CN113827446A

CN113827446A - Lower limb bedside exercise rehabilitation device

Info

Publication number: CN113827446A
Application number: CN202111279023.7A
Authority: CN
Inventors: 潘飞羽; 王人成; 郝智秀; 杨孟辉; 冉明炎
Original assignee: Tsinghua University
Current assignee: Tsinghua University
Priority date: 2021-10-31
Filing date: 2021-10-31
Publication date: 2021-12-24
Anticipated expiration: 2041-10-31
Also published as: CN113827446B

Abstract

The utility model provides a recovered device of other motion of low limbs bed, includes: the lifting base comprises a base body and an upright post sleeved on the base body; the first driving assembly is arranged at the top end of the upright post; the telescopic arm comprises a rotating arm which is in switching connection with the first driving shaft and a moving body which is sleeved on the rotating arm and can move axially relative to the rotating arm; the second driving assembly is arranged at the tail end of the moving body; the training assembly comprises cranks fixedly sleeved at two ends of the second transmission shaft, a supine pedal which is detachably and pivotally connected with the cranks, and a side lying pedal which is detachably and pivotally connected with the cranks at any end of the second transmission shaft; each pedal is respectively connected with a shank support piece in a pivoting way; and a controller for controlling the movement of the two drive motors and combining the change in the mounting position of the training assembly and the second drive shaft to provide different lower limb training modes. The multifunctional rehabilitation exercise training device can realize multifunctional rehabilitation exercise training so as to meet different training requirements of patients.

Description

Lower limb bedside exercise rehabilitation device

Technical Field

The utility model belongs to the field of rehabilitation equipment, concretely relates to bedside lower limb rehabilitation device capable of performing multifunctional rehabilitation exercise training.

Background

With the development of advanced aging in China, the number of disabled, mentally disabled and cognitive-disorder elderly people is continuously increased. Most of them are accompanied by hemiplegia symptoms and lower limb movement disorder. Medical theory and clinical medicine prove that correct and scientific rehabilitation training plays an important role in recovering and improving limb movement functions of patients except for early surgical treatment and necessary drug treatment.

The traditional rehabilitation therapy of limb dysfunction mainly depends on one-to-one bare-handed training of therapists, the training cost is high, and the high-strength, targeted and repetitive rehabilitation training requirements are difficult to realize; in addition, under the condition of great care requirement for the old, the nursing staff in China is seriously lack at present, and due to the problems of lack of professional nursing staff, high medical cost, incapability of ensuring stable and continuous exercise training and the like, a lot of patients miss the optimal recovery time and gradually lose the mobility of limbs due to the incapability of obtaining effective rehabilitation training. Therefore, the pain is brought to the patient, and a great burden is caused to family and society. In order to solve the problems of shortage of professional nursing personnel and expensive medical cost, a rehabilitation exercise device needs to be safely, quantitatively and effectively supported by a new technology capable of performing repeated training, and accordingly the rehabilitation exercise device is produced. However, the training effect of the related rehabilitation device that can perform exercise training on the bed still remains to be improved.

Disclosure of Invention

The present disclosure is directed to solving one of the problems set forth above.

Therefore, the lower limb bedside exercise rehabilitation device which can realize multi-degree-of-freedom cooperative control and multi-functional rehabilitation exercise training and meet different training requirements of patients provided by the embodiment of the disclosure comprises:

the lifting base comprises a base body and an upright post sleeved on the base body;

the first driving assembly is arranged at the top end of the upright post and comprises a first driving motor, a first transmission gear and a first driving shaft which are connected;

the telescopic arm comprises a rotating arm sleeved at two ends of the first driving shaft and a moving body sleeved on the rotating arm and capable of axially moving relative to the rotating arm;

the second driving assembly is arranged at the tail end of the moving body and comprises a second driving motor and a second driving shaft which are connected;

the training assembly comprises cranks fixedly sleeved at two ends of the transmission shaft, a supine pedal detachably and pivotally connected with the cranks, and a lateral lying pedal detachably and pivotally connected with the cranks at any end of the transmission shaft; a crus support piece is respectively and pivotally connected to the supine pedal and the side lying pedal; and

a controller for controlling the movement of the first and second drive motors in combination with the change in the mounting position of the training assembly to the drive shaft to provide different lower limb training modes.

