CN114767462B - End driving type lower limb gait rehabilitation training device - Google Patents
End driving type lower limb gait rehabilitation training device Download PDFInfo
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- CN114767462B CN114767462B CN202210381209.1A CN202210381209A CN114767462B CN 114767462 B CN114767462 B CN 114767462B CN 202210381209 A CN202210381209 A CN 202210381209A CN 114767462 B CN114767462 B CN 114767462B
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- 230000005021 gait Effects 0.000 title claims abstract description 78
- 238000012549 training Methods 0.000 title claims abstract description 60
- 210000003141 lower extremity Anatomy 0.000 title claims abstract description 28
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- 239000013585 weight reducing agent Substances 0.000 claims description 2
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- 210000000629 knee joint Anatomy 0.000 description 4
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- 210000005036 nerve Anatomy 0.000 description 3
- 206010017577 Gait disturbance Diseases 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 2
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
- A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/12—Driving means
- A61H2201/1207—Driving means with electric or magnetic drive
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Rehabilitation Tools (AREA)
Abstract
The end-driven lower limb gait rehabilitation training device comprises a gait rehabilitation training system, wherein the gait rehabilitation training system is arranged above a running machine and is supported on the ground through a stand, and the gait rehabilitation training system comprises a power component, a saddle component, a gait track generation component and a foot pedal component which are arranged on the stand; the power component and the saddle component are arranged on the frame, the gait track generating components are arranged left and right at intervals, the gait track generating components are multi-link mechanisms, the upper ends of the gait track generating components are in sliding fit with the cranks and are locked through locking nails, the pedal component is arranged at the lower ends of the gait track generating components, the cranks are fixedly arranged on the power component, the crank azimuth angles of the two sides differ by 180 degrees, the included angle between the initial angle of the crank rod on the right side and the horizontal plane is 90 degrees, the device is simple in structure, reasonable in design and high in applicability, the rehabilitation training track can be adjusted adaptively, the normal gait track of a patient can be accurately reproduced, and personalized rehabilitation training is realized.
Description
Technical Field
The invention relates to the field of medical rehabilitation equipment, in particular to a tail end driving type lower limb gait rehabilitation training device.
Background
With the development of medical level technology and the reduction of birth rate of China, the aging degree of population of China is further increased, the number of cerebral apoplexy patients is increased sharply, and most patients have lower limb movement dysfunction and abnormal walking gait. The main reason is that the central nerve of the brain of the patient is damaged and the regulation and control effect of the low-level motor central nerve is lost. The clinical application shows that: the human brain has a high degree of neuroplasticity. Based on the exercise relearning theory, the patient can receive scientific and reasonable exercise training as early as possible, and the nerve remodeling and the functional recombination can be greatly accelerated. The forced induction exercise therapy is a means for realizing the most remarkable rehabilitation effect of patients by the current lower limb rehabilitation training device.
The traditional lower limb rehabilitation training device can only imitate the single action rehabilitation training of a traditional rehabilitation training doctor on lower limb joints, and cannot meet the rehabilitation training requirements at present. The exoskeleton type lower limb rehabilitation training device is easy to interfere with the lower limb of a patient in the training process, and even secondary injury can be caused. Meanwhile, the structure is complex, the control difficulty is high, and the wearing of a patient is inconvenient. In the training process, the lower limb requirement of the patient is high. If the training is too passive, the subjective consciousness cannot be fully exerted to control the lower limbs. The gait training track of the existing single-degree-of-freedom lower limb rehabilitation training device is single and fixed, individual differences among different patients are ignored, and the personalized rehabilitation training of adaptive matching cannot be carried out according to the physiological parameters of the patients. In addition, the conventional gait rehabilitation training device has low degree of reproduction of the training track, mostly simple curves or circular and elliptical tracks, and has large difference from the normal gait track, and a patient may form an abnormal gait mode after using the device.
Disclosure of Invention
The invention aims at overcoming the defects, and provides a tail end driving type lower limb gait rehabilitation training device.
