CN112022616A

CN112022616A - Active-passive combined lower limb rehabilitation training device

Info

Publication number: CN112022616A
Application number: CN202010903710.0A
Authority: CN
Inventors: 史小华; 刘瑞发; 孙杰智; 姚吉路; 庞英杰; 丰尚宇; 张朝辉
Original assignee: Yanshan University
Current assignee: Yanshan University
Priority date: 2020-09-01
Filing date: 2020-09-01
Publication date: 2020-12-04
Anticipated expiration: 2040-09-01
Also published as: CN112022616B

Abstract

The invention discloses an active-passive combined lower limb rehabilitation training device, which relates to the technical field of rehabilitation training equipment and comprises a base, a bed body horizontal lifting structure, a bed body, a lower limb training mechanism and a bed body turnover mechanism, wherein the top of the bed body horizontal lifting structure is fixedly connected to the base and provided with a bed body supporting frame, the bed body is hinged to one end of the bed body supporting frame, the lower limb training mechanism is fixedly connected to the bed body, one end of the lower limb training mechanism is hinged to the bed body horizontal lifting structure, the other end of the lower limb training mechanism is connected with the bed body, the lower limb training mechanism comprises driving devices, two leg width adjusting devices and leg bending and stretching mechanisms, the driving devices are fixedly connected to the front side and the rear side of the lower surface of the. The invention has simple mechanism, is convenient for the patient to carry out active and passive training, has simple and convenient adjustment, enlarges the training angle of the body of the patient, is convenient for the patient to find the most comfortable rehabilitation training posture and ensures that the gravity center of the patient is stable.

Description

Active-passive combined lower limb rehabilitation training device

Technical Field

The invention relates to the technical field of rehabilitation training equipment, in particular to an active-passive combined lower limb rehabilitation training device.

Background

The physiological functions of the elderly gradually decline with the age of the elderly, and particularly, the rate of accidental injury of the lower limbs or the rate of pathological changes of the lower limbs due to the thinning of muscle fibers, the reduction of elasticity, the reduction of contractility in the musculoskeletal motor system of the legs, and the reduction of elasticity and toughness of bones continues to increase. The patients who lose the motor ability of the lower limbs and suffer from stroke, spinal cord injury and the like due to accidents every year are rare, and most of the patients are paralyzed and bedridden for a long time.

In a traditional rehabilitation setting, a physician is often required to perform rehabilitation treatment on a patient in a one-to-one or many-to-one manner. The great imbalance relation of supply and demand causes huge social gaps of rehabilitation doctors in the rehabilitation medical industry of China, however, the accumulation of high-tech talent resources requires a large amount of time for cultivation, and particularly, the cultivation of the rehabilitation doctors consumes more resources, so that the social requirements are difficult to meet in a short time.

The maturation of robotics has made it possible to break this dilemma, and the development of intelligent rehabilitation training devices is becoming increasingly popular. However, most of the devices are not comfortable and have high training cost. The training mode is single, the input enthusiasm of the patient is poor, and the training result lacks effective measurement analysis and record, so that the doctor and the patient cannot accurately judge the rehabilitation data change in real time. Meanwhile, the system is lack of effective measurement, analysis and recording for the training process indexes. The existing rehabilitation training device can not enable the body of a patient to have a large training angle, and the patient can not try to lie down to each angle of standing near, so that the patient can not find the most comfortable rehabilitation training posture conveniently. Moreover, the existing rehabilitation training equipment is easy to shake, and the supporting mechanism for the patient can not be ensured to be adapted to the gravity center of the patient, so that the gravity center of the patient is unstable, and the mood and the effect of the rehabilitation training are influenced.

Disclosure of Invention

The invention provides an active-passive combined lower limb rehabilitation training device which is simple in mechanism, convenient for a patient to carry out active and passive training, simple and convenient to adjust, capable of expanding the training angle of the body of the patient, convenient for the patient to find the most comfortable rehabilitation training posture and stable in the gravity center of the patient.