The lower limb bedside exercise rehabilitation device provided by the embodiment of the disclosure has the following characteristics and beneficial effects:

the other recovered device of motion of low limbs bed that this disclosed embodiment provided, through the state that the installation angle of the crank that connects the running-board is poor in the change training subassembly, the stroke cooperation of the first driving motor of the first driving subassembly of secondary control again with the second driving motor of second driving subassembly provides multiple low limbs training mode, solves the problem of current recovered training device function singleness in bed, satisfies the demand that the user accomplished multiple motion training in bed.

In some embodiments, the liftable base further comprises a roller disposed at the bottom of the base body.

In some embodiments, the first driving assembly further includes a first housing fixedly connected to the top end of the upright, a first transmission member is disposed between the first driving motor and the first driving shaft, the first driving motor and the first transmission member are located in the first housing, and a first encoder for detecting an angular displacement of the first driving motor is further disposed in the first housing; and a first speed reducer is arranged between the output end of the first driving motor and the input end of the first transmission piece, and the output end of the first transmission piece is connected with the first driving shaft.

In some embodiments, the second driving assembly further includes a second housing fixedly connected to a distal end of the moving body, a second transmission member is disposed between the second driving motor and the second driving shaft, the second driving motor and the second transmission member are located in the second housing, and a second encoder for detecting an angular displacement of the second driving motor is further disposed in the second housing; and a second speed reducer is arranged between the output end of the second driving motor and the input end of the second transmission piece, and the output end of the second transmission piece is connected with the second driving shaft.

In some embodiments, the transmission member includes an input gear and an output gear engaged with each other, the input gear is connected to the output end of the speed reducer or directly connected to the output end of the driving motor, and the output gear is fixedly sleeved on the driving shaft.

In some embodiments, the cranks at the two ends of the second drive shaft have a first fitting relationship and a second fitting relationship, the first fitting relationship being that the mounting angles of the cranks at the two ends of the second drive shaft differ by 0 °, and the second fitting relationship being that the mounting angles of the cranks at the two ends of the drive shaft differ by 180 °.

In some embodiments, spring pins are respectively arranged between the supine pedal and the crank, and between the side-lying pedal and the crank, and the supine pedal or the side-lying pedal is assembled and disassembled by pressing the spring pins, wherein the installation direction of the supine pedal is perpendicular to the installation direction of the side-lying pedal.

In some embodiments, the calf support comprises a leg support for bearing the weight of the calf, a leg support adjusting rod which is pivotally connected with the supine pedal or the side lying pedal, a leg support moving piece which is fixedly connected with the leg support and can move relative to the leg support adjusting rod, and a fastening bolt for fixing the position of the leg support moving piece relative to the leg support adjusting rod, wherein an angle limiting piece for limiting the rotation angle of the leg support adjusting rod is further arranged at the connection position of the supine pedal or the side lying pedal and the leg support adjusting rod; in the crus support part connected with the supine pedal, the leg support moving part is positioned at the inner side of the leg support; and in the shank support part connected with the side lying pedal, the leg support moving part is arranged at the bottom side of the leg support.

In some embodiments, auxiliary modules are respectively provided at positions where the calf support, the supine foot pedal and the side-lying foot pedal are in contact with the user, for performing auxiliary functions of heating, vibration, electrical stimulation and physiological parameter detection.

In some embodiments, the detected physiological parameter is fed back visually via a fixed display screen.

