CN113332673B - Self-pretightening leaning device and pelvis auxiliary walking training mechanism - Google Patents

Abstract

The invention discloses a self-pre-tightening leaning device and a pelvis auxiliary walking training mechanism, wherein the self-pre-tightening leaning device comprises a seat structure, a clamping assembly and a linkage driving assembly, wherein the seat structure comprises a back plate and a seat plate which is movably arranged on the back plate along the vertical direction; the clamping assembly comprises two side clamping plates which are positioned above the seat plate and are arranged at intervals in the left-right direction, and the two side clamping plates can be close to or far away from each other; the linkage driving assembly is arranged between the seat plate and the clamping assembly, so that when the seat plate moves downwards, the two side clamping plates are close to each other to clamp the side part of the body of a patient. So set up, but along with patient's the action of sitting down and rising up the body linkage drive two distance between the side splint is adjusted, need not to adjust repeatedly after the patient sits down, improves the convenience, and user's experience feels better.

Description

Self-presetting seat device and pelvis-assisted walking training mechanism

technical field

The invention relates to the technical field of medical devices, in particular to a self-preset seat device and a pelvic auxiliary walking training mechanism.

Background technique

Some patients need to supplement their legs through rehabilitation. The conventional rehabilitation method is that patients are supported by railings and walk slowly on the specified trajectory. It is often seen that patients are unstable and fall. During the rehabilitation process, the patient's rehabilitation process is very difficult due to the lack of leg strength.

SUMMARY OF THE INVENTION

The main purpose of the present invention is to provide a self-presetting seat device and a pelvis auxiliary walking training mechanism, which aims to support the waist of a patient during walking training through the device and reduce the difficulty of patient training.

In order to achieve the above purpose, the present invention proposes a self-preloading seat device, comprising:

a seat structure, including a back panel and a seat panel movably mounted to the back panel along an up-down direction;

a clamping assembly, comprising two side clamps located above the seat plate and spaced along the left-right direction, the two side clamps can be close to or away from each other; and,

A linkage driving assembly is provided between the seat plate and the clamping assembly, so that when the seat plate moves downward, the two side clamping plates approach each other to clamp the side of the patient's body.

Optionally, the rear side of the back plate is provided with a first track extending in an up-down direction;

The rear end of the seat plate is provided with a bending arm extending in the up-down direction, and the bending arm is slidably mounted on the first rail in the up-down direction.

Optionally, the linkage drive assembly includes:

a second track extending in the left-right direction and fixedly mounted on the upper end of the rear side of the backboard;

Two sliding blocks, both of which are slidably installed on the second rail along the left and right directions, the two sliding blocks are arranged at intervals along the left and right directions, and the two sliding blocks are respectively connected to the two side rails. The rear end of the splint is fixedly attached; and,

Two first connecting rods, the upper ends of the two first connecting rods are respectively hingedly mounted on the two sliding blocks, and the lower ends of the two first connecting rods are hingedly mounted on the bending arms respectively.

Optionally, the self-preloading seat device further includes a locking structure, and the locking structure includes:

a toothed plate, which is fixedly installed on the rear side of the back plate, and the upper surface of the toothed plate is provided with a plurality of clamping teeth arranged in sequence along the left and right directions;

a locking lever, the upper end of the locking lever is movably installed on the back plate along the left-right direction, and the lower end of the locking lever can be selectively clamped to one of the locking teeth; and,

a second connecting rod, the upper end of the second connecting rod is hingedly mounted to the middle part of one of the first connecting rods, and the lower end of the second connecting rod is hingedly mounted to the locking rod.

Optionally, the front end of the toothed plate is provided with a fixing plate extending in the up-down direction and in the left-right direction, and the fixing plate is provided with an elongated slot extending in the left-right direction;

The locking structure further includes a pulley, the pulley is slidably installed into the elongated groove, and the middle part of the pulley is hinged with the upper end of the locking rod and the lower end of the second connecting rod.

Optionally, the lower end of the rear side of the locking rod is provided with a matching rod extending in the front-rear direction;

The locking structure further includes an unlocking member, and the unlocking member includes:

a support, fixedly mounted to the rear side of the back plate, and located below the tooth plate; and,

The unlocking lever is installed on the support in the middle position along the axis extending in the front and rear direction, and the end of the unlocking lever away from the seat plate swings downward, so that the end of the unlocking lever close to the seat plate swings upward to The matching rod is jacked upward to drive the locking rod to lift up and separate from the corresponding locking teeth.