The invention solves the technical problems by adopting a scheme that the end-driven lower limb gait rehabilitation training device comprises a gait rehabilitation training system, a running machine and a weight-reducing component:
The weight-reducing assembly comprises a weight-reducing vest and an electric lifting device, the electric lifting device is arranged beside the running machine, and the weight-reducing vest is positioned above the running machine and is arranged at the lifting end of the electric lifting device;
The gait rehabilitation training system is arranged above the running machine and supported on the ground through a stand, and comprises a power assembly, a saddle assembly, a gait track generation assembly and a foot pedal assembly which are arranged on the stand;
The power component and the saddle component are arranged on the frame, the gait track generating components are arranged at left and right intervals, the gait track generating components are multi-link mechanisms, the upper ends of the gait track generating components are in sliding fit with the cranks and are locked through locking nails, the pedal component is arranged at the lower end of the gait track generating components, the cranks are fixedly arranged on the power component, the crank azimuth angles of the two sides are different by 180 degrees, and the included angle between the initial angle of the crank rod on the right side and the horizontal plane is 90 degrees.
Further, the frame includes chassis, crane, and power pack installs on the crane, and the chassis is connected the crane through the telescopic link of erectting, be provided with handrail, power pack dustcoat between power pack and the weight-reducing undershirt on the crane, the power pack dustcoat is equipped with protection baffle, and protection baffle fixed mounting is on the crane.
Further, the saddle assembly comprises a saddle and a support frame, the lower end of the saddle is in sliding fit with a sliding groove on the support frame along the longitudinal direction through a saddle sliding block, the saddle sliding block is locked with the support frame through locking nails, two sides of the lower end of the support frame are sleeved on the bottom frame through upright posts, the upright posts are in sliding fit with the bottom frame along the vertical direction, and the support frame is connected with the bottom frame along at least one buffer spring along the longitudinal direction.
Further, the telescopic rod is an electric telescopic rod or a manual telescopic rod, and a screw for locking the telescopic inner rod is arranged on an outer tube of the manual telescopic rod.
Further, the power assembly comprises a motor and a transverse rotating shaft, the motor is fixedly arranged on the lifting frame, the rotating shaft is arranged on the lifting frame through a bearing seat, a driving pinion is arranged on a vertical shaft of the motor, a reduction gear wheel which is meshed with the driving pinion and is driven is arranged on the rotating shaft, and a crank is fixedly arranged at the end part of the rotating shaft through a connecting seat.
Further, the motor is a constant-speed motor.
Further, the gait track generation assembly comprises an upper triangle, a lower triangle, a connecting rod A, a connecting rod B, a connecting rod C, a connecting rod D and a tail end rod, three ends of the upper triangle are respectively hinged with the connecting rod A, the connecting rod C and the connecting rod D, the other end of the connecting rod A is in compound hinge with one end of the connecting rod B and an upper sliding block, an upper sliding groove is formed in a crank along the length direction, the upper sliding block is arranged in the sliding groove, and the adjusting sliding block is locked with the crank through a bolt; the other end of the connecting rod D is hinged with the first end of the lower triangular plate, the second end of the lower triangular plate is hinged with the other end of the connecting rod C and the other end of the connecting rod B in a compound mode, the third end of the lower triangular plate is in sliding fit with the tail end rod along one side of the tail end rod, a lower sliding groove is formed in the side edge of the lower triangular plate, a lower sliding block is arranged in the lower sliding groove in a sliding mode and hinged with the tail end rod, the lower sliding block is locked with the lower triangular plate through a bolt, and the pedal assembly is arranged at the other end of the tail end rod.
Further, the pedal assembly comprises a connecting plate, a connecting spring and a pedal, wherein two ends of the long side of the inner side of the pedal are connected with connecting bolts through the connecting spring, the connecting bolts are connected with threaded holes in the connecting plate, a binding belt is arranged on the pedal, a plate body is arranged on the long side of the inner side of the pedal, a plurality of connecting holes are formed in the plate body from top to bottom at intervals, and the connecting plate, the tail end rod and one connecting hole in the plate body are in compound hinge joint.