In order to solve the technical problems, the technical scheme adopted by the invention is as follows:

the utility model provides an active-passive convolution low limbs rehabilitation training device, includes that base, fixed connection are provided with the horizontal elevation structure of lathe bed support frame at the top on the base, articulated connection is at the lathe bed of lathe bed support frame one end, the lower limbs training mechanism of fixed connection on the lathe bed and one end articulate the lathe bed tilting mechanism that the other end is connected with the lathe bed on the horizontal elevation structure of lathe bed, lower limbs training mechanism includes drive arrangement of fixed connection both sides around the lower surface of lathe bed, fixed connection at the biped width adjusting device and the leg of upper surface and bend and stretch the mechanism, the leg is bent and is stretched the one end of mechanism and biped width adjusting device and be connected the other end and drive arrangement articulated

The technical scheme of the invention is further improved as follows: the horizontal lifting structure of the lathe bed comprises scissor-type lifting rods which are oppositely arranged at the front side and the rear side of the upper surface of the base, the scissor-type lifting rod at each side comprises two long rods with hinged middle parts, the left sides of the two long rods are respectively hinged with the base and the lower surface of the support frame of the lathe bed, the tail ends of the right sides of the two long rods are hinged with lifting rod rollers, and the lifting rod rollers are respectively arranged in roller tracks which are fixedly connected with the lower surface of the support frame of the lathe bed and the base; the lifting rod mechanism further comprises a roller connecting shaft fixedly connected with the left and right lifting rod rollers and provided with horizontal threaded holes, and a trapezoidal screw device matched with the horizontal threaded holes.

The technical scheme of the invention is further improved as follows: the horizontal lifting structure of the lathe bed comprises crank arm gear mechanisms which are oppositely arranged at the front side and the rear side of the upper surface of the base, the crank arm gear mechanism at each side comprises two support arms with equal length, the lower ends of the support arms are hinged to the upper surface of the base, two fold-line-shaped crank arms with the lower ends hinged to the upper ends of the support arms, tail end meshing gears fixedly connected to the tail ends of the crank arms, and a support with the lower ends hinged to the crank arms and the upper ends fixedly connected to the lower surface of a support frame of the lathe bed; the screw pushing device comprises a pair of crank arms and a pair of support arms, wherein the crank arms are arranged on the two crank arms, the pair of crank arms are arranged on the two support arms, and the pair of crank arms are fixedly connected with the hinge shafts of the support arms.

The technical scheme of the invention is further improved as follows: the lathe bed turnover mechanism comprises a turnover motor support fixedly connected to the lower surface of the lathe bed support frame, a turnover servo motor fixedly connected to the turnover motor support, a turnover motor screw nut, a nut sleeve rod in threaded connection with the turnover motor screw nut, an L-shaped connecting lever hinged to the nut sleeve rod and provided with a turnover roller at the tail end, a lathe bed turnover shaft hinged to the corner of the L-shaped connecting lever and provided with a horizontal connecting point, a turnover roller track fixedly connected to the lower surface of the lathe bed support frame, and a turnover roller arranged in the turnover roller track.

The technical scheme of the invention is further improved as follows: the driving device comprises a driving motor fixedly connected to the lower surface of the lathe bed, a coupler coaxially arranged with a rotating shaft of the driving motor and a telescopic sleeve device coaxially and fixedly connected with the coupler, the telescopic sleeve device extends to the right side of the lathe bed, and the tail end of the telescopic sleeve device is hinged to the leg bending and stretching mechanism.

The technical scheme of the invention is further improved as follows: the leg bending and stretching mechanism comprises a hip joint sleeve hinged with the double-leg width adjusting device, a thigh lower part knee joint sleeve coaxially and fixedly connected with the hip joint sleeve, a shank upper part knee joint sleeve hinged with the thigh lower part knee joint sleeve, a knee joint support piece horizontally arranged at the hinged position of the thigh lower part knee joint sleeve and the shank upper part knee joint sleeve, a shank lower part ankle joint sleeve coaxially and fixedly connected with the shank upper part knee joint sleeve, a sole moving plate hinged with the lower end of the shank lower part ankle joint sleeve, and a pedal arranged on the upper surface of the sole moving plate, wherein a pressure sensor is arranged between the pedal and the sole moving plate.

The technical scheme of the invention is further improved as follows: the tail end of the telescopic sleeve device is hinged with an L-shaped connecting plate, and the other end of the connecting plate is hinged with the lower end of the ankle joint sleeve at the lower part of the shank.

The technical scheme of the invention is further improved as follows: the double-leg width adjusting device comprises a hip joint fixing guide block hinged with the leg bending and stretching mechanism, a screw nut and a sliding bearing which are arranged inside the hip joint fixing guide block, a bidirectional screw rod which is horizontally arranged on the upper surface of the bed body and is matched with the screw nut, a guide shaft which is horizontally arranged on the upper surface of the bed body, and a hand crank which is coaxially arranged with the bidirectional screw rod, wherein the guide shaft is inserted in the sliding bearing.

The technical scheme of the invention is further improved as follows: the bottom of the base is provided with universal wheels.