Optionally, the locking structure also includes a first spring, and both ends of the first spring are respectively connected with the side end of the toothed plate and the lower end of the locking rod; and\or,

The locking structure further includes a limit block and a second spring, the limit block extends up and down and is fixedly mounted on the support, and both ends of the second spring are respectively away from the unlocking rod. The side end of the seat plate is connected with the upper end of the limiting block.

Optionally, there are two locking structures, the two locking structures are respectively located on the left and right sides of the seat plate, and the two locking structures are oppositely arranged along the left and right directions.

Optionally, the rear end of the seat plate is provided with a bending arm extending in the up-down direction, and the bending arm is slidably installed on the back plate in the up-down direction;

The self-pre-tightening seat device further includes two fixed support rods, the two fixed support rods are arranged on the bending arm at intervals along the left and right directions, and the side ends of the two fixed support rods away from each other are Equipped with ball hinges for articulation with outriggers.

The present invention also proposes a pelvis-assisted walking training mechanism, including the above-mentioned self-pre-tightening seat device, and the self-pre-tightening seat device includes:

a seat structure, including a back panel and a seat panel movably mounted to the back panel along an up-down direction;

a clamping assembly, comprising two side clamps located above the seat plate and spaced along the left-right direction, the two side clamps can be close to or away from each other; and,

A linkage driving assembly is provided between the seat plate and the clamping assembly, so that when the seat plate moves downward, the two side clamping plates approach each other to clamp the side of the patient's body.

In the technical solution of the present invention, during use, the patient sits on the seat plate, and the seat plate moves downward under the action of the patient's gravity. At the same time, under the action of the linkage drive assembly, the two The distance between the side splints is reduced to clamp the patient's body, thereby realizing the effect of automatic preloading, which is convenient for the patient to support the waist during walking training. The distance adjustment between the two side splints is driven by linkage, and there is no need for repeated adjustment after the patient sits down, which improves the convenience and makes the user's experience better.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can also be obtained according to the structures shown in these drawings without creative efforts.

1 is a schematic three-dimensional structural diagram of an embodiment of a pelvic-assisted walking training mechanism provided by the present invention;

Fig. 2 is the three-dimensional structure schematic diagram of the self-preloading seat device in Fig. 1;

FIG. 3 is a three-dimensional schematic diagram of the locking structure in FIG. 2;

FIG. 4 is a schematic three-dimensional structural diagram of the unlocking member in FIG. 2 .

Fig. 5 is the three-dimensional structure schematic diagram of the walking aid device in Fig. 1;

Fig. 6 is the three-dimensional structure schematic diagram of the driving device in Fig. 1;

Fig. 7 is the three-dimensional structure schematic diagram of the lifting device in Fig. 1;

Description of reference numbers:

The realization, functional characteristics and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

It should be noted that, if there is a directional indication involved in the embodiment of the present invention, the directional indication is only used to explain the relative positional relationship, motion, etc. between the components under a certain posture. If the specific posture changes , the directional indication changes accordingly.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for the purpose of description, and should not be construed as indicating or implying Its relative importance or implicitly indicates the number of technical features indicated. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In addition, the technical solutions between the various embodiments can be combined with each other, but must be based on the realization by those of ordinary skill in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of such technical solutions does not exist. , is not within the protection scope of the present invention.

Some patients need to recover their legs through rehabilitation. The conventional rehabilitation method is that patients are supported by railings and walk slowly on the prescribed trajectory. It is often seen that patients are unstable and fall, and patients are recovering. During the rehabilitation process, the patient's rehabilitation process is very difficult due to the lack of leg strength. In view of this, the present invention provides a pelvic auxiliary walking training mechanism and a pelvic auxiliary walking training mechanism, aiming at supporting the waist of a patient during walking training through a self-preloading seat device, thereby reducing the difficulty of patient training. Figures 1, 5 to 7 are embodiments of the pelvic auxiliary walking training mechanism provided by the present invention, and Figures 2 to 4 are embodiments of the self-preloading seat device provided by the present invention.

Please refer to FIGS. 1 and 5 , the pelvic walking aid training mechanism 100 includes a mounting frame 1 , a walking aid 2 , a driving device and a self-preloading seat device 7 . The movable seat 21 on the mounting frame 1, and the two walking-assist push rods 22 mounted to the movable seat 21 in a front-rear direction, the two walking-assisting push rods 22 extend in the left-right direction, The front sides of the two walking-assist push rods 22 are both used for contacting the thighs of the patient, and the movable seat 21 is movably installed on the mounting frame 1 along the upper and lower directions; the driving device is arranged on the Mounting frame 1.

