CN114010455B

CN114010455B - Upper and lower limb movement rehabilitation bed

Info

Publication number: CN114010455B
Application number: CN202111279034.5A
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: 2022-11-29
Anticipated expiration: 2041-10-31
Also published as: CN114010455A

Abstract

The upper and lower limbs motion rehabilitation bed that this disclosure provided includes: a bed body; the first rotary telescopic component and the second rotary telescopic component are respectively hinged with the bed body; the first driving assembly is connected with the first rotary telescopic assembly; the second driving assembly is connected with the second rotary telescopic assembly; the training assembly comprises lower limb cranks fixedly sleeved at two ends of the first transmission shaft, supine pedals detachably and pivotally connected with the lower limb cranks, side-lying pedals detachably and pivotally connected with the lower limb cranks at any end of the first transmission shaft, upper limb cranks fixedly sleeved at two ends of the second transmission shaft, and handles detachably and pivotally connected with the upper limb cranks; the electric push rod is fixedly connected with the bed body and the first rotary telescopic component; and a controller for controlling the movement of the electric push rod and each drive motor, and combining the change of the mounting position of the training assembly and each drive shaft to provide different upper and 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

Upper and lower limb movement rehabilitation bed

Technical Field

The utility model belongs to the field of rehabilitation equipment, concretely relates to upper and lower limb movement rehabilitation bed 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 upper and lower limb movement disorders. 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 rehabilitation training requirements of high strength, pertinence and repeatability 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. Thus not only bringing pain to patients, but also bringing great burden to families and society. In order to solve the problems of shortage of professional nursing personnel and expensive medical cost, a rehabilitation training device needs to be safely, quantitatively and effectively supported by a new technology capable of performing repeated training. However, the training effect of the related rehabilitation device that can perform exercise training on 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 upper and lower limb exercise rehabilitation bed provided by the embodiment of the disclosure, which can realize multi-degree-of-freedom cooperative control and multi-functional rehabilitation exercise training to meet different training requirements of patients, comprises:

the bed body comprises a bed frame, and a movable mattress and a fixed mattress which are arranged on the bed frame and are mutually hinged;

the first rotary telescopic assembly is hinged with one end of the bed frame;

the first driving assembly is arranged at the other end of the first rotary telescopic assembly and comprises a first driving motor and a first driving shaft which are connected;

a second rotary telescopic component, one end of which is hinged with the bedstead;

the second driving assembly is arranged at the other end of the second rotary telescopic assembly and comprises a second driving motor and a second driving shaft which are connected;

the training assembly comprises lower limb cranks fixedly sleeved at two ends of the first transmission shaft, a supine pedal detachably and pivotally connected with the lower limb cranks, a lateral lying pedal detachably and pivotally connected with the lower limb cranks at any end of the first transmission shaft, upper limb cranks fixedly sleeved at two ends of the second transmission shaft, and handles detachably and pivotally connected with the upper limb cranks;

the two ends of the electric push rod are respectively and fixedly arranged on the bottom side of the bedstead and one end of the first rotary telescopic component; and

a controller for controlling the movement of the electric putter, the first drive motor and the second drive motor in combination with the variation of the mounting positions of the training assembly and the first drive shaft and the second drive shaft to provide different upper and lower limb training modes.

The rehabilitation bed for upper and lower limb movement provided by the embodiment of the disclosure has the following characteristics and beneficial effects:

the upper and lower limb exercise rehabilitation bed provided by the embodiment of the disclosure changes the installation positions of the training component and the driving shaft by controlling the rotating motion of the rotating arm, the pedal circular motion and the arm whole-cycle motion, and selectively performs four-limb linkage control, provides multiple upper and lower limb training modes, solves the problem of single function of the existing on-bed rehabilitation training device, and meets the requirement of a user for completing multiple exercise training on the bed.

In some embodiments, the movable mattress has a collapsed state and a flat state; when the movable mattress is in a tiled state, the first rotating arm telescopic assembly, the first driving assembly, the second rotating arm telescopic assembly, the second driving assembly and the training assembly are recovered to the lower parts of the movable mattress and the fixed mattress.