The technical scheme of the invention is further improved as follows: still including connecting at the left device that subtracts of lathe bed, subtract the device and include fixed connection at the sliding guide of lathe bed lower surface and with sliding guide matched with extend to the frame that suspends in midair of lathe bed upper surface top, suspend in midair the frame of putting up for the mutual fixed connection's of two sides for setting up side by side J-shaped ironbar, suspend in midair and be provided with the bandage of fixed patient's waist on the frame.

Due to the adoption of the technical scheme, the invention has the technical progress that:

the mechanism is simple, the space is saved, the active and passive training of the patient is facilitated, the training effect is more remarkable, the mechanism is suitable for people with different body widths and different leg lengths, the adjustment is simple and convenient, the safety and the reliability are realized, the training angle of the body of the patient is enlarged, the patient tries to lie down to each angle of the body of the patient, the patient can conveniently find the most comfortable rehabilitation training posture, the shaking in the rehabilitation training process is prevented, the support mechanism of the patient is ensured to be suitable for the gravity center of the patient, the gravity center of the patient is stable, and the effect of influencing the rehabilitation training is improved.

The leg width adjusting mechanism can adapt to people with different body widths and is simple and convenient to adjust. The length of the leg part can be adjusted, and the adjustment is simple and convenient. The length of the whole leg mechanism can be adjusted to adapt to different people with different heights by screwing the bidirectional screw sleeve.

The arrangement of the connecting plate optimizes the stress state of transmission, and the linear motion of the telescopic sleeve of the driving device is convenient to drive the bending and stretching motion of the whole leg bending and stretching mechanism. The screw at the hinged position of the connecting plate and the sole moving plate can be adjusted according to the requirement of a patient to carry out arbitrary regulation of the stretching and bending angle of the driver and passenger, thereby improving the adaptability of the device.

Be provided with pressure sensor between running-board and the sole movable plate, be convenient for newly-built gait evaluation system, through the pressure signal of pressure sensor real-time supervision sole, when the signal takes place unusually, the training ware can stop immediately, and safe and reliable is convenient for real-time detection feedback patient to the pressure of sole board, conveniently carries out health assessment.

The knee joint support piece is favorable for providing favorable support for the knee joint, improving the stress of the knee joint and the leg part and preventing the slow rehabilitation training caused by the over-poor stress state of the leg part. The hanging frame can be hung with a bandage, and the bandage is fixed on the waist of the patient to play a role in hanging and losing weight.

Drawings

FIG. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural diagram of a horizontal lifting structure of the bed;

FIG. 3 is another form of the structure schematic diagram of the bed horizontal lifting structure;

FIG. 4 is a schematic structural view of the turnover mechanism and the weight reduction mechanism of the present invention;

FIG. 5 is a schematic view of the drive mechanism of the lower limb training mechanism of the present invention;

FIG. 6 is a schematic diagram of another aspect of the present invention;

wherein, 1, a base, 21, a lifting servo motor, 23, a roller connecting shaft, 24, a scissor type lifting rod, 25, a lifting rod roller, 26, a roller rail, 28, a supporting arm, 29, a crank arm, 210, a bracket, 211, a tail end meshing gear, 212, a motor shaft, 213, a lifting screw rod, 214, a threaded shaft, 215, a nut, 216, a thrust bearing, 31, a turnover servo motor, 32, a turnover motor bracket, 33, a turnover screw rod, 34, a turnover motor screw rod nut, 35, a nut sleeve rod, 36, a supporting frame, 37, a cross rod, 38, a lathe bed turnover shaft, 39, an L-shaped crank arm, 310, a turnover roller, 311, a turnover roller rail, 4, a lathe bed supporting frame, 5, a driving device, 51, a driving motor, 52, a motor bracket, 53, a coupler, 54, a driving screw rod, 55, a fixing sleeve, 56, a telescopic sleeve, 57, a sliding pin, 6, a lathe bed, a double-leg width adjusting device 71, a hip joint fixing guide block 72, a bidirectional screw rod 73, a screw rod nut 74, a hand crank 75, a sliding bearing 76, a width adjusting overturning shaft 77, a guide shaft 78, a telescopic shell 8, a leg flexion and extension mechanism 81, a hip joint sleeve 82, a bidirectional screw sleeve 83, a thigh lower knee joint sleeve 84, a knee joint support 85, a shank upper knee joint sleeve 86, a shank lower ankle joint sleeve 87, a sole moving plate 88, a foot pedal 89, a tightening screw 9, a sole guiding and supporting device 10, a connecting plate 12, a weight reducing device 121, an electric push rod 123, a sliding straight rod 122, a sliding guide rail 124, a suspension bracket 13 and a computer terminal.