Specifically, please refer to FIG. 2 , the self-preloading seat device 7 includes a seat structure, a clamping assembly and a linkage driving assembly. The seat structure includes a back plate 711 and a back plate 711 movably mounted to the back plate 711 in the up-down direction. The seat plate 712; the clamping assembly includes two side clamps 721 located above the seat plate 712 and spaced along the left and right directions, and the two side clamps 721 can be close to or away from each other; the linkage drive assembly is provided with Between the seat plate 712 and the clamping assembly, when the seat plate 712 moves downward, the two side clamping plates 721 approach each other to clamp the side of the patient's body.

In the technical solution of the present invention, during use, the patient sits on the seat plate 712. At this time, the seat plate 712 moves downward under the action of the patient's gravity, and at the same time, under the action of the linkage drive assembly , the distance between the two side splints 721 is reduced to clamp the patient's body, thereby realizing the effect of automatic preloading, which is convenient for the patient to support the waist during walking training. The distance adjustment between the two side splints 721 can be linked with the action of getting up, and there is no need to adjust the distance repeatedly after the patient sits down, which improves the convenience and makes the user experience better. Specifically, after the patient stands at the corresponding position of the mechanism, he sits on the seat plate 712, and the two walking-assist push rods 22 are in contact with the patient's thighs. When the patient needs walking training, the driving device controls the The back plate 711 moves, thereby driving the patient's pelvis to move. At the same time, the driving device also controls the movement of the two walker push rods 22 respectively, so that the walker push rod 22 moves with the patient's pelvis. As the patient moves forward or backward, the movable seat 21 moves up and down to adjust the height of the seat plate 712 from the ground, so as to suit patients of different heights. The push rod 22 is adjusted accordingly. During the use, the walking device 2 assists the walking of the lower limbs when the patient's pelvis is moving, so that the patient can rely on this mechanism for walking training during the rehabilitation process, which brings better rehabilitation. Build experience.

In order to realize the up and down movement of the seat plate 712, in this embodiment, the rear side of the back plate 711 is provided with a first track 7111 extending in the up-down direction; the rear end of the seat plate 712 is provided with a first track 7111 extending in the up-down direction The bending arm 7121 is slidably mounted on the first rail 7111 in the up-down direction. The structure of such arrangement is simple, and the arrangement of the bending arm 7121 also improves the strength of the sliding fit of the seat plate 712 .

In order to realize the function of the linkage drive assembly, in an embodiment of the present invention, the linkage drive assembly includes a second rail 731 , two sliding blocks 732 and two first connecting rods 733 , the second rail 731 is along the The two sliding blocks 732 are slidably installed on the second rail 731 along the left and right directions, and the two sliding blocks 732 are slidably mounted on the second rail 731 along the left and right directions. The two sliding blocks 732 are fixedly connected to the rear ends of the two side clamps 721 respectively; the upper ends of the two first connecting rods 733 are hingedly mounted on the two sliding blocks 732, respectively. The lower ends of each of the first connecting rods 733 are hingedly mounted to the bending arms 7121 respectively. When the patient sits on the seat plate 712 , gravity makes the seat plate 712 slide up and down along the first track 7111 . At this time, the lower ends of the two first connecting rods 733 follow the bending arms 7121 downward. , the upper ends of the two first connecting rods 733 are driven to pull the two sliding blocks 732 to move toward each other along the second rail 731, and the distance between the two side clamps 721 is reduced. The distance between the side clamping plates 721 is increased, so that the up-and-down movement of the seat plate 712 and the left-right movement of the two side clamping plates 721 are linked together, so as to realize the linkage driving.

Further, the two first connecting rods 733 are a connecting rod group, and the connecting rod group is provided with two groups, which are respectively arranged at intervals along the upper and lower directions, so that the bending arm 7121 and the two sliding blocks 732 are connected to each other. A stable parallelogram structure is formed between them, which improves the stability of the linkage drive and increases the tensile strength at the same time.

It should be noted that, the outer surfaces of the seat plate 712 and each of the side splints 721 are covered with soft pads to improve the comfort of the patient.