In some embodiments, the lower limb training mode comprises:

the step of treadmill movement, under the current mode, the difference of the installation angles of the cranks at the two ends of the second driving shaft is 180 degrees, the supine pedal plate rotates continuously and completely, and the rotating arm keeps still;

in a flexion and extension movement mode, in a current mode, the difference between the installation angles of the cranks at the two ends of the second driving shaft is 0 degrees, the supine pedal plate is controlled to swing in a reciprocating mode, and the rotating arm is controlled to swing in a coordinated mode, so that the track of the supine pedal plate is always a horizontal straight line;

in the leg lifting motion, in the current mode, the difference between the installation angles of the cranks at the two ends of the second driving shaft is 0 degrees, the rotation angle of the rotating arm is controlled, and meanwhile, the cranks at the two ends of the second driving shaft are controlled to be used as stroke compensation, so that the track of the supine pedal is always an arc taking a hip joint as a circle center; or the supine pedal at one end or two ends is detached, and the side lying pedal is installed, so that the track of the side lying pedal is always an arc with the hip joint as the center of a circle.

Drawings

Fig. 1 is a schematic overall structure diagram of a lower limb bedside exercise rehabilitation device provided in an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of the internal structure of the first driving assembly of FIG. 1;

FIG. 3 is a schematic diagram of the internal structure of the second driving assembly in FIG. 1;

FIG. 4 is a schematic structural view of the second driving assembly and the training assembly of FIG. 1;

FIG. 5 is a schematic view of the structure of the second crank of FIG. 3;

FIG. 6 is a schematic view of the overall structure of the lower limb bedside exercise rehabilitation device suitable for the side leg-lifting training in FIG. 1 after the foot pedal is replaced;

FIG. 7 is a schematic structural view of the lower leg support assembly of FIG. 1;

FIG. 8 is a layout diagram of the installation positions of the auxiliary function module and the physiological parameter monitoring module in FIG. 1;

fig. 9 is a control diagram of a cooperative motion process of the lower limb exercise rehabilitation device provided by the embodiment of the disclosure.

Fig. 10 is a state diagram of the lower limb exercise rehabilitation device of the example in which the mounting angles of the two cranks differ by 0 °.

In the figure:

1-a liftable base, 11-a base body, 12-an upright post and 13-a first fastening bolt; 2-a first drive assembly, 21-a first drive motor, 22-a first transfer gear, 221-a first input gear, 222-a first output gear, 23-a first drive shaft, 24-a first housing, 25-a first encoder, 26-a first reducer; 3-telescopic arm, 31-rotating arm, 32-moving body, 33-second fastening bolt; 4-a second drive assembly, 41-a second drive motor, 42-a second transmission gear, 421-a second input gear, 422-a second output gear, 43-a second drive shaft, 44-a second shell, 45-a second encoder, 46-a second reducer, 47-a deep groove ball bearing; 5-training component, 511-first crank, 512-second crank, 5121-locating pin hole, 5122-connecting shaft, 521-first pedal, 5211-mounting plate, 5212-shaft hole, 5213-angle limiting piece, 522-second pedal, 53-lateral lying pedal, 54-locating pin, 55-calf support, 551-leg support, 552-leg support adjusting rod, 5521-tooth-shaped structure, 553-leg support moving piece, 554-third fastening bolt; 6-a display screen; 7-foot auxiliary module, 71-heart rate monitoring module, 72-foot blood oxygen saturation monitoring module, 73, 74-foot electrical stimulation electrode, 75, 76-foot vibration module; 8-leg auxiliary module, 81-leg electrical stimulation electrode, 82-leg vibration module.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

On the contrary, this application is intended to cover any alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the application as defined by the appended claims. Furthermore, in the following detailed description of the present invention, certain specific details are set forth in order to provide a better understanding of the present application. It will be apparent to one skilled in the art that the present application may be practiced without these specific details.

