CN112957239B - Height-adjustable auxiliary walking training device - Google Patents
Height-adjustable auxiliary walking training device Download PDFInfo
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- CN112957239B CN112957239B CN202110339041.3A CN202110339041A CN112957239B CN 112957239 B CN112957239 B CN 112957239B CN 202110339041 A CN202110339041 A CN 202110339041A CN 112957239 B CN112957239 B CN 112957239B
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- fixedly connected
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- height
- hip
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- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 39
- 210000000689 upper leg Anatomy 0.000 claims description 41
- 230000001012 protector Effects 0.000 claims description 32
- 230000001681 protective effect Effects 0.000 claims description 23
- 238000000034 method Methods 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 208000016261 weight loss Diseases 0.000 description 4
- 238000013016 damping Methods 0.000 description 3
- 210000003414 extremity Anatomy 0.000 description 3
- 230000005021 gait Effects 0.000 description 3
- 239000013585 weight reducing agent Substances 0.000 description 3
- 208000006011 Stroke Diseases 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000004580 weight loss Effects 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for disabled persons
- A61H2003/046—Wheeled walking aids for disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
Abstract
The invention discloses a height-adjustable auxiliary walking training device, which relates to the field of medical rehabilitation equipment and comprises a base, a lifting mechanism, a weight-reducing mechanism and a lower limb exoskeleton; the lifting mechanism is fixedly connected with the base; the lifting mechanism comprises a first connecting piece, a second connecting piece, a third connecting piece, an equipment connecting device, a first supporting rod, a second supporting rod, a third supporting rod, a fourth supporting rod, a first gear, a second gear, a first telescopic rod and a second telescopic rod, and can realize stepless adjustment of lifting height; the weight-reducing mechanism and the lower limb exoskeleton are respectively and fixedly connected with the equipment connecting device. The invention has the advantages that: can simultaneously steplessly adjust the height of the weight-reducing mechanism and the lower limb exoskeleton.
Description
Technical Field
The invention relates to the field of medical rehabilitation equipment, in particular to a height-adjustable auxiliary walking training device.
Background
When a paralyzed patient of lower limb such as cerebral palsy, apoplexy and the like carries out rehabilitation training, auxiliary walking training equipment is needed. Because the lower limb strength of the patient is weaker, the patient needs to set a weight-reducing mechanism to fix the upper body of the patient during walking training so as to reduce the weight of the lower limb of the patient, and an exoskeleton is arranged for correcting the gait of the user. The existing auxiliary walking training device cannot steplessly adjust the heights of the weight-reducing mechanism and the lower limb exoskeleton so as to be suitable for the height of a patient, and the existing auxiliary walking training device cannot well fix the upper body of the patient. Patent CN221200953U discloses a portable low limbs ectoskeleton rehabilitation robot, including mobile robot, low limbs ectoskeleton robot, subtract heavy device, the ectoskeleton robot is installed in the inboard of mobile robot portal frame, fixed mounting has the linear slide rail on the support of mobile robot upper end both sides, installs the slider on the linear slide rail, slider outside fixed connection subtracts heavy device, only can adjust the height of subtracting heavy device, the height of ectoskeleton robot can not electrodeless regulation to can not fix patient's upper body well.
Disclosure of Invention
The invention aims to solve the technical problem of providing a height-adjustable auxiliary walking training device capable of simultaneously and steplessly adjusting the height of a weight reduction mechanism and the height of a lower limb exoskeleton.