Detailed Description

The present invention will be described in further detail with reference to the following examples:

as shown in fig. 1, 2, 3, 4, 5 and 6, an active-passive combined lower limb rehabilitation training device comprises a base 1, a bed horizontal lifting structure, a bed 6, a lower limb training mechanism, a bed turnover mechanism and a computer terminal 13, wherein the bed horizontal lifting structure is fixedly connected to the base 1, the base 1 horizontally supports the whole bed 6 structure for lifting, and the bottom of the base 1 is provided with universal wheels. The top of the horizontal lifting structure of the bed body is provided with a bed body supporting frame 4, the bed body 6 is hinged at one end of the bed body supporting frame 4, the lower limb training mechanism is fixedly connected on the bed body 6, one end of the bed body turnover mechanism is hinged on the horizontal lifting structure of the bed body, and the other end of the bed body turnover mechanism is connected with the bed body 6. The lower limb training mechanism comprises a driving device 5, a double-leg width adjusting device 7 and a leg bending and stretching mechanism 8. The driving device 5 is fixedly connected to the front side and the rear side of the lower surface of the bed body 6, and the double-leg width adjusting device 7 is fixedly connected to the upper surface of the bed body 6. One end of the leg bending and stretching mechanism 8 is connected with the double-leg width adjusting device 7, and the other end is hinged with the driving device 5.

Two embodiments are listed for the bed horizontal lifting mechanism.

Example 1: as shown in fig. 2, the horizontal lifting structure of the bed body comprises a scissor type lifting rod 24, a roller connecting shaft 23 and a trapezoidal screw device. Shear type lifter 24 sets up in the front and back both sides of base 1 upper surface relatively, shear type lifter 24 of every side includes two articulated stock of connecting in middle part, the left side of two stock is connected with the lower surface of base 1 and lathe bed support frame 4 is articulated respectively, two stock form crisscross shape, the end on the right side of two stock articulates there is lifter gyro wheel 25, lifter gyro wheel 25 sets up respectively in the gyro wheel track 26 of the lower surface of fixed connection in lathe bed support frame 4 and base 1 department, the upset gyro wheel track 311 of L shape can prevent that it from taking place the upset danger. The shear type lifting rod 24 is formed by connecting two rectangular pipes by a revolute pair on the left side and the right side of the device, the rear end of the shear type lifting rod 24 is hinged to the base 1 and the bed body supporting frame 4 respectively, the front end of the shear type lifting rod is connected with a revolute pair lifting rod roller 25, the roller connecting shaft 23 is connected with the shear type lifting rod 24 on the left side and the right side, the roller connecting shaft 23 is fixedly connected with the lifting rod rollers 25 on the left side and the right side, the roller connecting shaft 23 is matched with the lifting rod rollers 25 to rotate, a horizontal threaded hole is formed in the roller connecting shaft. The trapezoidal screw device comprises a lifting servo motor 21 and a trapezoidal screw 22, the lifting servo motor 21 is fixed on the base 1 through a motor support 52, one end of the trapezoidal screw 22 is fixedly connected with the lifting servo motor 21, and the other end of the trapezoidal screw is fixedly connected with the roller connecting shaft 23. The middle of the roller connecting shaft 23 is provided with threads which are matched with the trapezoidal screw rod 22, so that the screw rod 22 drives the roller connecting shaft 23 and the lifting rod roller 25 to complete movement, and further drives the shear type lifting rod 24 to act, and the lifting movement function of the bed body 6 is realized.