As shown in fig. 1 to 4, a lower limb bedside exercise rehabilitation device according to an embodiment of the present disclosure includes:

the lifting base 1 is supported on the ground and comprises a base body 11 and an upright post 12 sleeved on the base body 11;

the first driving assembly 2 is arranged at the top end of the upright post 12 and comprises a first driving motor 21, a first transmission gear 22 and a first driving shaft 23 which are connected;

the telescopic arm 3 comprises a rotating arm 31 sleeved at two ends of the first driving shaft 23 and a moving body 32 sleeved on the rotating arm 31 and capable of moving axially relative to the rotating arm 31;

a second driving assembly 4 disposed at a distal end of the moving body 32, and including a second driving motor 41, a second transmission gear 42, and a second driving shaft 43 connected thereto;

a training unit 5, including a first crank 511 and a second crank 512 respectively fixed and sleeved on two ends of the second driving shaft 43, a first pedal 521 and a second pedal 522 (the first pedal and the second pedal are used as supine pedals for training lower limbs when the user is supine) respectively detachably and pivotally connected with the first crank 511 and the second crank 512, and a side lying pedal 53 (the side lying pedal is used for training lower limbs when the user is lying on side) detachably and pivotally connected with the first crank 511 or the second crank 512; a calf support 55 is pivotally connected to the first foot pedal 521, the second foot pedal 522 and the side-lying foot pedal 53, respectively; and

a controller (not shown) for controlling the movement of the first drive motor 21 and the second drive motor 41 and combining the change in the mounting position of the training assembly 5 and the second drive shaft 43 to provide different lower limb training modes.

In some embodiments, the liftable base 1 further comprises rollers 13 disposed at the bottom of the base body 11, and the base body 11 can be conveniently moved by the rollers 13. The base body 11 is laterally provided with a first fastening bolt 14, and the upright post 12 is adjustable in height relative to the base body 11 and is fixed in position by the first fastening bolt 14.

In some embodiments, referring to fig. 2, the first driving assembly 2 further includes a first housing 24 fixedly connected to the top end of the upright 12, the first driving motor 21 and the first transmission gear 22 are both installed in the first housing 24, and a first encoder 25 for detecting an angular displacement of the first driving motor 21 is further disposed in the first housing 24. A first speed reducer 26 with a large reduction ratio is further provided between the output end of the first drive motor 21 and the input end of the first transmission gear 22, for reducing the rotation speed of the motor output shaft. The first transmission gear 22 includes a first input gear 221 and a first output gear 222 which are engaged with each other, the first input gear 221 is connected with the output end of the first speed reducer 26 or directly connected with the output end of the first driving motor 21, the first output gear 222 is fixedly sleeved on the first driving shaft 23, and the rotating speed of the first driving motor 21 is finally transmitted to the first driving shaft 23 through the first transmission gear 22 so as to drive the telescopic arm 3 to move.

In some embodiments, one end of the rotating arm 31 of the telescopic arm 3 is fixedly connected to both ends of the first driving shaft 23, and can rotate around the axis of the first driving shaft 23. The moving body 32 of the telescopic arm 3 is adjustable in stroke relative to the rotating arm 31 and is fixed by a second fastening bolt 33 attached to a side surface of the rotating arm 31. The vertical adjustment of the upright post 12 can accurately adjust the movable components in the rehabilitation device to the position which is most suitable for the rehabilitation training of the user before use.

In some embodiments, referring to fig. 3 and 4, the second driving assembly 4 further includes a second housing 44 fixedly connected to the end of the moving body 32, the second driving motor 41 and the second transmission gear 42 are both installed in the second housing 44, and a second encoder 45 for detecting an angular displacement of the second driving motor 41 is further disposed in the second housing 44. A second speed reducer 46 with a large reduction ratio is further arranged between the output end of the second driving motor 41 and the input end of the second transmission gear 42, and is used for reducing the rotating speed of the output shaft of the motor. The second transmission gear 42 comprises a second input gear 421 and a second output gear 422 which are meshed with each other, the second input gear 421 is connected with the output end of the second speed reducer 46 or directly connected with the output end of the second driving motor 41, the second output gear 422 is fixedly sleeved on the second driving shaft 43, and the rotating speed of the second driving motor 41 is finally transmitted to the second driving shaft 43 through the second transmission gear 42 so as to drive the training assembly 5 to move.