The invention solves the technical problems by the following technical means: the height-adjustable auxiliary walking training device comprises a base (1), a lifting mechanism (2), a weight-reducing mechanism (3) and a lower limb exoskeleton (4); the lifting mechanism (2) is fixedly connected with the base (1); the lifting mechanism (2) comprises a first connecting piece (201), a second connecting piece (202), a third connecting piece (203), an equipment connecting device (204), a first supporting rod (205), a second supporting rod (206), a third supporting rod (207), a fourth supporting rod (208), a first gear (209), a second gear (210), a first telescopic rod (211) and a second telescopic rod (212); the first connecting piece (201) is fixedly connected with the base (1); the lower ends of the first support rod (205) and the second support rod (206) are respectively hinged with the first connecting piece (201) through connecting shafts, and the upper ends of the first support rod (205) and the second support rod (206) are respectively hinged with the second connecting piece (202) through connecting shafts; the lower ends of the third support rod (207) and the fourth support rod (208) are respectively hinged with the second connecting piece (202) through connecting shafts, and the upper ends of the third support rod (207) and the fourth support rod (208) are respectively hinged with the third connecting piece (203) through connecting shafts; the equipment connecting device (204) is fixedly connected with the third connecting piece (203); the first gear (209) is fixedly connected to the upper end of the second supporting rod (206), the second gear (210) is fixedly connected to the lower end of the fourth supporting rod (208), and the first gear (209) is meshed with the second gear (210); the lower end of the first telescopic rod (211) is hinged with the base (1) through a connecting shaft, and the upper end of the first telescopic rod (211) is hinged with the first supporting rod (205) through a connecting shaft; the lower end of the second telescopic rod (212) is hinged with the first supporting rod (205) through a connecting shaft, and the upper end of the second telescopic rod (212) is hinged with the third supporting rod (207) through a connecting shaft; the central axes of the connecting shafts are parallel to each other; the first telescopic rod (211) and the second telescopic rod (212) can automatically perform stepless telescopic operation; the weight-reducing mechanism (3) and the lower limb exoskeleton (4) are respectively and fixedly connected with the equipment connecting device (204). The lifting mechanism supports the first support rod and the third support rod through the first telescopic rod and the second telescopic rod respectively, and the first gear and the second gear are linked with the second support rod and the fourth support rod through the first connecting piece, the second connecting piece, the third connecting piece, the first gear and the second gear, so that stepless adjustment of lifting height can be realized, and the third connecting piece can keep up-and-down movement along a central line in the lifting process, so that the lifting mechanism is convenient to use and store; the weight-reducing mechanism can reduce the weight of the lower limb; the lower limb exoskeleton is capable of correcting gait of a user; the lifting mechanism drives the weight-reducing mechanism and the lower limb exoskeleton to move up and down, and the heights of the weight-reducing mechanism and the lower limb exoskeleton can be adjusted in a stepless manner at the same time, so that the height-reducing mechanism is suitable for the height of a user.
As an optimized technical scheme, a line connecting the central axis center point of the connecting shafts at the two ends of the first supporting rod (205) and the central axis center point of the connecting shafts at the two ends of the second supporting rod (206) is a parallelogram, and a line connecting the central axis center point of the connecting shafts at the two ends of the third supporting rod (207) and the central axis center point of the connecting shafts at the two ends of the fourth supporting rod (208) is a parallelogram; the upper bottom edge and the lower bottom edge of the two parallelograms are horizontal line segments, the lengths of the two bottom edges of the upper parallelogram and the two bottom edges of the lower parallelogram are equal, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the lower parallelogram. The double parallelogram structure can ensure the stability of the structure.
As an optimized technical scheme, the first telescopic rod (211) and the second telescopic rod (212) are self-locking gas springs. The self-locking gas spring can stop at any position in the stroke, is locked by itself after stopping, and when in use, the length of the first telescopic rod and the second telescopic rod is controlled to extend and retract simultaneously through the button, and when the button is released, the first telescopic rod and the second telescopic rod are locked by themselves respectively, so that one-key stepless lifting is realized.
As an optimized technical scheme, the base (1) comprises mounting rods (101), connecting rods (102) and wheels (103), wherein the two mounting rods (101) are symmetrically arranged left and right, the connecting rods (102) are respectively and fixedly connected with the two mounting rods (101), and the two symmetrically arranged wheels (103) are respectively and fixedly connected with the two mounting rods (101); the two lifting mechanisms (2) are symmetrically arranged, first connecting pieces (201) of the two lifting mechanisms (2) are fixedly connected with the two mounting rods (101) respectively, and first telescopic rods (211) of the two lifting mechanisms (2) are hinged with the two mounting rods (101) respectively; the weight reducing mechanism (3) is fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2) respectively; the two lower limb exoskeletons (4) are respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2). The structure of base is convenient for walk training, sets up two elevating system and makes the structure more stable, and two elevating system go up and down in step, can stepless adjustment subtract heavy mechanism and two low limbs ectoskeleton height simultaneously.
As an optimized technical scheme, the weight-reducing mechanism (3) comprises a bearing rod (301), a first fixed end (302), a first moving end (303), a first locking device (304), a hip supporting device and a chest supporting device; the bearing rod (301) is fixedly connected with the equipment connecting device (204); the first fixed end (302) is fixedly connected to the bearing rod (301), the first movable end (303) is in sliding fit with the first fixed end (302) along the up-down direction, and the first locking device (304) locks the first movable end (303) on the first fixed end (302); the hip support device is fixedly connected with the first fixed end (302); the chest support device is fixedly connected with the first moving end (303). By providing the hip support device and the chest support device, the upper body of the user can be well fixed; the height position of the chest support device relative to the hip support device is conveniently adjusted to match the length of the upper body of the user.