Example 2: as shown in fig. 3, the horizontal bed lifting structure includes crank arm gear mechanisms and lead screw pushing devices which are oppositely arranged on the front and rear sides of the upper surface of the base 1, and the crank arm gear mechanism on each side includes two supporting arms 28, a crank arm 29, a tail end meshing gear 211 and a bracket 210, and specifically includes a lifting servo motor 21, a crank arm 22, a supporting arm 28, a motor shaft 212, a thrust bearing 216, a tail end meshing gear 26, a lifting lead screw 213, a threaded shaft 214, a limit nut 29 and a bracket 210. The two supporting arms 28 are equal in length, the supporting arms 28 are hinged with the chassis 1, and the lower ends of the supporting arms 28 are hinged on the upper surface of the base 1. The lower ends of the two crank arms 29 are hinged at the upper end of the supporting arm 28, and the crank arms 29 are in a fold line shape. The tail end meshing gear 211 is fixedly connected to the tail end of the crank arm 29, the support 210 is integrated with the bed supporting frame 4, the lower end of the support 210 is hinged to the crank arm 29, the inflection point of the crank arm 22 is hinged to the support 210, the crank arm 22 is connected with the supporting arm 28 through a revolute pair, the number of the crank arm 22 is four, the number of the; and the device also comprises a threaded shaft 214 fixedly connected with the hinging shafts of the pair of opposite crank arms 29 and the supporting arm 28 and a lead screw pushing device arranged on the two threaded shafts 214. The lifting servo motor 21 is fixed on the motor shaft 212 through a bracket of the motor, and both ends of the motor shaft 212 and the threaded shaft 214 penetrate through the thrust bearing 216. The end engagement gear 26 is integrated with the crank arm 22, and the center of the gear 26 coincides with the inflection point of the crank arm 22 at one point. The right and left front and rear crank arms 22 are engaged with each other. The middle of the motor shaft 212 is provided with a through hole which is a rectangular plane, and the connecting end of the lifting screw 213 and the lifting servo motor 21 penetrates through the through hole and is in a step shape, so that the connecting end can be conveniently sleeved between the thrust bearing 216 and the motor shaft 212 for installation. The middle of the threaded shaft 214 is threaded and matched with the lifting screw shaft 213, and the tail end of the lifting screw shaft 213 is provided with a limit nut 215 to prevent the lifting screw shaft 213 from running off to cause danger. Therefore, the rotation of the lifting screw 213 drives the motor shaft 212 and the threaded shaft 214 to move at a relative position, so that the angle between the crank arm 22 and the supporting arm 28 changes, the height between the chassis 1 and the bed supporting frame 4 changes, and the lifting operation is completed.

The lathe bed turnover mechanism comprises a turnover servo motor 31, a turnover motor support 32, a turnover lead screw 33, a turnover motor lead screw nut 34, a nut loop bar 35, a support frame 36, a lathe bed turnover shaft 38, an L-shaped crank arm 39, a roller 310 and a turnover roller track 311. Upset motor support 32 fixed connection is on lathe bed support frame 4 lower surface, and upset servo motor 31 fixed connection is on upset motor support 32, and upset motor support 32 is articulated with lathe bed support frame 4. Nut loop bar 35 is integrative with upset motor lead screw nut 34, and nut loop bar 35 spiral cover is cup jointed on upset motor lead screw nut 34, and the end that L type turning arm 39 and nut loop bar 35 articulated are connected is provided with upset gyro wheel 310, and loop bar 35 is connected by the round pin axle with support frame 36 of connecting on horizontal pole 37, horizontal pole 37 and lathe bed trip shaft 38 cooperation, lathe bed trip shaft 38 are fixed in on lathe bed support frame 4, and horizontal pole 37 is integrative with L type turning arm 39, and turning arm 39 has certain angle with support frame 36, and lathe bed trip shaft 38 is articulated with the corner of L type turning arm 39 and is connected. The overturning roller track 311 is fixedly connected to the lower surface of the bed supporting frame 4, and the overturning roller 310 is arranged in the overturning roller track 311. The turning roller 310 is fixedly connected to the L-shaped crank arm 39 and can roll along a turning roller track 311 fixed on the lathe bed 6, and a retainer is further arranged and can prevent the lathe bed 6 from being over turned. The lathe bed turnover mechanism 3 drives the nut loop bar 35 to reciprocate through the turnover lead screw 33, completes the rotation of the cross bar 37, drives the crank arm 39 to rotate through the cross bar 37, and completes the support turnover of the lathe bed 6 through the rolling of the turnover roller 310 along the lathe bed 6.

The linear motion of the driving device drives the leg flexion and extension mechanism 8 to complete flexion and extension motion. The driving device 5 on each side comprises a driving motor 51, a motor bracket 52, a coupling 53, a driving screw 54, a fixed sleeve 55, a telescopic sleeve 56, a sliding pin 57 and a telescopic sleeve device. The driving motor 51 is fixedly connected to the lower surface of the bed body 6, the driving device driving motor 51 is fixed on the bed body 6 through the motor support 52, and the driving devices 5 are located on two sides below the bed body 6 and used for driving the left and right leg flexion-extension mechanisms 8 to complete flexion and extension. The shaft coupling 53 is coaxially arranged with the rotating shaft of the driving motor 51, and the telescopic sleeve device is coaxially and fixedly connected with the shaft coupling. The telescopic sleeve device extends towards the right side of the bed body 6, and the tail end of the telescopic sleeve device is hinged with the leg bending and stretching mechanism 8. The telescopic sleeve device comprises a driving screw 54, a fixed sleeve 55, a telescopic sleeve 56 and a sliding pin 57. The fixed sleeve 55 is provided with a sliding groove and fixed on the bed body 6 through a mounting rack, the driving screw 54 is fixed in the fixed sleeve 55 through a bearing, and the fixed sleeve 55 and the telescopic sleeve 56 are fixed through a bearing. One end of the telescopic sleeve 56 is provided with threads which are in threaded fit with the driving screw 54, a threaded hole is reserved at the end for screwing the sliding pin 57, the sliding pin 57 can slide in the sliding groove of the fixed sleeve 55, and relative rotation of the two sleeves is prevented through the action of the sliding pin 57, so that linear telescopic motion is completed.