In some embodiments, the second drive shaft 43 is disposed through the second housing 44 and relative rotation is maintained between the second drive shaft 43 and the second housing 44 via a deep groove ball bearing 47 at the junction of the second drive shaft 43 and the second housing 44. The first crank 511 and the second crank 512 on both sides of the second driving shaft 43 are respectively and fixedly connected with the second driving shaft 43 in a pin-and-hole matching manner. Taking the connection between the second crank 512 and the second driving shaft 43 as an example, referring to fig. 4 and 5, a through positioning pin hole 5121 is respectively formed on one side of the second driving shaft 43 and one end of the second crank 512, the second driving shaft 43 and the second crank 512 are sleeved, the positioning pin holes of the two are aligned, and then the positioning pin 54 is inserted to fixedly connect the second driving shaft 43 and the second crank 512; the other end of the second crank 512 is provided with a connecting shaft 5122 for pivotally connecting with the shaft hole of the second pedal 522 through a bearing. Further, a spring pin 56 is provided between the second pedal 522 and the connecting shaft 5122, and the spring pin 56 can be pressed to realize quick assembly and disassembly of the two. The second driving shaft 43 and the positioning pin hole 5121 of the second crank 512 have two different relative matching positions, so that the first crank 511 and the second crank 512 have two relative position states, namely the installation angles with a difference of 0 degree and 180 degrees respectively; when the difference between the installation angles is 0 ° (at this time, the first crank 511 and the second crank 512 are symmetrically arranged about the center of the second driving shaft 43), the second driving motor 41 is controlled by the controller to drive the first crank 511 and the second crank 512 to swing back and forth within a certain angle range, so that the user can perform the leg bending and stretching movement in the supine position; when the difference between the installation angles is 180 ° (in this case, the first crank 511 and the second crank 512 are disposed in an antisymmetrical manner with respect to the center of the second driving shaft 43), the second driving motor 41 is controlled by the controller to drive the first crank 511 and the second crank 512 to perform a full-circle exercise, so that the user can perform a treadmill exercise in the supine position.

In some embodiments, referring to fig. 6, when the user changes from the supine position to the lateral position, the first pedal 521 and the second pedal 522 are removed from the first crank 511 and the second crank 512, the lateral pedal 53 is mounted on the connecting shaft of the first crank 511 or the second crank 512, and the lateral pedal 53 assists the leg-raising movement. The side-lying pedal plate 53 is different from the first pedal plate 521 and the second pedal plate 522 in that the end (the end near the first crank or the second crank) of the side-lying pedal plate 53 is provided with a shaft hole matched with the first crank 511 or the second crank 512, the shaft hole has an axis along the toe pointing direction, and the corresponding shaft holes of the first pedal plate 521 and the second pedal plate 522 are arranged on the side of the pedal, and the axis is perpendicular to the toe pointing direction. The side lying footrest also has the feature that a symmetrical design is used, both the left and right sides having a structure connected to the calf support 55, so that it is suitable for side lying exercises of both the left and right legs. Taking the left leg of the user in a side-lifting motion state as an example, the shaft hole at the end of the side-lying foot pedal 53 and the connecting shaft of the second crank 512 are installed in a matching way through a bearing.