As an optimized technical scheme, the hip support device comprises a hip support rod (305) and a hip protector (306); the hip support rod (305) is an arc-shaped rod with a forward opening direction, and the hip support rod (305) is fixedly connected with the first fixed end (302); the hip brace (306) is mounted on the hip support bar (305), the hip brace (306) comprising a brace upper portion and a brace lower portion; the upper part of the protective clothing can bind the hip of the user; the back side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is through adjusting knot fixed connection, the crotch portion of user can be tied up to the protective equipment lower part, adjust the knot can be adjusted the elasticity degree of protective equipment lower part. The structure of the hip support device can provide better support for the hip of the user and better fix the upper body of the user; the weight reduction force can be adjusted by adjusting the tightness degree of the lower part of the protective clothing.
As an optimized technical scheme, the chest supporting device comprises a chest supporting rod (307) and a chest protector (308); the chest support rod (307) is fixedly connected with the first moving end (303); the chest protector (308) is mounted on the chest support bar (307), the chest protector (308) being capable of binding the chest of a user. The structure of the chest support device can provide better support for the chest of the user and better fix the upper body of the user.
As an optimized technical scheme, the lower limb exoskeleton (4) comprises a second fixed end (405), a second movable end (406), a second locking device (407), a thigh assembly, a thigh protector (410), a shank plate (411) and a shank protector (412); the second fixed end (405) is fixedly connected with the equipment connecting device (204), the second movable end (406) is in sliding fit with the second fixed end (405) along the up-down direction, and the second locking device (407) locks the second movable end (406) on the second fixed end (405); the thigh assembly is fixedly connected with the second movable end (406), and the thigh protector (410) is arranged on the thigh assembly; the lower leg plate (411) is hinged with the thigh assembly, and the lower leg protector (412) is mounted on the lower leg plate (411). The length of the lower limb exoskeleton is conveniently adjusted to match the leg length of the user.
As an optimized technical scheme, the lower limb exoskeleton (4) further comprises a position adjusting device, wherein the position adjusting device comprises a first adjusting piece (401), a third locking device (403), a second adjusting piece (402) and a fourth locking device (404); the first adjusting piece (401) is in sliding fit with the equipment connecting device (204) along the front-back direction, and the third locking device (403) locks the first adjusting piece (401) on the equipment connecting device (204); the second adjusting piece (402) is in sliding fit with the first adjusting piece (401) along the left-right direction, and the fourth locking device (404) locks the second adjusting piece (402) on the first adjusting piece (401); the second fixed end (405) is fixedly connected with the second adjusting piece (402). The front and back positions and the left and right positions of the lower limb exoskeleton are convenient to adjust, and the positions of the legs of a user can be matched better.
As an optimized technical solution, the thigh assembly comprises an elastic device (408) and a thigh plate (409); the elastic device (408) is fixedly connected with the second moving end (406), and the upper part of the thigh plate (409) is fixedly connected with the elastic device (408); the upper end of the lower leg plate (411) is hinged with the lower end of the thigh plate (409). The elastic device is used for buffering, so that the central height of a user can be matched with the central height change in the walking process.
The invention has the advantages that:
1. the weight-reducing mechanism can reduce weight of the lower limbs, the lower limb exoskeleton can correct gait of a user, and the lifting mechanism can simultaneously and steplessly adjust the height of the weight-reducing mechanism and the height of the lower limb exoskeleton so as to be suitable for the height of the user.
2. The height position, the length of the lower limb exoskeleton, the front-back position and the left-right position of the lower limb exoskeleton of the chest support device are conveniently adjusted to match the length of the upper body, the length of the legs and the positions of the legs of a user.
3. The hip supporting device and the chest supporting device are arranged, and the chest supporting device can provide good support for the chest of a user and well fix the upper body of the user.
4. The weight reduction force can be adjusted by adjusting the tightness degree of the lower part of the protective clothing.
5. The elastic device is used for buffering, so that the central height of a user can be matched with the central height change in the walking process.
Drawings
FIG. 1 is an isometric view of a height-adjustable walk-assisting training device in accordance with an embodiment of the present invention.