Further, the front end of the pedal is provided with a bending plate, and the bending plate is in damping hinge joint with the pedal.
Compared with the prior art, the invention has the following beneficial effects: the device has the advantages of simple structure, reasonable design, strong applicability, adaptability adjustment of the rehabilitation training track, accurate reproduction of the normal gait track of the patient and realization of personalized rehabilitation training.
Drawings
The patent of the invention is further described below with reference to the accompanying drawings.
FIG. 1 is a schematic diagram of the structure of the present device;
FIG. 2 is a schematic structural view of a power assembly;
FIG. 3 is a schematic structural view of the saddle block assembly;
FIG. 4 is a schematic structural view of a gait track generation assembly;
FIG. 5 is a schematic structural view of the foot pedal assembly;
FIGS. 6-7 are simulation software section interface shots;
FIG. 8 is a schematic representation of a gait rehabilitation training trajectory versus a patient's normal gait trajectory fit;
FIG. 9 is a graphical representation of the patient's experimental detection versus the trajectory of the angular motion of the hip in normal gait;
fig. 10 is a graphical illustration of the knee joint angular motion profile of a patient's experimental test versus a normal gait.
In the figure: 1-gait rehabilitation training system; 2-a safety protection component; 3-a power assembly; 4-saddle block assembly; a 5-gait trajectory generation component; a 6-foot pedal assembly; 7-a frame; 8-a treadmill; 9-a weight-reduction assembly; 10-armrests; 11-a protective baffle; 12-an electric motor; 13-a gear reduction assembly; 14-rotating shaft; 15-bearing seats; 16-saddle; 17-saddle slide block; 18-a supporting frame; 19-a buffer spring; 20-upright posts; 21-a telescopic rod; 22-crank; 23-connecting seats; 24-connecting rod A; 25-bar a; 26-connecting rod B; 27-connecting rod C; 28-connecting rod D; 29-bar D; 30-bar B; 31-bar C; 32-bar E; 33-end bar; 34-connecting plates; 35-connecting bolts; 36-connecting a spring; 37-pedal; 38-binding band; 39-chassis; 40-lifting frames; 41-an electric lifting device; 42-weight-reducing vest.
Detailed Description
The technical solutions in this embodiment will be clearly and completely described below with reference to the drawings in this embodiment.
As shown in fig. 1-5, an end-driven lower limb gait rehabilitation training device comprises a gait rehabilitation training system 1, a running machine 8 and a weight reducing component 9:
The weight-reducing assembly comprises a weight-reducing vest 42 and an electric lifting device 41, wherein the electric lifting device is arranged beside the running machine, and the weight-reducing vest is arranged above the running machine and is arranged at the lifting end of the electric lifting device;
the gait rehabilitation training system is arranged above the running machine and supported on the ground through a stand 7, and comprises a power assembly 3, a saddle assembly 4, a gait track generation assembly 5 and a foot pedal assembly 6 which are arranged on the stand;
The power component and the saddle component are arranged on the frame, the gait track generating components are arranged at left and right intervals, the gait track generating components are multi-link mechanisms, the upper ends of the gait track generating components are in sliding fit with the cranks 22 and are locked through locking nails, the pedal component is arranged at the lower end of the gait track generating components, the cranks are fixedly arranged on the power component, the crank azimuth angles of the two sides are different by 180 degrees, and the included angle between the initial angle of the crank rod on the right side and the horizontal plane is 90 degrees. The position of the saddle is the position where the buttocks are placed when the patient performs gait rehabilitation training, the position is adjusted according to the comfortable state of the patient in the using process of the device, and the rotation center position of the crank can be regulated by adjusting the height of the lifting frame, namely, the vertical distance between the position of the rotating shaft and the uppermost position of the saddle is an adjustable design variable, so that personalized gait rehabilitation training is realized;
in this embodiment, the frame includes a chassis 39, a lifting frame 40, the power assembly is mounted on the lifting frame, the chassis is connected with the lifting frame via a vertically arranged telescopic rod 21, an armrest 10 is disposed between the power assembly and the weight-reducing vest on the lifting frame, a protective baffle 11 is disposed on the power assembly housing, and the protective baffle is fixedly mounted on the lifting frame.