The leg flexion and extension mechanism 8 comprises a hip joint sleeve 81, a bidirectional spiral sleeve 82, a lower thigh knee joint sleeve 83, a knee joint support part 84, an upper shank knee joint sleeve 85, a lower shank ankle joint sleeve 86, a sole moving plate 87, a foot pedal 88 and a tightening screw 89. The hip joint sleeve 81 is hinged with the double-leg width adjusting device 7, the lower thigh knee joint sleeve 83 is coaxially and fixedly connected with the hip joint sleeve 81, reverse external threads are processed on the hip joint sleeve 81 and the lower thigh knee joint sleeve 83 and are connected with each other through the bidirectional spiral sleeve 82, and reverse internal threads are processed at two ends in the bidirectional spiral sleeve 82. The upper thigh knee joint sleeve 85 is hinged with the lower thigh knee joint sleeve 83, the lower thigh knee joint sleeve 83 is connected with the upper shank knee joint sleeve 85 through a revolute pair to form a knee joint, an angle sensor is arranged inside the lower thigh knee joint sleeve 83, an angle mechanical limiting device is arranged inside the lower thigh knee joint sleeve, a knee joint support piece 84 is arranged outside the lower thigh knee joint sleeve, and the knee joint support piece 84 is horizontally arranged at the hinged position of the lower thigh knee joint sleeve 83 and the upper shank knee joint sleeve 85 and used for supporting the knee joint of a patient and assisting in completing. The lower leg ankle joint sleeve 86 is coaxially and fixedly connected with the upper leg knee joint sleeve 85, the upper leg knee joint sleeve 85 and the lower leg ankle joint sleeve 86 are also in threaded connection through the bidirectional screw sleeve 82, and therefore the length of the whole leg mechanism can be adjusted by screwing the bidirectional screw sleeve 82 to adapt to different people with different heights. The sole moving plate 87 is hinged with the lower end of the lower ankle joint sleeve 86 of the shank, the foot pedal 88 is arranged on the upper surface of the sole moving plate 87, the lower ankle joint sleeve 86 of the shank is connected with the sole moving plate 87 through a revolute pair, the revolute part forms an ankle joint, and an angle mechanical limiting device is arranged to prevent danger. A pressure sensor is arranged between the foot pedal 88 and the sole moving plate 87 and used for detecting and feeding back the pressure of a patient on the sole plate in real time, so that the health assessment is convenient.

The sole guide supporting device 9 is connected with the telescopic sleeve 56 through a connecting plate 10, the tail end of the telescopic sleeve device is hinged with the L-shaped connecting plate 10, the sole guide supporting device 9 is connected with the connecting plate 10 through a revolute pair, and the other end of the connecting plate 10 is hinged with the lower end of the ankle joint sleeve 86 at the lower part of the lower leg. The utility model is also provided with a tightening screw 11, which can adjust the driver's bending angle arbitrarily according to the needs of the patient by tightening the screw 11. The connecting plate 10 is fixedly connected with the telescopic sleeve 56 through a pin shaft. Thus, the linear movement of the driving device telescopic sleeve 56 drives the flexion and extension movement of the whole leg flexion and extension mechanism 8.