Fig. 2 is a schematic left view of a height-adjustable walk-assisting training device in accordance with an embodiment of the invention.
Fig. 3 is a schematic front view of a height-adjustable walk-assisting training device according to an embodiment of the present invention.
Fig. 4 is a schematic structural view of a base according to an embodiment of the present invention.
Fig. 5 is a schematic view of the external structure of the lifting mechanism according to the embodiment of the invention.
Fig. 6 is an isometric view of an internal structure of a lifting mechanism according to an embodiment of the invention.
Fig. 7 is a schematic front view of the internal structure of the lifting mechanism according to the embodiment of the present invention.
Fig. 8 is a schematic structural view of a weight-reducing mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic structural view of a lower extremity exoskeleton of an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions in the embodiments of the present invention will be clearly and completely described in the following in conjunction with the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1 to 3, the height-adjustable auxiliary walking training device comprises a base 1, a lifting mechanism 2, a weight-reducing mechanism 3, a lower limb exoskeleton 4 and an armrest 5.
The two lifting mechanisms 2 are symmetrically arranged and are respectively fixedly connected with the base 1; the left side and the right side of the weight reducing mechanism 3 are respectively fixedly connected with the two lifting mechanisms 2; the two lower limb ectoskeletons 4 are respectively and fixedly connected with the two lifting mechanisms 2; two armrests 5 are respectively and fixedly connected to the left and right sides of the rear end of the weight-reducing mechanism 3 and are used for pushing the device.
As shown in fig. 4, the base 1 includes a mounting rod 101, a connecting rod 102, and wheels 103; the two mounting rods 101 are parallel to each other along the horizontal direction, and the two mounting rods 101 are symmetrically arranged left and right; two ends of the connecting rod 102 are fixedly connected with the rear ends of the two mounting rods 101 respectively; two groups of symmetrically arranged wheels 103 are fixedly connected with the two mounting rods 101 respectively, each group is provided with two wheels 103, and each wheel 103 is provided with a damping adjustment and braking mechanism. The base 1 is a main supporting frame of the device, and the damping size and braking of the device are controlled through a damping adjustment and braking mechanism of the wheels 103.
As shown in fig. 5 to 7, the lifting mechanism 2 includes a first link 201, a second link 202, a third link 203, a fixture connection device 204, a first support bar 205, a second support bar 206, a third support bar 207, a fourth support bar 208, a first gear 209, a second gear 210, a first telescopic bar 211, a second telescopic bar 212, and a housing 213.
The first connecting pieces 201 of the two lifting mechanisms 2 are fixedly connected with the two mounting rods 101 respectively, and the first telescopic rods 211 of the two lifting mechanisms 2 are hinged with the two mounting rods 101 respectively.
The first connector 201 is fixedly connected to the middle part of the mounting rod 101; the lower ends of the first support rod 205 and the second support rod 206 are respectively hinged with the first connecting piece 201 through connecting shafts fixedly connected to the lower ends of the first support rod 205 and the second support rod 206, and the upper ends of the first support rod 205 and the second support rod 206 are respectively hinged with the second connecting piece 202 through connecting shafts fixedly connected to the lower ends of the first support rod and the second support rod; the lower ends of the third support rod 207 and the fourth support rod 208 are respectively hinged with the second connecting piece 202 through connecting shafts fixedly connected to the lower ends of the third support rod 207 and the fourth support rod 208 are respectively hinged with the third connecting piece 203 through connecting shafts fixedly connected to the lower ends of the third support rod 207 and the fourth support rod 208; the equipment connecting device 204 is fixedly connected with the third connecting piece 203; the first gear 209 is fixedly connected to the outer ring of the connecting shaft at the upper end of the second supporting rod 206, the second gear 210 is fixedly connected to the outer ring of the connecting shaft at the lower end of the fourth supporting rod 208, and the first gear 209 is meshed with the second gear 210; the lower end of the first telescopic rod 211 is hinged with the mounting rod 101 through a connecting shaft fixedly connected with the mounting rod 101, and the upper end of the first telescopic rod 211 is hinged with the lower part of the first supporting rod 205 through a connecting shaft fixedly connected with the first supporting rod 205; the lower end of the second telescopic rod 212 is hinged to the upper part of the first supporting rod 205 through a connecting shaft fixedly connected to the first supporting rod 205, and the upper end of the second telescopic rod 212 is hinged to the upper part of the third supporting rod 207 through a connecting shaft fixedly connected to the third supporting rod 207; the central axes of the connecting shafts are parallel to each other, and the central axes of the connecting shafts are along the horizontal direction and are perpendicular to the length direction of the mounting rod 101; the housing 213 is divided into five sections, a first section is fixedly connected with the mounting rod 101 and surrounds the outer sides of the first connecting piece 201, a second section is fixedly connected with the first supporting rod 205 and the second supporting rod 206 and surrounds the outer sides of the first supporting rod 205 and the second supporting rod 206 respectively, a third section is fixedly connected with the second connecting piece 202 and surrounds the outer sides of the second connecting piece 202, the first gear 209 and the second gear 210, a fourth section is fixedly connected with the third supporting rod 207 and the fourth supporting rod 208 and surrounds the outer sides of the third supporting rod 207 and the fourth supporting rod 208 respectively, and a fifth section is fixedly connected with the equipment connecting device 204 and surrounds the outer sides of the third connecting piece 203.