In some embodiments, referring to FIG. 7, the calf support 55 includes a leg rest 551 for receiving the weight of the user's calf, a leg rest adjustment lever 552 pivotally connected to each footboard, a leg rest moving member 553 fixedly connected to the leg rest 551 and movable relative to the leg rest adjustment lever 552, and a third tightening bolt 554 for fixing the position of the leg rest moving member 553 relative to the leg rest adjustment lever 552. When the calf support 55 is mounted on the first pedal 521 or the second pedal 522, the leg rest moving member 553 is mounted on a side mounting position of the leg rest 551 (i.e., a side close to the crank), and when the calf support 55 is mounted on the side-lying pedal 53, the leg rest moving member 553 is mounted on a bottom mounting position of the leg rest, which are respectively suitable for the position requirements of the user for exercising in the supine position and the side-lying position (see fig. 1 and 6). Further, each foot pedal is provided with an angle limiting member, and now, taking the first foot pedal 521 as an example for description, referring to fig. 3, an installation plate 5211 is provided inside the first foot pedal 521, a shaft hole 5212 for connecting the leg rest adjusting rod 552 and an angle limiting member 5213 for limiting the rotation angle of the leg rest adjusting rod 552 are provided inside the installation plate 5211, respectively, and the end of the leg rest adjusting rod 552 is matched with the angle limiting member 5213, so that the damage to the user due to the abnormal angle between the two components under the action of the gravity of the lower leg can be prevented. Referring to fig. 7, the rod end of the leg rest adjusting rod 552 has a toothed structure 5521 for adjusting the position of the lower leg moving member 553 sleeved thereon to adapt to users with different heights, and the position between the two is fixed by a third fastening bolt 554. The leg rest 551 is shaped to match the shape of the user's leg to support the user's lower leg.

In some embodiments, a foot auxiliary module 7 and a leg auxiliary module 8 are respectively arranged at the positions where the leg rest 551 and the foot pedals are contacted with the user for realizing the auxiliary functions of heating, vibration and electrical stimulation, the foot pedals are provided with a monitoring module for performing blood oxygen and heart rate in addition to the auxiliary functions of heating, vibration and electrical stimulation, the installation positions of the functional modules are shown in fig. 8, (a) and (b) show the layout of the foot auxiliary module 7 on the first foot pedal 521 and the second foot pedal 522 and the leg auxiliary module 8 on the leg rest 551, wherein the heart rate monitoring module 71 is arranged on the first foot pedal 521 below the first transverse artery of the foot; a foot blood oxygen saturation monitoring module 72 is arranged outside the sole region on the first pedal 521; foot electrostimulation electrodes 73, 74 are provided on the first foot plate 521 at the inner side of the sole area, and a leg electrostimulation electrode 81 is provided on the leg rest 551 at the inner side of the lower leg; foot vibration modules 75, 76 are provided on the first foot plate 521 at the outer side of the ball region of the foot, and a leg vibration module 82 is provided on the leg rest 551 at the outer side of the calf. The rest parts of the pedal and the leg support are heating areas, the flexible heating pad can be laid at the pedal and the leg support, and the heating material can be a graphene heating film or other materials. The layout of the auxiliary module and the physiological parameter monitoring module only provides one scheme in the disclosure, and the layout can be changed according to actual conditions. The heart rate and the blood oxygen are monitored in real time in the training process, the safety of the training process can be improved, and the value of the heart rate and the blood oxygen plays an important role in giving a next rehabilitation prescription for a user. The auxiliary functions of heating, vibration, electrical stimulation can be used alone or in combination with the training assembly 5 during lower limb training, depending on the patient's condition or the rehabilitation prescription given by the physician, which can further improve the healing effect.

In some embodiments, the controller is used as a control component of the rehabilitation device and controls the relevant components to perform coordinated movement. Specifically, referring to fig. 9, the controller controls the first driving motor 21 of the first driving assembly 2 and the driving motor 41 of the second driving assembly 4, and combines two relative installation positions between the first crank 511 and the second driving shaft 43, so that the bedside lower limb rehabilitation device of the present disclosure has the following three movement modes:

1. the treadmill exercise: the difference between the installation angles of the first crank 511 and the second crank 512 is 180 °, as shown in fig. 3, the second driving motor 41 drives the second driving shaft 43, so that the first pedal 521 and the second pedal 522 rotate continuously and circularly, and the rotating arm 31 remains stationary at this time;

2. bending and stretching: the difference between the installation angles of the first crank 511 and the second crank 512 is 0 °, as shown in fig. 10, the cranks on both sides swing back and forth (the swing range is controlled to be 0 ° to 180 °), and at the same time, the controller controls the first driving motor to start, and the rotating arm 31 swings in coordination, so that the track of the end of the lower limb (i.e. the supine pedal) of the user is always a horizontal straight line.