The double-leg width adjusting device 7 comprises a joint fixing guide block 71, a bidirectional screw 72, a screw nut 73, a crank 74, a sliding bearing 75, a width adjusting turnover shaft 76, a guide shaft 77 and a telescopic shell 78. The hip joint fixing guide block 71 is hinged with the leg bending and stretching mechanism 8, the lead screw nut 73 and the sliding bearing 75 are arranged inside the hip joint fixing guide block 71, the bidirectional screw 72 is horizontally arranged on the upper surface of the bed body 6, and the bidirectional screw 72 is matched with the lead screw nut 73. The guide shaft 77 is horizontally arranged on the upper surface of the bed body 6, the guide shaft 77 is installed in the sliding bearing 75, the crank 74 and the bidirectional screw 72 are coaxially arranged, and the crank 74 and the bidirectional screw 72 are integrally arranged. The guide shaft 77 is inserted into the slide bearing 75. The operator only needs to twist the hand crank 74 to drive the bidirectional screw 72 to rotate, and further drive the hip joint fixing guide blocks 71 on the two sides to complete relative movement. The hip joint fixing guide block 71 is connected with the hip joint sleeve 81 through a revolute pair, the sole moving plate 87 is provided with a guide column which can slide along a sliding groove of the sole guiding and supporting device 9 and is fixed on the sole guiding and supporting device 9 through a jacking screw 89, so that the relative movement of the hip joint fixing guide block 71 drives the relative movement of the two-leg bending and stretching mechanism 8 to complete the width adjustment of the two legs, thereby being suitable for people with different body widths. The telescopic housing 78 is fixed to the hip joint fixing guide block 71, and protects the width adjusting flip shaft 76, the bidirectional screw 72, and the guide shaft 77 as the leg width is adjusted to be extended left and right.

The weight reducing device 12 is connected to the left side of the bed 6, the weight reducing device 12 comprises an electric push rod 121, a sliding guide rail 122, a sliding straight rod 123 and a suspension bracket 124, the sliding guide rail 122 is arranged on the lower surface of the bed 6, the sliding guide rail 122 is fixedly connected to the bed 6, and the sliding straight rod 123 moves on the sliding guide rail 122. Electric putter 121 both ends pass through the round pin axle with lathe bed 6 and slip straight-bar 123 and articulate, suspend frame 124 and slip straight-bar 123 fixed connection in midair, it is integrative to form, suspend frame 124 and sliding guide 122 in midair and cooperate, suspend in midair 124 and extend to lathe bed 6 upper surface top, it is the square frame to suspend frame 124 in midair, two sides of frame are two J-shaped ironbars, two J-shaped ironbars set up side by side and pass through horizontal pole and slip straight-bar 123 mutual fixed connection, slip straight-bar 123 is the base of frame, it still includes other J-shaped ironbars of a plurality of to suspend frame 124 in midair, these a plurality of J-shaped ironbars set up mutual fixed connection side by side and set up within the square frame that suspends frame 124 in midair, respectively with horizontal pole and slip. So that the reciprocating motion of the push rod 121 drives the suspension frame 124 to move. The suspension frame 124 can be hung with a strap which is fixed on the waist of the patient to play a role in suspending and reducing weight.

The computer terminal 13 of the device can record the stress and training condition of the patient in real time according to the feedback of the sensors at the positions of the sole moving plate 87 and the like, and can be provided with a printer to print the training result at any time. The training records of each time can be searched to make a training plan. The training driving mode can be set to simulate the human walking curve function. The LCD 14 is used to establish a virtual situation interactive game and can drive the patient to actively train.

Claims

1. The utility model provides an active passive convolution lower limbs rehabilitation training device which characterized in that: the leg bending and stretching mechanism comprises a base (1), a bed body horizontal lifting structure, a bed body (6), a lower limb training mechanism and a bed body turnover mechanism, wherein the bed body horizontal lifting structure is arranged on the bed body support frame (4) and is hinged to one end of the bed body (6) at one end of the bed body support frame (4), the lower limb training mechanism is fixedly connected to the bed body (6), one end of the bed body turnover mechanism is hinged to the other end of the bed body turnover mechanism and is connected with the bed body (6), the lower limb training mechanism comprises a driving device (5) fixedly connected to the front side and the rear side of the lower surface of the bed body (6), a double-leg width adjusting device (7) fixedly connected to the upper surface of the bed body (6) and a leg bending and stretching mechanism (8), and one end of.

2. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the horizontal lifting structure of the lathe bed comprises scissor type lifting rods (24) which are oppositely arranged at the front side and the rear side of the upper surface of a base (1), the scissor type lifting rods (24) at each side comprise two long rods with hinged middle parts, the left sides of the two long rods are respectively hinged with the lower surfaces of the base (1) and the lathe bed supporting frame (4), the right ends of the two long rods are hinged with lifting rod rollers (25), and the lifting rod rollers (25) are respectively arranged in roller tracks (26) which are fixedly connected with the lower surface of the lathe bed supporting frame (4) and the base (1); the lifting rod mechanism further comprises a roller connecting shaft (23) which is fixedly connected with the left and right lifting rod rollers (25) and is provided with a horizontal threaded hole, and a trapezoidal screw device matched with the horizontal threaded hole.

3. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the horizontal lifting structure of the lathe bed comprises crank arm gear mechanisms which are oppositely arranged at the front side and the rear side of the upper surface of the base (1), each crank arm gear mechanism at each side comprises two support arms (28) with equal length, the lower ends of the support arms are hinged to the upper surface of the base (1), two fold-line-shaped crank arms (29), the lower ends of the crank arm gear mechanisms are hinged to the upper ends of the support arms (28), tail end meshing gears (211) fixedly connected to the tail ends of the crank arms (29), and supports (210), the lower ends of the support arms are hinged to the crank arms (29), the upper ends of the support arms are fixedly connected to the lower surface of; the device also comprises a threaded shaft (214) fixedly connected with the hinging shafts of the pair of crank arms (29) and the supporting arms (28) which are oppositely arranged, and a screw rod pushing device arranged on the two threaded shafts (214).

4. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the lathe bed turnover mechanism comprises a turnover motor support (32) fixedly connected to the lower surface of a lathe bed support frame (4), a turnover servo motor (31) fixedly connected to the turnover motor support (32), a turnover motor lead screw nut (34), a nut loop bar (35) in threaded connection with the turnover motor lead screw nut (34), an L-shaped crank arm (39) hinged to the nut loop bar (35) and provided with a turnover roller (310) at the tail end, a lathe bed turnover shaft (38) hinged to the corner of the L-shaped crank arm (39) and connected with the corner of the L-shaped crank arm, and a turnover roller track (311) fixedly connected to the lower surface of the lathe bed support frame (4), wherein the turnover roller (310) is arranged in the turnover roller track (311).

5. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the driving device (5) comprises a driving motor (51) fixedly connected to the lower surface of the bed body (6), a coupler (53) coaxially arranged with a rotating shaft of the driving motor (51) and a telescopic sleeve device coaxially and fixedly connected with the coupler, the telescopic sleeve device extends to the right side of the bed body (6), and the tail end of the telescopic sleeve device is hinged to the leg bending and stretching mechanism (8).

6. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the leg bending and stretching mechanism (8) comprises a hip joint sleeve (81) hinged with the double-leg width adjusting device (7), a thigh lower knee joint sleeve (83) coaxially and fixedly connected with the hip joint sleeve (81), a shank upper knee joint sleeve (85) hinged with the thigh lower knee joint sleeve (83), a knee joint support (84) horizontally arranged at the hinged position of the thigh lower knee joint sleeve (83) and the shank upper knee joint sleeve (85), a shank lower ankle joint sleeve (86) coaxially and fixedly connected with the shank upper knee joint sleeve (85), a sole moving plate (87) hinged with the lower end of the shank lower ankle joint sleeve (86), and a foot pedal (88) arranged on the upper surface of the sole moving plate (87), wherein a pressure sensor is arranged between the foot pedal (88) and the sole moving plate (87).

7. The active-passive combined lower limb rehabilitation training device of claim 5 or 6, wherein: the tail end of the telescopic sleeve device is hinged with an L-shaped connecting plate (10), and the other end of the connecting plate (10) is hinged with the lower end of an ankle joint sleeve (86) at the lower part of the shank.

8. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the double-leg width adjusting device (7) comprises a hip joint fixing guide block (71) hinged with a leg bending and stretching mechanism (8), a screw nut (73) and a sliding bearing (75) which are arranged inside the hip joint fixing guide block (71), a bidirectional screw rod (72) which is horizontally arranged on the upper surface of the bed body (6) and is matched with the screw nut (73), a guide shaft (77) which is horizontally arranged on the upper surface of the bed body (6) and a hand crank (74) which is coaxially arranged with the bidirectional screw rod (72), wherein the guide shaft (77) is inserted into the sliding bearing (75).

9. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the bottom of the base (1) is provided with universal wheels.

10. The active-passive combined lower limb rehabilitation training device of claim 1, wherein: the patient waist support device is characterized by further comprising a weight reducing device (12) connected to the left side of the bed body (6), the weight reducing device (12) comprises a sliding guide rail (122) fixedly connected to the lower surface of the bed body (6) and a suspension frame (124) matched with the sliding guide rail (122) and extending to the upper surface of the bed body (6), the suspension frame (124) is a frame with two side edges of J-shaped iron bars which are fixedly connected with one another and arranged side by side, and a binding band for fixing the waist of a patient is arranged on the suspension frame (124).