The first connecting piece 201, the second connecting piece 202 and the third connecting piece 203 are all in a flat plate shape, the plate surfaces of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203 are perpendicular to the connecting shafts, the first supporting rod 205, the third supporting rod 207, the first gear 209 and the second gear 210 are positioned outside the same side plate surface of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203, and the second supporting rod 206 and the fourth supporting rod 208 are positioned outside the plate surface of the other side of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203.
The connecting line between the central axis center point of the connecting shafts at the two ends of the first supporting rod 205 and the central axis center point of the connecting shafts at the two ends of the second supporting rod 206 is a parallelogram, the connecting line between the central axis center point of the connecting shafts at the two ends of the third supporting rod 207 and the central axis center point of the connecting shafts at the two ends of the fourth supporting rod 208 is a parallelogram, the upper bottom edge and the lower bottom edge of the two parallelograms are horizontal line segments, the lengths of the two bottom edges of the upper parallelogram and the two bottom edges of the lower parallelogram are equal, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the lower parallelogram.
The first telescopic rod 211 and the second telescopic rod 212 are self-locking gas springs, can automatically perform stepless telescopic operation and stop at any position in the process, and are locked automatically after stopping.
The use method of the lifting mechanism 2 is that the lengths of the first telescopic rods 211 and the second telescopic rods 212 of the two lifting mechanisms 2 are simultaneously controlled to extend and retract through the buttons, when the buttons are released, the first telescopic rods 211 and the second telescopic rods 212 of the two lifting mechanisms 2 are respectively locked by themselves, the first supporting rods 205 and the third supporting rods 207 of the lifting mechanisms 2 are respectively supported by the first telescopic rods 211 and the second telescopic rods 212 of the lifting mechanisms 2, the first connecting pieces 201, the second connecting pieces 202, the third connecting pieces 203, the first gears 209 and the second gears 210 of the lifting mechanisms 2 are linked with the second supporting rods 206 and the fourth supporting rods 208 of the lifting mechanisms 2, and in addition, the lifting height of the lifting mechanisms 3 and the height of the two lower limb exoskeletons 4 can be simultaneously adjusted in a stepless manner by means that the lifting mechanisms 2 are synchronously lifted and driven by the lifting mechanisms 3 and the two lower limb exoskeletons 4.
As shown in fig. 8, the weight reducing mechanism 3 includes a weight-bearing rod 301, a first fixed end 302, a first movable end 303, a first locking device 304, a hip support device, and a chest support device.
The equipment connecting device 204 is a rod piece with the length direction parallel to the length direction of the mounting rod 101, and the left and right ends of the bearing rod 301, namely the left and right sides of the weight reducing mechanism 3, are respectively fixedly connected with the rear ends of the equipment connecting devices 204 of the two lifting mechanisms 2; the first fixed end 302 is a rod piece with the length direction along the vertical direction, the first fixed end 302 is fixedly connected in the middle of the front side of the bearing rod 301, and a sliding channel is formed between the rear side of the first fixed end 302 and the front side of the bearing rod 301; the first moving end 303 is a rod piece with a length direction along a vertical direction, and the first moving end 303 penetrates into the sliding channel and is in sliding fit with the first fixed end 302 along an up-down direction; first locking holes are respectively formed in the corresponding positions of the first fixed end 302 and the first movable end 303, and the first locking holes are strip-shaped holes in the length direction along the vertical direction; the first locking device 304 adopts a quick handle, and the first locking device 304 passes through the first locking hole from the rear of the first movable end 303 to lock the first movable end 303 on the first fixed end 302; the hip support device is fixedly connected with the first fixed end 302; the chest support is fixedly connected to the first movable end 303.