During the process of walking training, the gap between the patient and the seat plate 712 will change when the bones move, and the seat plate 712 may shake up and down at this time. In view of this, in an embodiment of the present invention, please refer to 3 to 4, the self-preloading seat device 7 further includes a locking structure 74, the locking structure 74 includes a toothed plate 741, a locking rod 742 and a second connecting rod 743, the toothed plate 741 is fixed Installed to the rear side of the back plate 711, the upper surface of the tooth plate 741 is provided with a plurality of locking teeth 7411 arranged in sequence along the left and right directions; the upper end of the locking rod 742 is movably installed to the back plate along the left and right directions. On the plate 711 , the lower end of the locking rod 742 can be selectively clamped to one of the teeth 7411 ; the upper end of the second connecting rod 743 is hingedly mounted to one of the first connecting rods 733 . In the middle, the lower end of the second connecting rod 743 is hingedly mounted to the locking rod 742. During the downward movement of the seat plate 712, the upper end of the locking rod 742 slides in the left and right directions, so that the lock The lower end of the locking rod 742 moves along a plurality of the locking teeth 7411 until the patient is in a comfortable position, the seat plate 712 cannot continue to move downward, at this time the locking rod 742 is engaged with the corresponding locking teeth 7411 When there is a gap between the patient's buttocks and the seat plate 712, the lower end of the second connecting rod 743 cannot move back due to the restriction of the locking teeth 7411, and the first connecting rod 733 The movement is limited, and the seat plate 712 cannot be lifted up. The locking rod 742 and the toothed plate 741 cannot move relative to each other until the locking rod 742 and the toothed plate 741 are separated. This arrangement restricts the upward movement of the seat plate 712 and improves the comfort of the patient.

It should be noted that, in order to make the locking lever 742 move smoothly along the plurality of the locking teeth 7411, the plurality of the locking teeth 7411 are all designed with helical teeth. When the locking structure 74 is located on the right side The first connecting rods 733 are connected to each other. At this time, a plurality of the locking teeth 7411 are arranged to be inclined from top to bottom to the left. The locking rod 742 can only be moved from left to One-way activity to the right.

Further, the front end of the toothed plate 741 is provided with a fixing plate 744 extending in the up-down direction and in the left-right direction, and the fixing plate 744 is provided with an elongated slot 7441 extending in the left-right direction; the locking structure 74 also A pulley 745 is included, the pulley 745 is slidably installed into the elongated slot 7441 , and the middle of the pulley 745 is hinged with the upper end of the locking rod 742 and the lower end of the second connecting rod 743 . The fixing plate 744 and the tooth plate 741 are vertically arranged, and the fixing plate 744 is attached to the back plate 711. When the upper end of the second connecting rod 743 is pulled by the first connecting rod 733, the The lower end of the second connecting rod 743 and the upper end of the locking rod 742 are connected together through the sliding hinge, and the left and right stable moving tracks are ensured.

In order to facilitate the patient to unlock at any time according to their own conditions, in this embodiment, the lower end of the rear side of the locking rod 742 is provided with a matching rod 7421 extending in the front-rear direction; the locking structure 74 further includes an unlocking member, the unlocking The component includes a support 7461 and an unlocking lever 7462, the support 7461 is fixedly mounted on the rear side of the back plate 711, and is located below the tooth plate 741; the middle position of the unlocking lever 7462 is along the axis extending in the front-rear direction It is rotatably mounted on the support 7461, and the end of the unlocking lever 7462 away from the seat plate 712 swings downward, so that the end of the unlocking lever 7462 close to the seat plate 712 swings upward to support the matching The lever 7421 is used to drive the locking lever 742 to lift up and separate from the corresponding latching teeth 7411 . , the unlocking lever 7462 and the support 7461 cooperate to form a lever structure, when the patient needs to unlock, manually press the end of the unlocking lever 7462 away from the seat plate 712, so that the other end is lifted up and the matching lever 7421 Contact, along with the lifting of the side end, the matching rod 7421 drives the lower end of the locking rod 742 to separate from the corresponding locking teeth 7411, thereby completing the unlocking action, which is fast and convenient.

In order to facilitate holding, one end of the unlocking lever 7462 away from the seat plate 712 is bent forward, so that the locking lever 742 is arranged in an L-shape as a whole, which is easy for the patient to hold and apply force.

In an embodiment of the present invention, the locking structure 74 further includes a first spring 747 , two ends of the first spring 747 are respectively connected with the side end of the tooth plate 741 and the lower end of the locking rod 742 . connected, so as to always provide a downward pulling force for the lower end of the locking lever 742, which helps the locking lever 742 to slide along the plurality of the locking teeth 7411, and can also release the unlocking lever when the patient releases it. After 7462, the locking lever 742 is pulled down to reset.

