring and the planetary gear are meshed with each other, so that the planetary gear is driven to rotate around the axis of the planetary gear, the eccentric position on the planetary gear is shifted, the connecting line (called L1) between the eccentric position on the planetary gear and the central line of the planetary gear deflects, the planet carrier is fixed at the moment, the planetary gear does not revolve, so that the connecting line (called L2) between the output shaft of the driving motor and the central line of the planetary gear is not changed, and finally, the phase adjustment between L1 and L2 in the initial state, namely, the phase adjustment of the elliptical motion trajectory of the horizontal plane can be changed, and the horizontal plane of the gait training of the horizontal plane can be generated.

In one embodiment, the support mechanism is provided with two training modules which are respectively arranged on two sides, so that the training mechanism is suitable for simultaneous training of two limbs, a user can train more comfortably and the rehabilitation effect is improved.

More preferably, two training modules share one double-shaft motor as a driving motor, and the structure is simpler.

In the invention, the driving motor can be a control motor with two ends extending outwards, or can be a combination of the motor and a speed reducer, and two ends of the output shaft extend outwards.

In one embodiment, the supporting mechanism 1 comprises two vertical supporting plates 11, a cross supporting plate 13 connected between the two vertical supporting plates 11, and two bottom supporting plates 12 fixed at the bottom of the two vertical supporting plates 11, respectively, and the driving motor 24 is fixed at the top of the cross supporting plate 13. The supporting mechanism designed in this way has the advantages of low precision requirement between other modules and the supporting mechanism, low processing and assembling cost, simple structure, easy manufacture and installation, and stable and reliable structure.

Preferably, the two bottom supporting plates 12 are long-strip-shaped and parallel to the central line of the inner gear ring. By the design, the support is more stable and reliable. In a specific implementation, a reinforcing strut plate 14 can be connected between the two vertical strut plates 11 below the cross strut plate 13 to further improve the structural stability of the supporting mechanism.

In an embodiment, the training module further includes a rotating mechanism 4, the inner gear ring 21 is rotatably mounted on the supporting mechanism 1 through the rotating mechanism 4, the rotating mechanism 4 includes a fixed disk 41 and a rotating disk 42, the fixed disk 41 is fixed on the casing of the driving motor 24 or the supporting mechanism 1, the rotating disk 42 is rotatably mounted on the fixed disk 41 through a first bearing 43, and the inner gear ring 21 is fixedly mounted on the rotating disk 42. The design like this, the structure is compacter, flat to can reduce the distance between two training modules, width when satisfying human limbs normal motion, rotary mechanism can support the ring gear moreover and rotate more smoothly. The first bearing 43 may be a rolling bearing or a sliding bearing.

In one embodiment, the fixed disk 41 is fixed on the casing of the driving motor 24, the output shaft 2551 of the driving motor 24 passes through the fixed disk 41, and the planet carrier 23 is located outside the fixed disk 41 and the rotating disk 42. Due to the design, the supporting mechanism is not required to be additionally provided with a part for supporting the fixed disk, the fixed disk can be indirectly supported on the supporting mechanism through the shell of the driving motor, the space matching degree of the planet carrier and the rotating mechanism is better, the structure is simpler and more compact, and the integral volume of the device is smaller.

In an embodiment, the fixed disk 41 and the rotating disk 42 are both annular, the inner ring of the first bearing 43 is fixed on the outer circumferential surface of the fixed disk 41, the outer ring of the first bearing 43 is fixed on the inner circumferential surface of the rotating disk 42, and the fixed disk 41 is sleeved and fixed outside the housing of the driving motor 24. By the design, the training module is higher in rigidity, better in stability, more convenient to machine and more compact and flat in structure.

In a specific implementation, the worm wheel, the inner gear ring and the rotating disc can be fixedly connected through screws, or the worm wheel is fixed on the periphery of the inner gear ring.

In one embodiment, a fourth bearing is installed between the planet carrier 23 and the fixed disk 41. The two rotate relatively through the bearing, promoted the bearing performance of planet carrier 23, and this bearing can select antifriction bearing or slide bearing for use.

In one embodiment, the training module further comprises a motion output mechanism 5, the motion output mechanism 5 comprises a support shaft 51 and a bearing seat 52, the output shaft 51 is fixedly mounted on the planetary gear 22 in a position adjustable manner, the axis of the output shaft 51 is parallel to the central line of the planetary gear 22 and is offset from the central line of the planetary gear 22, and the bearing seat 52 is rotatably mounted on the output shaft 51 through a second bearing 53. Design like this, pedal, handle etc. any structure mountable that can support limbs to carry out the motion can be on the bearing frame, when the training, can wind output shaft free rotation, and the practicality is better. The second bearing 53 may be a rolling bearing or a sliding bearing.

In a specific implementation, a crank with adjustable length can be fixedly installed on the planetary gear 22, and the output shaft 51 is fixedly installed at the other end of the crank. So designed, the offset distance of the axis of the output shaft 51 from the center line of the planetary gear 22 is not limited by the size of the planetary gear 22, and the size may be larger or smaller than the radius of the planetary gear 22.