In some embodiments, the first driving assembly further includes a first housing fixedly connected to the other end of the first rotary telescopic assembly, 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 the other end of the second rotary telescopic assembly, 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 lower limb cranks at the two ends of the first drive shaft have a first assembly relationship and a second assembly relationship, the first assembly relationship being that the mounting angles of the lower limb cranks at the two ends of the first drive shaft are different by 0 ° and the second assembly relationship being that the mounting angles of the lower limb cranks at the two ends of the first drive shaft are different by 180 °.

In some embodiments, the upper limb cranks at both ends of the second drive shaft have a third fitting relationship and a fourth fitting relationship, the third fitting relationship being that the mounting angles of the upper limb cranks at both ends of the second drive shaft are different by 0 °, and the fourth fitting relationship being that the mounting angles of the upper limb cranks at both ends of the second drive shaft are different by 180 °.

In some embodiments, spring pins are respectively arranged between the supine pedal and the lower limb crank, and between the side lying pedal and the lower limb 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, an auxiliary module is respectively arranged at the position where the supine pedal and the side lying pedal are contacted with the user, and is used for realizing auxiliary functions of heating, vibration, electric 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 treadmill moves, in the current mode, the difference of the installation angles of the lower limb cranks at the two ends of the first driving shaft is 180 degrees, the supine pedal performs continuous complete rotation, and the first rotating assembly is kept still;

in a bending and stretching motion, in a current mode, the difference between the installation angles of the lower limb cranks at the two ends of the first driving shaft is 0 degrees, the supine pedal swings in a reciprocating mode, and the electric push rod is controlled to drive the first rotating assembly to rotate in a coordinated mode, so that the track of the supine pedal is always a horizontal straight line;

in the leg lifting movement, in the current mode, the difference between the installation angles of the lower limb cranks at the two ends of the first driving shaft is 0 degrees, the stroke of the electric push rod is controlled to adjust the rotation angle of the first rotary telescopic assembly, and the lower limb cranks at the two ends of the first 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;

the upper limb training mode comprises the following steps:

the arms move in a complete circle, in the current mode, the installation angles of the upper limb cranks at the two ends of the second driving shaft are different by 180 degrees, and the handles at the two ends of the second driving shaft rotate continuously in a complete circle;

and (3) bending and stretching the lifting arm to move, wherein in the current mode, the difference between the installation angles of the upper limb cranks at the two ends of the second driving shaft is 0 degree, and the handles at the two ends of the second driving shaft swing in a reciprocating manner.

Drawings

Fig. 1 is a schematic overall structure diagram of an upper and lower limb exercise rehabilitation bed provided by an embodiment of the present disclosure;

FIG. 2 (a) and (b) are schematic structural diagrams of the first driving assembly, the second driving assembly and the training assembly in FIG. 1, respectively;

fig. 3 (a) and (b) are schematic internal structural diagrams of the first driving assembly and the second driving assembly in fig. 1, respectively;

FIG. 4 is a schematic view of the second crank and the fourth crank of FIG. 2;

FIG. 5 is a schematic view of the overall structure of the upper and lower limb exercise rehabilitation bed suitable for leg raising training after the foot pedal is removed and replaced in FIG. 1;

FIG. 6 is a layout diagram of the installation positions of the auxiliary function module and the physiological parameter monitoring module in FIG. 1;

FIG. 7 is a control schematic diagram of the cooperative movement process of the upper and lower limb movement rehabilitation bed provided by the embodiment of the disclosure;

FIG. 8 is a view of the lower limb exercise rehabilitation bed provided in the example of the present disclosure in a state where the two crank mounting angles differ by 0 °;

fig. 9 is a schematic view of the overall structure of the upper and lower limb exercise rehabilitation bed provided by the embodiment of the disclosure, which is used for retracting the driving assembly and the training assembly to the bottom of the bed.