In other embodiments of the present invention, the locking structure 74 further includes a limit block and a second spring 748, the limit block extends up and down and is fixedly installed on the support 7461, the second Both ends of the spring 748 are respectively connected with the side end of the unlocking lever 7462 away from the seat plate 712 and the upper end of the limiting block. This is arranged to reset the unlocking lever 7462 under the force of the spring after the patient has released the unlocking lever 7462.

It should be noted that the above two related technical features can be set at the same time, or one can be set at the same time. 7411 slides, and the locking lever 742 and the unlocking lever 7462 can be reset after the patient releases the unlocking lever 7462.

Further, in this embodiment, there are two locking structures 74 , the two locking structures 74 are located on the left and right sides of the seat plate 712 respectively, and the two locking structures 74 are located along the left and right sides of the seat plate 712 . Set up relative to each other. This arrangement is used to control the activities of the two side splints 721 respectively. Since the movement directions of the two side splints 721 are opposite in the process of clamping and releasing the human body, the two locking structures 74 are symmetrically arranged, and the movement trajectories of the locking rods 742 in the two locking structures 74 are opposite.

Specifically, please refer to FIG. 6 , the driving device includes two driving assemblies corresponding to the two walking assist push rods 22 , and each of the driving assemblies includes a rocker 31 , a connecting rod 32 and the first driving structure 33. The upper end of the rocker 31 is hingedly mounted to the movable seat 21, and the lower end of the rocker 31 is connected to the corresponding walker push rod 22; the lower end of the connecting rod 32 is hingedly mounted to the rocker. On the rod 31 , the upper end of the connecting rod 32 is movably installed on the movable seat 21 in the front-rear direction; the first driving structure 33 is drivingly connected with the upper end of the connecting rod 32 to drive the connecting rod 32 end activity. The first driving structure 33 drives the upper end of the connecting rod 32 to move forward or backward, so that the lower end of the connecting rod 32 moves upward or downward, and the rocker 31 can move forward under the driving of the first driving structure 33 Or swing backward, so as to drive the walking assist push rod 22 to swing back and forth to realize the driving function.

Further, the outer surfaces of the two walker push rods 22 are covered with soft pads to improve the comfort of the patient's legs. At the same time, the walker push rod 22 can be a rotatable roller, The central axis of the roller is fixed to the lower part of the rocker 31 , which can roll when rubbing against the leg, so as to reduce the discomfort caused by applying force to the patient's thigh when assisting the patient.

The present invention does not limit the specific form of the first driving structure 33, which may be a cylinder drive or an electric push rod. In one embodiment, the first driving structure 33 includes a first sliding rail 331 and a driving block 332. The The first sliding rail 331 is fixedly installed on the movable seat 21, and the first sliding rail 331 extends in the front-rear direction; the driving block 332 is movably installed on the first sliding rail 331 in the front-rear direction, and the driving block 332 is hingedly installed with the upper end of the connecting rod 32 . The driving block 332 and the first slide rail 331 are slidably matched to drive the upper end of the connecting rod 32 to move back and forth, which limits its movement trajectory and provides better stability.

The driving block 332 can be driven manually or electrically. In this embodiment, the first driving structure 33 further includes a mounting plate 333, a driving motor 334, a transmission rod 335 and a pulley assembly. The mounting plate 333 is movably installed on the movable seat 21 in the up-down direction, the drive motor 334 is fixedly installed on the mounting plate 333, and the drive motor 334 has a drive shaft extending in the left-right direction; The two ends of the transmission rod 335 are respectively provided with a first adapter rod 3351 and a second adapter rod 3352. The first adapter rod 3351 and the driving block 332 are hinged to the second adapter rod. 3352 is hinged to the back plate 711; the pulley assembly includes a first pulley, a second pulley, and a belt 3361 between the first pulley and the second pulley, the first belt The pulley is arranged on the drive shaft and rotates coaxially with the drive shaft. The second pulley is arranged in the middle of the transmission rod 335 and rotates coaxially with the transmission rod 335 . When the drive motor 334 rotates, driven by the belt 3361, the transmission rod 335 installed with the second pulley rotates synchronously. During the process, the driving block 332 reciprocates stably in the front and rear directions along the sliding rail. At the same time, because the position of the driving block 332 in the up and down direction is fixed, under the action of the reaction force, the mounting plate 333 then moves up and down to ensure torque balance. The distance that the mounting plate 333 moves up and down is the diameter of the rotation track of the first adapter rod 3351. In this way, the drive motor 334 rotates in a single direction to control Its rotational speed can control the swing frequency of the walking-assist push rod 22, that is, the speed at which the human body moves. This arrangement facilitates the centralized control of the device through the control system, and the walking-assist push rod 22 can achieve stable reciprocating swing, without Continuously control the swing and frequently change the swing direction to improve convenience and provide a better user experience.