3. Leg lifting movement: the difference between the installation angles of the first crank 511 and the second crank 512 is 0 °, as shown in fig. 10, the controller controls the first driving motor to start, the rotating arm 31 to swing, and the cranks on both sides to compensate for the stroke, so that the trajectory of the end of the lower limb (i.e. the supine pedal) of the user is always an arc with the hip joint as the center of circle. In addition, the supine pedal at one end or both ends can be detached, and the lateral-lying pedal 53 can be replaced, so that the track of the tail end of the lower limb (namely, the lateral-lying pedal) of the user is always an arc with the hip joint as the center of a circle, and the user can carry out lateral leg lifting movement.

The treadmill movement in the movement mode 1 and the flexion-extension leg lifting movement simulated in the

movement modes

2 and 3 can meet the requirements of a user on finishing various exercise training in bed, maintain and improve the joint mobility of the lower limbs, exercise the muscle strength and coordination of the lower limbs, reduce the labor intensity of nursing staff and reduce the generation of complications of disabled and semi-disabled old people. In addition, the training resistance can be adjusted by controlling the first driving motor 21 of the first driving assembly 2 and the second driving motor 41 of the second driving assembly 4, so that the user can complete active, passive and power-assisted training.

In some embodiments, the rehabilitation device provided by the embodiment of the present disclosure is further equipped with a health data monitoring system, and performs visual information feedback through the display screen 6 installed at the top end of the first driving assembly 2, so as to realize human-computer interaction between the device and the user.

To sum up, the lower limb bedside exercise rehabilitation device provided by the embodiment of the disclosure can realize three exercise forms including treadmill exercise when the installation angle differs by 180 ° and stretching and leg exercise when the installation angle differs by 0 ° by changing the stroke coordination of the first driving motor 21 of the first driving assembly 2 and the second driving motor 41 of the second driving assembly 4 by changing the installation angle difference of the cranks connected to the pedals in the training assemblies, and can also realize the exercise form of leg lifting on one side by changing the supine pedal to the lateral pedal, and can achieve the purpose of active, passive and assisted exercise by adjusting the training resistance, thereby solving the problem of single function of the existing bed rehabilitation training device and meeting the requirement of a user for completing various exercise training on the bed; the leg support and the pedal of the device also have the auxiliary functions of heating, electrical stimulation and vibration to assist in improving the rehabilitation training effect; the pedal plate is also provided with a physiological monitoring module for monitoring the heart rate and the blood oxygen saturation of a user, so that the safety of the training process is improved, the monitored data can be fed back through the display screen, and the man-machine interaction function of the device is enhanced. Therefore, the lower limb bedside exercise rehabilitation device provided by the embodiment of the disclosure can maintain and improve the activity degree of the lower limb joints, exercise the muscle strength and coordination of the lower limbs, reduce the labor intensity of nursing personnel and reduce the occurrence of complications of disabled and semi-disabled elderly people.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present disclosure have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the disclosure, the scope of which is defined by the claims and their equivalents.

Claims

1. A lower limb bedside exercise rehabilitation device, comprising:

the first driving assembly is arranged at the top end of the upright post and comprises a first driving motor and a first driving shaft which are connected;

the training assembly comprises cranks fixedly sleeved at two ends of the second transmission shaft, a supine pedal detachably and pivotally connected with the cranks, and a side lying pedal detachably and pivotally connected with the cranks at any end of the second transmission shaft; a crus support piece is respectively and pivotally connected to the supine pedal and the side lying pedal; and

a controller for controlling the movement of the first drive motor and the second drive motor in combination with the change in the mounting position of the training assembly and the second drive shaft to provide different lower limb training modes.