In the figure:

1-bed body, 11-bed frame, 12-movable mattress and 13-fixed mattress; 2-a first rotating telescopic assembly; 3-a first drive assembly, 31-a first drive motor, 32-a first transmission gear, 321-a first input gear, 322-a first output gear, 33-a first drive shaft, 34-a first housing, 35-a first encoder, 36-a first reducer, 37-a first deep groove ball bearing; 4-a second rotating telescopic assembly; 5-a second drive assembly, 51-a second drive motor, 52-a second drive gear, 521-a second input gear, 522-a second output gear, 53-a second drive shaft, 54-a second housing, 55-a second encoder, 56-a second reducer, 57-a second deep groove ball bearing; 6-training component, 611-first crank, 612-second crank, 6121-locating pin hole, 6122-connecting shaft, 621-first pedal, 622-second pedal, 63-side lying pedal, 64-first locating pin, 65-spring pin, 661-first handle, 662-second handle, 671-third crank, 672-third crank, 68-second locating pin; 7-an electric push rod; 8-a display screen; the system comprises a foot assisting module 9, a heart rate monitoring module 91, a foot blood oxygen saturation monitoring module 92, foot

electrical stimulation electrodes

93 and 94, and a

foot vibrating module

95 and 96.

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 and not restrictive on the broad 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 and 2, an upper and lower limb exercise rehabilitation bed according to an embodiment of the present disclosure includes:

the bed body 1 is placed on the ground and comprises a bed frame 11, a movable mattress 12 and a fixed mattress 13 which are placed on the bed frame 11, wherein the movable mattress 12 and the fixed mattress 13 are hinged with each other;

the first rotary telescopic component 2, the first rotary telescopic component 2 includes the first pole group that is hinged or muff-coupled each other, one end of the first rotary component 2 is hinged with bedstead 11;

the first driving assembly 3 is arranged at the other end of the first rotary telescopic assembly 2 and comprises a first driving motor 31, a first transmission gear 32 and a first driving shaft 33 which are connected;

the second rotary telescopic assembly 4, the second rotary telescopic assembly 4 includes the second rod group articulated or muff-coupled each other, one end of the second rotary assembly 4 is articulated with bedstead 11;

the second driving assembly 5 is arranged at the other end of the second rotary telescopic assembly 4 and comprises a second driving motor 51, a second transmission gear 52 and a second driving shaft 53 which are connected;

a training unit 6 including a first crank 611 and a second crank 612 fixedly fitted to both ends of the first driving shaft 33, respectively (the first crank and the second crank are lower limb cranks), a first foot pedal 621 and a second foot pedal 622 (the first foot pedal and the second foot pedal are supine foot pedals for performing lower limb training when the user is supine), respectively, detachably and pivotably connected to the first crank 611 and the second crank 612, a side-lying foot pedal 63 (the side-lying foot pedals for performing lower limb training when the user is lying on side), detachably and pivotably connected to the first crank 611 or the second crank 612, respectively, a third crank 671 and a fourth crank 672 fixedly fitted to both ends of the second driving shaft 53, respectively (the third crank and the fourth crank are upper limb cranks), and a first handle 661 and a second handle 662 detachably and pivotably connected to the third crank 671 and the fourth crank 672, respectively, for upper limb training;

two ends of the electric push rod 7 are respectively and fixedly arranged on the bottom side of the bedstead 11 and the end part of the first rotary telescopic component 2; and

a controller (not shown) for controlling the movement of the electric push rod 7, the first drive motor 31 and the second drive motor 51, and combining the change of the mounting positions of the training assembly 4 and the first and

second drive shafts

33, 53 to provide different upper and lower limb training modes.

In some embodiments, movable mattress 12 may be manually rotated to fold relative to fixed mattress 13 to accommodate both the user's training and bed rest periods. Specifically, when the rehabilitation training is not carried out, the first rotary telescopic assembly 2, the first driving assembly 3, the second rotary telescopic assembly 4, the second driving assembly 5 and the training assembly 6 are retracted to the position below the mattress, and the movable mattress 12 is unfolded to form a flat mattress together with the fixed mattress 13, so that the user can rest in bed; when carrying out the rehabilitation training, will manual upset activity mattress 12, make activity mattress 12 be in fold condition to stretch first rotatory flexible subassembly 2, first drive assembly 3, the rotatory flexible subassembly 4 of second, second drive assembly 5 and training subassembly 6 suitable position to the mattress top, supply the user to carry out upper and lower limbs rehabilitation training.