It should be noted that the swinging stroke of the walking assist push rod 22 is affected by the length of the first adapter rod 3351 and the hinge position of the connecting rod 32 and the rocking rod 31 . Reasonably adjusting the position of the hinge point of the link 32 and the rocker 31 can adjust the position where the patient really needs assistance during the leg swing process.

In this embodiment, the driving block 332 is an L-shaped plate, the lower end is slidably installed, and the upper end is hinged with the first transfer rod 3351 .

In order to improve the stability of the vertical movement of the mounting plate 333, in this embodiment, the upper end surface of the movable seat 21 is provided with a guide column 211 extending in the up-down direction, and the upper end surface of the mounting plate 333 is provided with corresponding The first driving structure 33 further includes a linear bearing 337, the linear bearing 337 is sleeved in the installation hole, and the linear bearing 337 is sleeved and installed on the guide column 211 can move up and down along the guide post 211. The linear bearing 337 can move up and down along the guide post 211 to ensure a stable movement trajectory of the mounting plate 333 and prevent the position of the mounting plate 333 from being deflected during the up and down movement, which causes the drive motor 334 and the transmission rod 335 to deviate The connection is stuck, which improves the safety and stability of the equipment movement.

It should be noted that the swing directions of the two walking aid push rods 22 are opposite when the patient is walking, therefore, when the two driving assemblies are controlled, the rotational directions of the driving motors 334 are also opposite.

Due to the different body shapes of different patients, the relative positions of the patient and the walking-assist push rod 22 are different during walking training. Therefore, in an embodiment of the present invention, please refer to FIG. 7 . The walking training mechanism 100 further includes a lifting device 4, the lifting device 4 includes a scissor structure 41 and a lifting drive assembly 42, the scissor structure 41 includes a plurality of scissor units connected up and down, each of the scissor units It includes a first scissor arm and a second scissor arm hinged with each other in the middle, and the scissor unit located above is hingedly mounted to the upper end of the mounting frame 1 ; the lift drive assembly 42 is provided on the movable seat 21 on the upper side, drivingly connected with the scissor unit located below. Specifically, the lift drive assembly 42 changes the distance between the scissor unit located below and the scissor unit located above, thereby driving the walking aid 2 as a whole to lift relative to the upper end of the mounting frame 1 or fall to adjust the initial position of the walker push rod 22 to ensure that it can maintain the best contact position with each patient.

Further, the lift drive assembly 42 includes a lift fixing base 421 , a lead screw structure 422 and a lift drive rod 423 , the lift fixing base 421 is fixedly mounted on the movable base 21 ; the lead screw structure 422 includes up and down A screw rod extending upward and a nut slidably installed on the screw rod in the up and down direction, the screw rod is rotated and installed on the lifting fixing base 421 along the axis extending in the up and down direction; the lifting driving rod 423 extends in the up and down direction, the The lower end of the lift drive rod 423 is fixedly connected to the nut, and the upper end of the lift drive rod 423 is fixedly connected to the hinged joint of the first scissor arm and the second scissor arm in the corresponding scissor unit . Drive the screw to rotate, the nut moves up and down, and drives the lift drive rod 423 to compress the scissor structure 41 upward or stretch the scissor structure 41 downward, so as to realize height adjustment, and the screw drive The driving method is more stable.

Based on the above embodiment, the lift fixing base 421 is a box structure, the screw rod structure is located inside the box body, and the lift drive rod 423 is exposed from the box body. Specifically, the lower end of the screw rod Extending out of the box body, and provided with a handle, it is convenient for the operator to directly adjust manually, and the cost is low.

It should be noted that, in other embodiments of the present invention, the movable seat 21 may be pulled up or down by a traction rope, which will not be described in detail here.

In order to facilitate the patient to hold both hands during walking training, in an embodiment of the present invention, the pelvic auxiliary walking training mechanism 100 further includes two handrail structures 5, and the two handrail structures 5 are arranged at intervals along the left and right directions, and each The armrest structure 5 includes a support arm 51 , a support plate 52 and a grip rod 53 , the support arm 51 extends in the front-rear direction, and the rear end of the support arm 51 is fixedly installed on the movable seat 21 ; the support plate 52 It is fixedly installed to the front end of the support arm 51, and the upper end surface of the support plate 52 is used to lift the patient's arm; the grip rod 53 extends up and down and is fixedly installed to the front end of the support plate 52, so The grip bar 53 is used for the patient to hold. After the patient stands at the designated position, the arms are placed on the two support plates 52 for easy support, and the hands respectively grasp the grip bars 53 in the two handrail structures 5, so that the patient can walk during the walking training process. It can directly support the body without adding crutches separately, which is more convenient.