The hip support device comprises a hip support rod 305 and a hip protector 306; the hip support rod 305 is an arc rod with a forward opening direction, the middle of the rear side of the hip support rod 305 is fixedly connected with the upper part of the front side of the first fixed end 302, and the hip support rod 305 can be supported at the back of the hip of a user; hip protector 306 is mounted on hip support bar 305 by two collars, hip protector 306 comprising a protector upper portion and a protector lower portion; the upper part of the protective tool is in a ring-shaped belt shape with a buckle at the front side, so that the hip of a user can be bound; the rear side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is through two regulation knot fixed connection, the crotch portion of user can be tied up to the protective equipment lower part, the regulation knot can be adjusted the elasticity degree of protective equipment lower part to adjust the weight-loss dynamics.
The chest support means comprises a chest support bar 307 and chest protectors 308; the chest support rod 307 is a rod piece with the length direction parallel to the length direction of the bearing rod 301, the middle of the rear side of the chest support rod 307 is fixedly connected with the upper part of the front side of the first moving end 303, and the chest support rod 307 can be supported on the back of the chest of a user; the chest protector 308 is mounted on the chest support bar 307 by two collars, and the chest protector 308 has a ring-shaped band shape with a buckle on the front side, so that the chest of the user can be bound.
As shown in fig. 9, the lower limb exoskeleton 4 includes a position adjusting device, a second fixed end 405, a second moving end 406, a second locking device 407, an elastic device 408, a thigh assembly, a thigh brace 410, a shank plate 411, and a shank brace 412.
The two lower limb ectoskeletons 4 are fixedly connected with the equipment connecting devices 204 of the two lifting mechanisms 2 respectively.
The position adjusting device comprises a first adjusting piece 401, a second adjusting piece 402, a third locking device 403 and a fourth locking device 404; the upper part of the first adjusting piece 401 is provided with a first adjusting hole penetrating through the front side and the rear side of the first adjusting piece 401, the first adjusting piece 401 is sleeved outside the equipment connecting device 204 through the first adjusting hole and is in sliding fit with the equipment connecting device 204 along the front-rear direction; the third locking device 403 adopts a knob handle, and the third locking device 403 penetrates into the first adjusting hole from the outside of the first adjusting piece 401 to lock the first adjusting piece 401 on the equipment connecting device 204; the lower part of the first adjusting piece 401 is provided with second adjusting holes penetrating through the left side and the right side of the first adjusting piece 401; the second adjusting piece 402 is a rod piece with the length direction parallel to the central axis of each connecting shaft, and the second adjusting piece 402 passes through the second adjusting hole and is in sliding fit with the first adjusting piece 401 along the left-right direction; the fourth locking device 404 adopts a knob handle, and the fourth locking device 404 penetrates into the second adjusting hole from the outside of the first adjusting member 401 to lock the second adjusting member 402 on the first adjusting member 401.
The second fixed end 405 is fixedly connected with the inner end part of the second adjusting piece 402 of the position adjusting device, and is fixedly connected with the equipment connecting device 204 through the position adjusting device; the second fixed end 405 is provided with a sliding cavity; the second moving end 406 penetrates into the sliding cavity and is in sliding fit with the second fixed end 405 along the up-down direction; second locking holes are respectively formed in the corresponding positions of the second fixed end 405 and the second movable end 406, and the second locking holes are strip-shaped holes in the length direction along the vertical direction; the third locking device 407 adopts a quick handle, and the third locking device 407 passes through the second locking hole from the outer side of the second fixed end 405 to lock the second movable end 406 on the second fixed end 405; the thigh assembly is fixedly connected with the second movable end 406, and the thigh brace 410 is mounted on the thigh assembly; the lower leg plate 411 is hinged to the thigh assembly, and the lower leg supporter 412 is mounted on the lower leg plate 411.
The thigh assembly comprises a resilient means 408, a thigh plate 409; the elastic device 408 comprises a box body, a spring and a cover plate; the top of the box body is fixedly connected with the bottom of the second moving end 406, a mounting cavity is formed in the box body, the spring is fixedly connected in the mounting cavity, and the cover plate is fixedly connected with the box body and seals the opening of the mounting cavity; the upper part of the thigh plate 409 penetrates into the mounting cavity and is fixedly connected with the spring, and is buffered by the elastic device 408, so that the central height variation of a user in the walking process can be matched; the upper end of the lower leg plate 411 is hinged to the lower end of the upper leg plate 409.