2. The lower limb bedside exercise rehabilitation device of claim 1, wherein the liftable base further comprises rollers disposed at the bottom of the base body.

3. The lower limb bedside exercise rehabilitation device of claim 1, wherein the first driving assembly further comprises a first housing fixedly connected to the top end of the upright, a first transmission member is disposed between the first driving motor and the first driving shaft, the first driving motor and the first transmission member are located in the first housing, and a first encoder for detecting an angular displacement of the first driving motor is further disposed in the first housing; a first speed reducer is arranged between the output end of the first driving motor and the input end of the first transmission piece, and the output end of the first transmission piece is connected with the first driving shaft;

the second driving assembly further comprises a second shell fixedly connected with the tail end of the moving body, a second transmission piece is arranged between the second driving motor and the second driving shaft, the second driving motor and the second transmission piece are located in the second shell, and a second encoder used for detecting the angular displacement of the second driving motor is further arranged in the second shell; and a second speed reducer is arranged between the output end of the second driving motor and the input end of the second transmission piece, and the output end of the second transmission piece is connected with the second driving shaft.

4. The lower limb bedside exercise rehabilitation device of claim 3, wherein the first transmission member comprises a first input gear and a first output gear which are engaged with each other, the first input gear is connected with the output end of the first speed reducer or directly connected with the output end of the first driving motor, and the first output gear is fixedly sleeved on the first driving shaft;

the second transmission part comprises a second input gear and a second output gear which are meshed with each other, the second input gear is connected with the output end of the second speed reducer or directly connected with the output end of the second driving motor, and the second output gear is fixedly sleeved on the second driving shaft.

5. The lower limb bedside exercise rehabilitation device of claim 1, wherein the cranks at the two ends of the second drive shaft have a first fitting relationship and a second fitting relationship, the first fitting relationship being that the mounting angles of the cranks at the two ends of the second drive shaft differ by 0 °, and the second fitting relationship being that the mounting angles of the cranks at the two ends of the second drive shaft differ by 180 °.

6. The lower limb bedside exercise rehabilitation device according to claim 1, wherein spring pins are respectively disposed between the supine pedal and the crank, and between the lateral pedal and the crank, and the supine pedal or the lateral pedal is attached and detached by pressing the spring pins, and the attachment direction of the supine pedal is perpendicular to the attachment direction of the lateral pedal.

7. The lower limb bedside exercise rehabilitation device of claim 1, wherein the calf support comprises a leg support for bearing the weight of the calf, a leg support adjusting rod pivotally connected with the supine pedal or the lateral pedal, a leg support moving member fixedly connected with the leg support and capable of moving relative to the leg support adjusting rod, and a fastening bolt for fixing the position of the leg support moving member relative to the leg support adjusting rod, and an angle limiting member for limiting the rotation angle of the leg support adjusting rod is further arranged at the connection position of the supine pedal or the lateral pedal and the leg support adjusting rod; in the crus support part connected with the supine pedal, the leg support moving part is positioned at the inner side of the leg support; and in the shank support part connected with the side lying pedal, the leg support moving part is arranged at the bottom side of the leg support.

8. The lower limb bedside exercise rehabilitation device according to any one of claims 1 to 7, wherein auxiliary modules are respectively provided at positions where the lower leg support, the supine foot pedal and the lateral foot pedal are in contact with a user, for realizing auxiliary functions of heating, vibration, electrical stimulation and physiological parameter detection.

9. The lower limb bedside exercise rehabilitation device of claim 8, wherein the detected physiological parameters are fed back visually through a fixed display screen.

10. The lower limb bedside exercise rehabilitation device of any of claims 1-7, wherein the lower limb training mode comprises:

in a flexion and extension movement mode, in a current mode, the difference between the installation angles of the cranks at the two ends of the second driving shaft is 0 degrees, the supine pedal swings in a reciprocating mode, and the rotating arm is controlled to swing in a coordinated mode, so that the track of the supine pedal is always a horizontal straight line;