In some embodiments, the rotation angle or the stroke of the first rod set of the first rotary telescopic assembly 2 connected with each other can be manually adjusted, the rotation angle or the stroke of the second rod set of the second rotary telescopic assembly 4 connected with each other can be manually adjusted through the fastening bolt fixing position, and the movable part in the rehabilitation bed can be accurately adjusted to the position most suitable for the rehabilitation training of the user before the use through the fastening bolt fixing position and the multi-degree-of-freedom adjustment. The first rotary telescopic assembly 2 is driven by the electric push rod 7 and can rotate around the hinged position of the bed frame 11.

In some embodiments, referring to fig. 2 (a) and 3 (a), the first driving assembly 3 further includes a first housing 34 fixedly connected to the other end of the first rotary telescopic assembly 2, the first driving motor 31 and the first transmission gear 32 are both installed in the first housing 34, and a first encoder 35 for detecting an angular displacement of the first driving motor 31 is further disposed in the first housing 34. A first speed reducer 36 with a large reduction ratio is further provided between the output end of the first driving motor 31 and the input end of the first transmission gear 32, for reducing the rotation speed of the motor output shaft. The first transmission gear 32 includes a first input gear 321 and a first output gear 322 which are engaged with each other, the first input gear 321 is connected with the output end of the first speed reducer 36 or directly connected with the output end of the first driving motor 31, the first output gear 322 is fixedly sleeved on the first driving shaft 33, and the rotating speed of the first driving motor 31 is finally transmitted to the first driving shaft 33 through the first transmission gear 32 so as to drive the training assembly 6 to move.

In some embodiments, referring to fig. 2 (b) and fig. 3 (b), the second driving assembly 5 further includes a second housing 54 fixedly connected to the other end of the second rotary telescopic assembly 4, the second driving motor 51 and the second transmission gear 52 are both installed in the second housing 54, and a second encoder 55 for detecting an angular displacement of the second driving motor 51 is further disposed in the second housing 54. A second speed reducer 56 with a large reduction ratio is further provided between the output end of the second drive motor 51 and the input end of the second transmission gear 52, for reducing the rotational speed of the motor output shaft. The second transmission gear 52 comprises a second input gear 521 and a second output gear 522 which are meshed with each other, the second input gear 521 is connected with the output end of the second speed reducer 56 or directly connected with the output end of the second driving motor 51, the second output gear 522 is fixedly sleeved on the second driving shaft 53, and the rotating speed of the second driving motor 51 is finally transmitted to the second driving shaft 53 through the second transmission gear 52 so as to drive the training assembly 6 to move.

In some embodiments, the first drive shaft 33 is disposed through the first housing 34 and relative rotation is maintained between the first drive shaft 33 and the first housing 34 via a first deep groove ball bearing 37 at the connection of the first drive shaft 33 and the first housing 34. The first crank 611 and the second crank 612 on both sides of the first driving shaft 33 are respectively and fixedly connected with the first driving shaft 33 in a pin-and-hole matching manner. Taking the connection between the second crank 612 and the first driving shaft 33 as an example, referring to fig. 2 and 4, a through positioning pin hole 6121 is respectively disposed on one side of the first driving shaft 33 and one end of the second crank 612, the first driving shaft 33 and the second crank 612 are sleeved and then the positioning pin holes thereof are aligned, and then the first positioning pin 64 is inserted to fixedly connect the first driving shaft 33 and the second crank 612; the other end of the second crank 612 is provided with a connecting shaft 6122 for pivotally connecting with the shaft hole of the second pedal 622 through a bearing. Further, a spring pin 66 is disposed between the second pedal 622 and the connecting shaft 6122, and the spring pin 66 is pressed to achieve quick assembly and disassembly of the two. The positioning pin holes 6121 of the first driving shaft 33 and the second crank 612 have two different relative matching positions, so that the first crank 611 and the second crank 612 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 611 and the second crank 612 are symmetrically arranged about the center of the first driving shaft 33), the controller controls the first driving motor 31 to drive the first crank 611 and the second crank 612 to swing back and forth within a certain angle range, so that the user can perform a leg bending and stretching exercise in the supine position; when the installation angles are different by 180 ° (in this case, the first crank 611 and the second crank 612 are disposed antisymmetrically with respect to the center of the first driving shaft 33), the first driving motor 31 is controlled by the controller to drive the first crank 611 and the second crank 612 to complete a full circle movement, so that the user can perform a treadmill exercise in the supine position.