Further, the support arm 51 extends backward to be fixedly connected with the upper end of the guide post 211 to increase the height of the support arm 51 and adjust the height of the guide post 211 to suit the height of the human arm.

During the walking exercise, the human body can walk on a flat bottom. At this time, the bottom of the mounting frame 1 needs to be provided with rollers to cooperate with walking. The installation column 11 and the connecting arm 12 located between the two installation columns 11 ; the pelvic auxiliary walking training mechanism 100 further includes a treadmill 6 , and the conveyor belt of the treadmill 6 extends into the two installation columns 11 Wherein, the walking aid 2 and the driving device are both located between the two mounting posts 11 , and the movable seat 21 is movably mounted to the connecting arm 12 in the up-down direction. The treadmill 6 is used for simulating a patient's gait. When in use, the patient stands between the two mounting posts 11 , steps on the conveyor belt of the treadmill 6 , and relies on the Features, patients can perform walking training in situ, which is more convenient. This setting does not need to set up a corridor, and also makes walking rehabilitation occupy a smaller area.

In addition, in the embodiment of the present invention, the opposite sides of the two mounting posts 11 are provided with sliding grooves, which provide guidance and limit for the up and down movement of the movable seat 21, so that the mounting seat can move along the predetermined direction. The track lift adjustment to improve stability.

The present invention does not limit the connection form between the self-preloading seat device 7 and the walking aid 2 . In one embodiment, the back plate 711 is directly and fixedly installed on the movable seat 21 to Follow the movable seat 21 to move up and down. In other embodiments, the self-pre-tightening seat device 7 further includes two fixed support rods 75, and the two fixed support rods 75 are arranged on the bending arm 7121 at intervals along the left and right directions, and the two The side ends of the fixing brackets 75 away from each other are provided with ball hinges; each of the driving devices includes a first driving structure 33, and the first driving structure 33 includes a mounting plate 333 and a transmission rod 335. The transmission rod 335 is rotatably mounted to the mounting plate 333 along the axis extending in the left and right directions. One end of the transmission rod 335 is provided with a second adapter rod 3352. The two second transfer rods 3352 in the driving device are connected with the corresponding ball hinges. When the transmission rod 335 is driven by the rotation of the driving motor 334, the second adapter rod 3352 and the first adapter rod 3351 are respectively located at two ends of the transmission rod 335, so as to rotate synchronously, the The length of the second adapter rod 3352 is greater than that of the first adapter rod 3351, and is twice the length of the first adapter rod 3351, and the elliptical trajectory of the end movement of the first adapter rod 3351 is long The axis is equal to the effective length of the second adapter rod 3352, so by changing the lengths of the second adapter rod 3352 and the first adapter rod 3351, the elliptical trajectory of the end of the second adapter rod 3352 can be effectively changed The shape can be adapted to the pelvic movement law of different patient body shapes.

Not only that, the training state of the patient can be detected in real time by adding sensors. For example, adding a pressure sensor to the support arm 51 can detect whether the patient's center of gravity is left or right in real time, and the legs can also be connected to the walking aid 2. The seat belt is fixed on the patient's leg seat belt through multiple sets of pull-wire sensors to detect the motion state of the patient's lower limbs, and feed the data back to the control system, which then adjusts the motion law of the walking aid 2 .

The working process of the pelvic-assisted walking training mechanism 100 is as follows: with the help of the technician, the patient stands on the seat plate 712 of the self-preloading seat, and wears a safety belt, which is fixed with the seat plate 712. The height of the movable seat 21 from the ground can be adjusted for comfort, and an appropriate height adjustment can achieve the purpose of weight reduction. The working mode can then be selected, that is, the unilateral and bilateral passive training mode (by adding sensors to detect the patient's movement intention, the unilateral and bilateral active follow-up training mode can be realized). The movement laws of the walk-assist push rods 22 on both sides are opposite, and the movement laws of one side are as follows: when the drive motor 334 drives the transmission rod 335 to make one rotation, the first adapter rod 3351 and the The second adaptor rod 3352 also rotates one cycle, and the first adaptor rod 3351 also drives the driving block 332 to move together for one cycle during the rotation of the first adaptor rod 3351, so as to urge the other end of the second adaptor rod 3352 to move. The end trajectory is an ellipse; at the same time, the forward and backward movement of the driving block 332 will also drive the walking assist push rod 22 to swing through the connecting rod 32, which can give a force to the patient's leg in a certain period of time to help the patient move his leg. Purpose.