In this embodiment, the saddle assembly includes a saddle 16 and a support frame 18, the lower end of the saddle is slidably matched with a chute on the support frame in the longitudinal direction through a saddle sliding block 17, the saddle sliding block is locked with the support frame through locking nails, two sides of the lower end of the support frame are sleeved on the underframe through upright posts 20, the upright posts are slidably matched with the underframe in the vertical direction, and the support frame is connected with the underframe in the longitudinal direction through at least one buffer spring 19.
In this embodiment, the telescopic rod is an electric telescopic rod or a manual telescopic rod, and a screw for locking the telescopic inner rod is mounted on an outer tube of the manual telescopic rod.
In this embodiment, the power assembly includes a motor 12, a horizontal rotating shaft 14, the motor is fixedly installed on the lifting frame, the rotating shaft is installed on the lifting frame through a bearing seat, a driving pinion is installed on a vertical shaft of the motor, a reduction gear wheel meshed with the driving pinion is installed on the rotating shaft, and a crank is fixedly installed at the end of the rotating shaft through a connecting seat 23.
In this embodiment, the motor is a constant speed motor.
In this embodiment, the gait track generating assembly includes an upper triangle, a lower triangle, a connecting rod a24, a connecting rod B26, a connecting rod C27, a connecting rod D28, and a terminal rod 33, where the upper triangle is surrounded by a rod a25, a rod B30, and a rod C31, the lower triangle is surrounded by a rod D29, a rod E32, and a rod F, three ends of the upper triangle are hinged with the connecting rod a, the connecting rod C, and the connecting rod D, one end of the connecting rod a and one end of the connecting rod B are hinged with an upper slide block, an upper slide slot is formed on a crank along the length direction, the upper slide block is disposed in the upper slide slot, and the adjusting slide block is locked with the crank by a bolt; the other end of the connecting rod D is hinged with the first end of the lower triangular plate, the second end of the lower triangular plate is hinged with the other end of the connecting rod C and the other end of the connecting rod B in a compound way, the third end of the lower triangular plate is in sliding fit with the tail end rod along one side of the tail end rod, a lower sliding groove is formed in the side edge of the lower triangular plate, a lower sliding block is arranged in the lower sliding groove in a sliding way and hinged with the tail end rod, the lower sliding block is locked with the lower triangular plate through a bolt, and the pedal component is arranged at the other end of the tail end rod; the length of the crank and the length of the tail end rod are defined as two adaptive adjustable design variables, so that personalized gait rehabilitation training is realized;
In this embodiment, the pedal assembly includes connecting plate 34, connecting spring 36, footboard 37, and connecting bolt 35 is connected through connecting spring to the inboard long limit both ends of footboard, and connecting bolt is connected with the screw hole on the connecting plate, is provided with bandage 38 on the footboard, and inboard long limit of footboard is provided with the plate body, and a plurality of connecting holes are offered from top to bottom interval on the plate body, can realize that the height-adjustable is in order to match the different distances between ankle joint and the heel position of different patients, and connecting plate, terminal pole are articulated with a connecting hole complex on the plate body.
In this embodiment, the front end of the pedal is provided with a bending plate, and the bending plate is in damping hinge connection with the pedal so as to match the first metatarsophalangeal joint posture of the human normal gait walking foot.