In some embodiments, the second drive shaft 53 is disposed through the second housing 54 and relative rotation between the second drive shaft 53 and the second housing 54 is maintained at the junction of the second drive shaft 53 and the second housing 54 via a second deep groove ball bearing 57. The third crank 671 and the fourth crank 672 on both sides of the second driving shaft 53 are respectively fixedly connected with the second driving shaft 53 in a pin-and-hole matching manner. Referring to fig. 3 and 4, a through positioning pin hole 6721 is respectively formed on one side of the second driving shaft 53 and one end of the fourth crank 672, the second driving shaft 53 and the fourth crank 672 are sleeved, the positioning pin holes of the second driving shaft 53 and the fourth crank 672 are aligned, and then the second positioning pin 68 is inserted to fixedly connect the second driving shaft 53 and the fourth crank 672; the other end of the second crank 672 is pivotally connected to the axle hole of the second handle 662. The positioning pin holes 6721 of the second driving shaft 53 and the fourth crank 672 have two different relative matching positions, so that the third crank 671 and the fourth crank 672 can have two relative position states, namely the installation angles are different by 0 degrees and 180 degrees respectively; when the difference between the installation angles is 0 ° (at this time, the third crank 671 and the fourth crank 672 are symmetrically arranged about the center of the second driving shaft 53), the second driving motor 51 is controlled by the controller to drive the third crank 671 and the fourth crank 672 to swing back and forth within a certain angle range, so that the user can perform arm bending and raising movement in the supine position; when the installation angles are different by 180 ° (in this case, the third crank 671 and the fourth crank 672 are disposed in an anti-symmetric manner with respect to the center of the second driving shaft 53), the second driving motor 51 is controlled by the controller to drive the third crank 671 and the fourth crank 672 to perform a full circle motion, so that the user can perform a circular arm motion in the supine position.

In some embodiments, referring to fig. 5 (the upper limb related components are not shown), when the user switches from the supine position to the lateral position, the first pedal 621 and the second pedal 622 are detached from the first crank 611 and the second crank 612, the lateral pedal 63 is mounted on the connecting shaft of the first crank 611 or the second crank 612, and the lateral foot pedal 63 assists the lateral leg raising movement. The side-lying pedal 63 is different from the first pedal 621 and the second pedal 622 in that the end (the end near the first crank or the second crank) of the side-lying pedal 63 is provided with a shaft hole matched with the first crank 611 or the second crank 612, the shaft hole has an axis along the toe pointing direction, and the corresponding shaft holes on the first pedal 621 and the second pedal 622 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 characteristic of adopting a symmetrical design, so that it is suitable for side lying exercises of both the left leg and the right leg. Taking the left leg of the user as an example of the motion state of lifting the left leg, the shaft hole at the end of the side lying foot pedal 63 and the connecting shaft of the second crank 612 are installed by matching through a bearing.

In some embodiments, a foot auxiliary module 9 is disposed at a position where each foot pedal contacts with a user, for implementing auxiliary functions of heating, vibration and electrical stimulation and a monitoring module for performing blood oxygen and heart rate, each functional module is mounted at a position as shown in fig. 6, which shows a layout of the foot auxiliary modules 9 on the first foot pedal 621 and the second foot pedal 622, wherein a heart rate monitoring module 91 is disposed on the first foot pedal 621 under a first lateral artery of the foot; a foot blood oxygen saturation monitoring module 92 is provided outside the sole region on the first foot board 621; foot electro-

stimulation electrodes

93, 94 are provided at the inner side of the sole area on the first foot board 621;

foot vibration modules

95, 96 are provided on the first foot board 621 at the outer side of the sole area. The rest parts of the pedal are heating areas, the flexible heating mat can be laid at the pedal, 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 6 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. 7, the controller makes the lower limb training part of the upper and lower limb exercise rehabilitation bed of the present disclosure have the following three exercise modes by controlling the electric push rod 7 and the first driving motor 31 in the first driving assembly 3, and combining the two relative installation positions between the first crank 611 and the first driving shaft 33:

1. the treadmill moves: the installation angles of the first crank 611 and the second crank 612 are different by 180 °, as shown in fig. 2, the first driving motor 31 drives the first driving shaft 33, so that the first pedal 621 and the second pedal 622 rotate continuously for a whole circle, and the first rotating assembly 2 remains stationary at this time;