The above descriptions are only the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention. Under the inventive concept of the present invention, the equivalent structural transformations made by the contents of the description and drawings of the present invention, or the direct/indirect application Other related technical fields are included in the scope of patent protection of the present invention.

Claims (8)

1. A self-pre-tightening seat device is characterized in that, comprising: a seat structure, comprising a back panel and a seat panel movably mounted to the back panel along an up-down direction; a clamping assembly, comprising two side clamps located above the seat plate and spaced along the left-right direction, the two side clamps can be close to or away from each other; and, a linkage driving assembly, arranged between the seat plate and the clamping assembly, so that when the seat plate moves downward, the two side clamping plates approach each other to clamp the side of the patient's body; The rear side of the back plate is provided with a first track extending up and down; The rear end of the seat plate is provided with a bending arm extending in the up-down direction, and the bending arm is slidably installed on the first track in the up-down direction; The linkage drive assembly includes: a second track extending in the left-right direction and fixedly mounted on the upper end of the rear side of the backplane; Two sliding blocks, both of which are slidably installed on the second track along the left and right directions, the two sliding blocks are arranged at intervals along the left and right directions, and the two sliding blocks are respectively connected to the two side The rear end of the splint is fixedly attached; and, two first connecting rods, the upper ends of the two first connecting rods are hingedly mounted on the two sliding blocks respectively, and the lower ends of the two first connecting rods are hingedly mounted on the bending arms respectively; The self-preloading seat device further includes a locking structure, and the locking structure includes: The toothed plate is fixedly installed on the rear side of the back plate, and the upper surface of the toothed plate is provided with a plurality of clamping teeth arranged in sequence along the left and right directions; a locking lever, the upper end of the locking lever is movably installed on the back plate along the left-right direction, and the lower end of the locking lever can be selectively clamped to one of the locking teeth; and, a second connecting rod, the upper end of the second connecting rod is hingedly mounted to the middle part of one of the first connecting rods, and the lower end of the second connecting rod is hingedly mounted to the locking rod. 2 . The self-preloading seat device according to claim 1 , wherein the front end of the toothed plate is provided with a fixing plate extending in the up-down direction and in the left-right direction, and the fixing plate is provided with a left-right direction. 3 . an elongated slot extending toward; The locking structure further includes a pulley, the pulley is slidably installed into the elongated groove, and the middle part of the pulley is hinged with the upper end of the locking rod and the lower end of the second connecting rod. 3 . The self-preloading seat device according to claim 1 , wherein the lower end of the rear side surface of the locking rod is provided with a matching rod extending in the front-rear direction; 4 . The locking structure further includes an unlocking member, and the unlocking member includes: a support, fixedly mounted to the rear side of the back plate, and located below the tooth plate; and, The unlocking lever is mounted on the support in the middle position along the axis extending in the front-rear direction, and the end of the unlocking lever away from the seat plate swings downward, so that the end of the unlocking lever close to the seat plate swings upwards to The matching rod is jacked upward to drive the locking rod to lift up and separate from the corresponding locking teeth. 4 . The self-preloading seat device according to claim 3 , wherein the locking structure further comprises a limit block and a second spring, and the limit block extends up and down and is fixedly installed to the On the support, two ends of the second spring are respectively connected with the side end of the unlocking lever away from the seat plate and the upper end of the limiting block. 5 . The self-preloading seat device according to claim 1 , wherein the locking structure further comprises a first spring, and two ends of the first spring are respectively connected with the side ends of the toothed plate and the The lower ends of the locking rods are connected. 6 . The self-preloading seat device according to claim 1 , wherein there are two locking structures, and the two locking structures are respectively located on the left and right sides of the seat plate, and the two Each of the locking structures is oppositely arranged along the left and right directions. 7 . The self-preloading seat device according to claim 1 , wherein the rear end of the seat plate is provided with a bending arm extending in the up-down direction, and the bending arm is slidably installed to the position in the up-down direction. 8 . on the back panel; The self-pre-tightening seat device further includes two fixed support rods, the two fixed support rods are arranged on the bending arm at intervals along the left and right directions, and the side ends of the two fixed support rods away from each other are Equipped with ball hinges for articulation with outriggers. 8 . A pelvic auxiliary walking training mechanism, characterized in that it comprises the self-preloading seat device according to any one of claims 1 to 7 .

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