In an embodiment, the phase adjustment mechanism 3 includes a worm wheel 31, a worm 32 and a phase adjustment motor 33, the worm wheel 31 is coaxially fixed on the ring gear 21, the phase adjustment motor 33 is fixedly installed on the support mechanism 1, the worm 32 is rotatably installed on the support mechanism 1, the worm 32 is fixedly connected with an output shaft 51 of the phase adjustment motor 33, and the worm 32 is engaged with the worm wheel 31. The design like this, moreover, the steam generator is simple in structure, during the use, start the phase place accommodate motor, the phase place accommodate motor drives the worm and rotates, then the worm drives the worm wheel and rotates, final worm wheel drives planetary gear and rotates and realizes the phase place adjustment, it is very convenient to operate, moreover, great drive ratio has, adjust the precision height and have the self-locking function, as long as close the phase place accommodate motor, the worm stall, just can rely on the worm wheel to lock the worm wheel in the intermeshing of worm, the ring gear also can't rotate, thereby when not needing retraining, use other parts to fix the ring gear, the practicality is good. In specific implementation, two ends of the worm can be arranged on the outer sides of the two vertical supporting plates through horizontal bearing seats.

In an embodiment, the planet carrier 23 is a disc-shaped structure, a central hole 26 for being sleeved on the output shaft 2551 of the driving motor 24 is formed in the center of the planet carrier 23, a gear shaft 27 is arranged at an eccentric position of the planet carrier 23, and the planetary gear 22 is rotatably mounted on the gear shaft 27 through a third bearing. By the design, the device is easy to manufacture and install and has better practicability.

In specific implementation, the outer ring of the third bearing is fixedly mounted with the planet gear, and the inner ring of the third bearing is fixedly mounted with the gear shaft 27, so that the planet gear is rotatably mounted on the planet carrier, and the bearing is mounted in the planet gear, so that the stress of the planet carrier is more balanced. The third bearing can be a rolling bearing or a sliding bearing.

In a specific implementation, the planet carrier 23 may have a certain thickness and mass to increase the moment of inertia, so that it is easier for the user to operate during active training, and the central hole 26 is fixed to the output shaft of the driving motor 24 by a key connection.

In one embodiment, the gear ratio of the ring gear 21 and the planet gears 22 is 2: 1. by the design, when the distance between the center lines of the adjusting support shaft and the planetary gear is equal to the distance between the output shaft of the motor and the center line of the planetary gear, the output motion trail is a reciprocating straight line.

It should be understood that the examples and embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the present disclosure, and that various modifications or changes in light thereof will be suggested to persons skilled in the art and are to be included within the spirit and purview of this disclosure.

Claims

1. The utility model provides a phase place adjustable output orbit can be oval healthy exercise training device which characterized in that: the training device comprises a supporting mechanism and more than one pair of training modules, wherein each training module comprises a motion mechanism and a phase adjusting mechanism;

2. The device of claim 1, wherein the phase-adjustable output trace is elliptical, and wherein: the training module further comprises a rotating mechanism, the inner gear ring is rotatably installed on the supporting mechanism through the rotating mechanism, the rotating mechanism comprises a fixed disk and a rotating disk, the fixed disk is fixed on the shell of the driving motor or the supporting mechanism, the rotating disk is rotatably installed on the fixed disk through a first bearing, and the inner gear ring is fixedly installed on the rotating disk.

3. The device of claim 2, wherein the phase-adjustable output trace is elliptical, and wherein: the fixed disc and the rotating disc are both annular, the inner ring of the first bearing is fixed on the outer peripheral surface of the fixed disc, the outer ring of the first bearing is fixed on the inner peripheral surface of the rotating disc, and the fixed disc is sleeved and fixed outside the shell of the driving motor.

4. A fitness exercise device according to claim 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: a fourth bearing is installed between the planet carrier 23 and the fixed disk 41.

5. A fitness exercise device according to claim 1 or 2, wherein the phase-adjustable output trajectory is elliptical, and wherein: the training module further comprises a motion output mechanism, wherein the motion output mechanism comprises a support shaft, the support shaft is fixedly arranged on the planetary gear in an adjustable position, and the axis of the support shaft is parallel to the central line of the planetary gear and offset from the central line of the planetary gear.

6. A fitness exercise device according to claim 1, 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: phase place adjustment mechanism includes worm wheel, worm and phase place accommodate motor, the worm wheel is coaxial to be fixed on the inner ring gear, phase place accommodate motor fixed mounting be in supporting mechanism is last, the worm rotates to be installed supporting mechanism is last, just the worm with phase place accommodate motor's output shaft fixed connection, the worm with worm wheel intermeshing.

7. A fitness exercise device according to claim 1, 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: the planet carrier is of a disc-shaped structure, a center hole used for being sleeved on an output shaft of the driving motor is formed in the center of the planet carrier, a gear shaft is arranged at the eccentric position of the planet carrier, and the planetary gear is rotatably installed on the gear shaft through a third bearing.

8. A fitness exercise device according to claim 1, 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: the gear ratio of the inner gear ring to the planet gear is 2: 1.

9. a fitness exercise device according to claim 1, 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: the supporting mechanism comprises two vertical supporting plates, cross supporting plates connected between the two vertical supporting plates and two bottom supporting plates fixed to the bottoms of the two vertical supporting plates respectively, and the driving motor is fixed to the top of each cross supporting plate.

10. A fitness exercise device according to claim 1, 2 or 3, wherein the phase-adjustable output trajectory is elliptical, and wherein: the training module is configured with two pairs.