The thigh protector 410 comprises a thigh support plate and thigh binding bands, wherein the thigh support plate is fixedly connected to the inner side of the middle part of the thigh plate 409, the thigh support plate is an arc plate matched with the outer shape of the thigh, the thigh binding bands are arranged on the thigh support plate, and the thigh binding bands are in an annular band shape; the shank protector 412 comprises a shank support plate and shank straps, wherein the shank support plate is fixedly connected to the inner side of the middle of the shank plate 411, the shank support plate is an arc plate matched with the outer shape of the shank, the shank straps are installed on the shank support plate, and the shank straps are annular bands.
In use, first two lifting mechanisms 2 are adjusted to bring hip protector 306 into position; the first moving end 303, the first adjusting piece 401, the second adjusting piece 402 and the second moving end 406 of the two lower limb exoskeletons 4 of the weight reducing device 3 are adjusted again, so that the chest protector 308 is positioned at a proper height, the two lower limb exoskeletons 4 are positioned at a proper front, back, left and right position, and the length of the two lower limb exoskeletons 4 is suitable for the leg length of a user; the hip protector 306, chest protector 308, thigh protector 410, and calf protector 412 are then worn, respectively, to perform walking training.
The above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (9)
1. A height-adjustable walk-assisting training device, characterized in that: comprises a base (1), a lifting mechanism (2), a weight-reducing mechanism (3) and a lower limb exoskeleton (4); the lifting mechanism (2) is fixedly connected with the base (1); the lifting mechanism (2) comprises a first connecting piece (201), a second connecting piece (202), a third connecting piece (203), an equipment connecting device (204), a first supporting rod (205), a second supporting rod (206), a third supporting rod (207), a fourth supporting rod (208), a first gear (209), a second gear (210), a first telescopic rod (211) and a second telescopic rod (212); the first connecting piece (201) is fixedly connected with the base (1); the lower ends of the first support rod (205) and the second support rod (206) are respectively hinged with the first connecting piece (201) through connecting shafts, and the upper ends of the first support rod (205) and the second support rod (206) are respectively hinged with the second connecting piece (202) through connecting shafts; the lower ends of the third support rod (207) and the fourth support rod (208) are respectively hinged with the second connecting piece (202) through connecting shafts, and the upper ends of the third support rod (207) and the fourth support rod (208) are respectively hinged with the third connecting piece (203) through connecting shafts; the equipment connecting device (204) is fixedly connected with the third connecting piece (203); the first gear (209) is fixedly connected to the upper end of the second supporting rod (206), the second gear (210) is fixedly connected to the lower end of the fourth supporting rod (208), and the first gear (209) is meshed with the second gear (210); the lower end of the first telescopic rod (211) is hinged with the base (1) through a connecting shaft, and the upper end of the first telescopic rod (211) is hinged with the first supporting rod (205) through a connecting shaft; the lower end of the second telescopic rod (212) is hinged with the first supporting rod (205) through a connecting shaft, and the upper end of the second telescopic rod (212) is hinged with the third supporting rod (207) through a connecting shaft; the central axes of the connecting shafts are parallel to each other; the first telescopic rod (211) and the second telescopic rod (212) can automatically perform stepless telescopic operation; the weight-reducing mechanism (3) and the lower limb exoskeleton (4) are respectively and fixedly connected with the equipment connecting device (204);
the connecting line of the central axis center point of the connecting shafts at the two ends of the first supporting rod (205) and the central axis center point of the connecting shafts at the two ends of the second supporting rod (206) is a parallelogram, and the connecting line of the central axis center point of the connecting shafts at the two ends of the third supporting rod (207) and the central axis center point of the connecting shafts at the two ends of the fourth supporting rod (208) is a parallelogram; the upper bottom edge and the lower bottom edge of the two parallelograms are horizontal line segments, the lengths of the two bottom edges of the upper parallelogram and the two bottom edges of the lower parallelogram are equal, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the lower parallelogram.
2. The height-adjustable walker training device as claimed in claim 1 wherein: the first telescopic rod (211) and the second telescopic rod (212) are self-locking gas springs.