2. bending and stretching: the difference between the installation angles of the first crank 611 and the second crank 612 is 0 °, as shown in fig. 8, the cranks on both sides swing back and forth (the swing range is controlled to be 0 ° to 180 °), and the controller controls the electric push rod 7 to drive the first rotating assembly 2 to rotate cooperatively, so that the trajectory of the tail 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 611 and the second crank 612 is 0 °, as shown in fig. 8, the stroke of the electric push rod 7, i.e. the rotation angle of the first rotary telescopic assembly, is controlled, and the cranks on both sides are controlled for stroke compensation, 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 a circle. In addition, the supine pedal plate at one end or both ends can be detached, and the lateral pedal plate 63 can be replaced, so that the track of the tail end of the lower limb (namely, the lateral pedal plate) 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.

In some embodiments, referring to fig. 7, the controller enables the upper limb training part of the upper and lower limb exercise rehabilitation bed of the present disclosure to have the following two exercise modes by controlling the second driving motor 51 in the second driving assembly 5 in combination with the two relative mounting positions between the third crank 671 and the second driving shaft 53:

1. the arm moves in the whole circle: the installation angles of the third crank 671 and the fourth crank 672 are different by 180 degrees, as shown in fig. 2, the second driving motor 51 drives the second driving shaft 53, so that the first handle 661 and the second handle 662 rotate continuously and circularly;

2. bending and stretching the lifting arm to move: the difference between the installation angles of the third crank 671 and the fourth crank 672 is 0 °, as shown in fig. 8, the cranks on both sides swing back and forth (the swing range is controlled to be 0-180 °), so that the user can do arm bending and arm raising movements.

In some embodiments, limb linkage control can be performed by the controller to further train the limb mobility of the user.

The three motion modes of the lower limbs, the two motion modes of the upper limbs and the motion mode of linkage of the upper limbs and the lower limbs can meet the requirements of a user on finishing various exercise training in bed, maintain and improve the activity degree of joints of the upper limbs and the lower limbs, exercise the muscle strength and coordination of the upper limbs and 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 electric push rod 7, the first driving motor 31 in the first driving assembly 3 and the second driving motor 51 in the second driving assembly 5, so that the user can complete active, passive and assisted training.

In some embodiments, the rehabilitation device provided by the embodiment of the present disclosure is further provided with a health data monitoring system, and performs visual information feedback through the display screen 8 installed at the top end of the bed frame, so as to realize human-computer interaction between the device and a user, and the display screen 8 can be folded backwards, thereby facilitating daily storage.

In some embodiments, referring to fig. 9, when rehabilitation training is not performed, the first rotary telescopic element 2, the first driving element 3, the second rotary telescopic element 4, the second driving element 5 and the training element 6 can be retracted under the mattress, and no extra space is occupied; the display screen 8 can be folded backwards; the activity mattress 12 can be restored from the folded state to the flat state so as not to affect the daily bed rest of the user.

To sum up, the rehabilitation bed for upper and lower limb exercise provided by the embodiment of the disclosure can realize various exercise forms of upper and lower limbs by changing the state of the installation angle difference of the cranks connecting the foot pedals and the handles in the training components and matching with the exercise of the rotating arms and the four limb linkage control, and comprises the exercise of a treadmill when the installation angle difference is 180 degrees, the exercise of arms for the whole circumference, the exercise of bending and stretching and lifting legs and bending and lifting arms when the installation angle difference is 0 degree, and the like; the pedal of the device also has the auxiliary functions of heating, electrical stimulation and vibration, and helps to improve the rehabilitation training effect; the physiological monitoring module is used for monitoring the heart rate and the blood oxygen saturation of a user, improving the safety of the training process, feeding back the monitored data through a display screen and enhancing the human-computer interaction function of the device; the training assembly and the driving assembly of the device can be stored and placed below the mattress, so that the space is saved, the daily life of a user is not influenced, and the applicability of the device is improved. Therefore, the rehabilitation bed for upper and lower limb movement provided by the embodiment of the disclosure can maintain and improve the activity degree of the upper and lower limb joints, exercise the muscle strength and coordination of the upper and lower limbs, reduce the labor intensity of nursing personnel and reduce the generation of complications of disabled and semi-disabled old 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 rehabilitation bed for upper and lower limb movement, which is characterized by comprising:

the bed body comprises a bed frame, and a movable mattress and a fixed mattress which are arranged on the bed frame and are hinged with each other;

the first rotary telescopic assembly is hinged with one end of the bed frame;

the training assembly comprises lower limb cranks fixedly sleeved at two ends of the first driving shaft, supine pedals detachably and pivotally connected with the lower limb cranks, side-lying pedals detachably and pivotally connected with the lower limb cranks at any end of the first driving shaft, upper limb cranks fixedly sleeved at two ends of the second driving shaft and handles detachably and pivotally connected with the upper limb cranks; the lower limb cranks at the two ends of the first driving shaft have a first assembling relation and a second assembling relation, the first assembling relation is that the installation angles of the lower limb cranks at the two ends of the first driving shaft are different by 0 degree, and the second assembling relation is that the installation angles of the lower limb cranks at the two ends of the first driving shaft are different by 180 degrees; the upper limb cranks at the two ends of the second driving shaft have a third assembling relation and a fourth assembling relation, the third assembling relation is that the installing angles of the upper limb cranks at the two ends of the second driving shaft are different by 0 degree, and the fourth assembling relation is that the installing angles of the upper limb cranks at the two ends of the second driving shaft are different by 180 degrees;

the two ends of the electric push rod are respectively and fixedly arranged on the bottom side of the bedstead and the end part of the first rotary telescopic component; and

a controller for controlling the movement of the electric putter, the first drive motor and the second drive motor in combination with the variation of the mounting positions of the training assembly and the first drive shaft and the second drive shaft to provide different upper and lower limb training modes;

the lower limb training mode comprises:

the treadmill moves, in the current mode, the difference of the installation angles of the lower limb cranks at the two ends of the first driving shaft is 180 degrees, the supine pedal plate rotates continuously and circularly, and the first rotary telescopic assembly keeps still;

in a bending and stretching motion, in a current mode, the difference between the installation angles of the lower limb cranks at the two ends of the first driving shaft is 0 degrees, the supine pedal swings in a reciprocating manner, and the electric push rod is controlled to drive the first rotary telescopic assembly to rotate in a coordinated manner, so that the track of the supine pedal is always a horizontal straight line;

the upper limb training mode comprises the following steps:

the arm moves in the whole circle: in the current mode, the difference between the installation angles of the upper limb cranks at the two ends of the second driving shaft is 180 degrees, and the handles at the two ends of the second driving shaft rotate continuously and circularly;

bending and stretching the lifting arm to move: in the current mode, the difference between the installation angles of the upper limb cranks at the two ends of the second driving shaft is 0 degree, and the handles at the two ends of the second driving shaft swing in a reciprocating manner.

2. The upper and lower limb exercise rehabilitation bed according to claim 1, wherein the movable mattress has a folded state and a flat-bed state; when the movable mattress is in a flat state, the first rotary telescopic assembly, the first driving assembly, the second rotary telescopic assembly, the second driving assembly and the training assembly are recovered to the lower parts of the movable mattress and the fixed mattress.

3. The upper and lower limb exercise rehabilitation bed according to claim 1, wherein the first driving assembly further comprises a first housing fixedly connected to the other end of the first rotary extension assembly, 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.

4. The upper and lower limb exercise rehabilitation bed according to claim 3, wherein the second driving assembly further comprises a second housing fixedly connected to the other end of the second rotary telescoping assembly, 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 first driving shaft.

5. The upper and lower limb exercise rehabilitation bed according to claim 1, wherein spring pins are respectively provided between the supine pedal and the lower limb crank, and between the lateral pedal and the lower limb 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.

6. The upper and lower limb movement rehabilitation bed according to any of claims 1 to 5, wherein auxiliary modules are respectively arranged at the positions where the supine pedal and the lateral pedal are in contact with the user, for realizing auxiliary functions of heating, vibration, electrical stimulation and physiological parameter detection.

7. The upper and lower limb exercise rehabilitation bed according to claim 6, wherein the detected physiological parameters are fed back through a fixed display screen for visual information.