3. Height-adjustable walk-assisting training device according to claim 1 or 2, characterized in that: the base (1) comprises mounting rods (101), connecting rods (102) and wheels (103), wherein the two mounting rods (101) are symmetrically arranged left and right, the connecting rods (102) are fixedly connected with the two mounting rods (101) respectively, and the two groups of symmetrically arranged wheels (103) are fixedly connected with the two mounting rods (101) respectively; the two lifting mechanisms (2) are symmetrically arranged, first connecting pieces (201) of the two lifting mechanisms (2) are fixedly connected with the two mounting rods (101) respectively, and first telescopic rods (211) of the two lifting mechanisms (2) are hinged with the two mounting rods (101) respectively; the weight reducing mechanism (3) is fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2) respectively; the two lower limb exoskeletons (4) are respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2).
4. Height-adjustable walk-assisting training device according to claim 1 or 2, characterized in that: the weight reducing mechanism (3) comprises a bearing rod (301), a first fixed end (302), a first moving end (303), a first locking device (304), a hip supporting device and a chest supporting device; the bearing rod (301) is fixedly connected with the equipment connecting device (204); the first fixed end (302) is fixedly connected to the bearing rod (301), the first movable end (303) is in sliding fit with the first fixed end (302) along the up-down direction, and the first locking device (304) locks the first movable end (303) on the first fixed end (302); the hip support device is fixedly connected with the first fixed end (302); the chest support device is fixedly connected with the first moving end (303).
5. The height-adjustable walker training device as claimed in claim 4 wherein: the hip support device comprises a hip support rod (305) and a hip protector (306); the hip support rod (305) is an arc-shaped rod with a forward opening direction, and the hip support rod (305) is fixedly connected with the first fixed end (302); the hip brace (306) is mounted on the hip support bar (305), the hip brace (306) comprising a brace upper portion and a brace lower portion; the upper part of the protective clothing can bind the hip of the user; the back side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is through adjusting knot fixed connection, the crotch portion of user can be tied up to the protective equipment lower part, adjust the knot can be adjusted the elasticity degree of protective equipment lower part.
6. The height-adjustable walker training device as claimed in claim 4 wherein: the chest support device comprises a chest support rod (307) and a chest protector (308); the chest support rod (307) is fixedly connected with the first moving end (303); the chest protector (308) is mounted on the chest support bar (307), the chest protector (308) being capable of binding the chest of a user.
7. Height-adjustable walk-assisting training device according to claim 1 or 2, characterized in that: the lower limb exoskeleton (4) comprises a second fixed end (405), a second movable end (406), a second locking device (407), a thigh assembly, a thigh protector (410), a shank plate (411) and a shank protector (412); the second fixed end (405) is fixedly connected with the equipment connecting device (204), the second movable end (406) is in sliding fit with the second fixed end (405) along the up-down direction, and the second locking device (407) locks the second movable end (406) on the second fixed end (405); the thigh assembly is fixedly connected with the second movable end (406), and the thigh protector (410) is arranged on the thigh assembly; the lower leg plate (411) is hinged with the thigh assembly, and the lower leg protector (412) is mounted on the lower leg plate (411).
8. The height-adjustable walker training device as claimed in claim 7 wherein: the lower limb exoskeleton (4) further comprises a position adjusting device, wherein the position adjusting device comprises a first adjusting piece (401), a third locking device (403), a second adjusting piece (402) and a fourth locking device (404); the first adjusting piece (401) is in sliding fit with the equipment connecting device (204) along the front-back direction, and the third locking device (403) locks the first adjusting piece (401) on the equipment connecting device (204); the second adjusting piece (402) is in sliding fit with the first adjusting piece (401) along the left-right direction, and the fourth locking device (404) locks the second adjusting piece (402) on the first adjusting piece (401); the second fixed end (405) is fixedly connected with the second adjusting piece (402).
9. The height-adjustable walker training device as claimed in claim 7 wherein: the thigh assembly comprises a resilient means (408), a thigh plate (409); the elastic device (408) is fixedly connected with the second moving end (406), and the upper part of the thigh plate (409) is fixedly connected with the elastic device (408); the upper end of the lower leg plate (411) is hinged with the lower end of the thigh plate (409).
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| CN202110339041.3A CN112957239B (en) | 2021-03-30 | 2021-03-30 | Height-adjustable auxiliary walking training device |
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| CN202110339041.3A CN112957239B (en) | 2021-03-30 | 2021-03-30 | Height-adjustable auxiliary walking training device |
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| CN112957239B true CN112957239B (en) | 2023-08-25 |
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