A lower limb gait rehabilitation training method by adopting a terminal driving type lower limb gait rehabilitation training device comprises the following steps:
Step one: the method comprises the steps of connecting a tail end driving type lower limb gait rehabilitation training device with simulation software of a computer, inputting thigh length and leg length data of a patient into the simulation software, and calculating through the simulation software to obtain a lower limb movement space diagram of normal gait of the patient, as shown in fig. 6;
step two: according to the space diagram obtained in the step one, adaptively optimizing a gait track generating assembly through simulation software, calculating to obtain an adjustable design variable optimizing result, and generating 3 adjustable design variable parameters, as shown in fig. 7;
Step three: using the optimized parameter result to adaptively adjust the gait track generation assembly, calculating gait characteristic data through simulation software, displaying specific data of a normal gait track and a rehabilitation training track of a patient, and fitting a track comparison curve, as shown in fig. 8;
step four: performing rehabilitation training on hip and knee joint angles; when a patient uses the rehabilitation training device, simulation software displays the change data of the angles of the hip and knee joints of the lower limbs in one gait cycle and fits a comparison curve with the change trend of the angles of the hip and knee joints of the normal gait of the patient, as shown in figures 9-10;
Step five: in the rehabilitation training process, displaying the azimuth angle data of the gait track generating component rod piece in a rehabilitation gait training period by using simulation software;
Step six: displaying the motion process of the gait track generating mechanism through simulation software;
Step seven: the speed data is displayed through simulation software, the rotating speed of the motor is input, the rotating speed of the crank is further controlled, and the tail end speed of the gait track generating mechanism is calculated.
Step eight: and (3) summarizing all the calculation results obtained in the steps one to seven through simulation software, wherein the summarized data is stored as an EXCEL format file.
When in use, the weight-reducing vest is worn on the upper half of a patient, and the weight-reducing vest is lifted by the electric lifting device so as to reduce weight; the buttocks of the patient is placed on the saddle; the feet are placed on the pedals of the pedal assembly and are fixed by the binding bands; the foot of the patient is connected with the pedal plate assembly, and the pedal plate assembly is placed on a runway on the running machine, so that gait rehabilitation training can be performed; the hand is placed on the armrest; setting the rotating speed of a crank through simulation software, driving a walking crank to rotate at a constant speed by a motor, enabling a rehabilitation training track generated by a gait track generating assembly to be capable of accurately matching with rehabilitation training requirements of a patient, driving feet of the patient placed on a pedal assembly, and driving lower limbs of the patient to complete gait rehabilitation training through tail end driving of the feet according to the movement requirements of the rehabilitation training track; the crank rotates for one circle, and the patient completes a gait rehabilitation training period.
The experimental parameter analysis is carried out on lower limb patients of different human bodies, and the adjustable design variable parameters are set according to different patients, so that the rehabilitation training requirements of patients who cannot meet the requirements can be met, and the personalized rehabilitation training is realized. The device has stable operation and strong applicability, and can accurately simulate the normal gait tracks of different patients; through joint detection, when the device is used by a patient, the variation trend of the angles of the lower limbs and the knees is similar to that of the normal gait. Through planned repeated rehabilitation gait training, abnormal gait of the patient can be effectively improved, and the control capability of the patient on lower limb movement is enhanced.
If this patent discloses or relates to components or structures that are fixedly connected to each other, then unless otherwise stated, the fixed connection is understood as: detachably fixed connection (e.g. using bolts or screws) can also be understood as: the non-detachable fixed connection (e.g. riveting, welding), of course, the mutual fixed connection may also be replaced by an integral structure (e.g. integrally formed using a casting process) (except for obviously being unable to use an integral forming process).
In the description of this patent, it should be understood that the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate describing the patent, and do not indicate or imply that the devices or elements being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the patent.
While the foregoing is directed to the preferred embodiment, other and further embodiments of the invention will be apparent to those skilled in the art from the following description, wherein the invention is described, by way of illustration and example only, and it is intended that the invention not be limited to the specific embodiments illustrated and described, but that the invention is to be limited to the specific embodiments illustrated and described.
Claims (3)
1. An end-driven lower limb gait rehabilitation training device is characterized in that: comprises a gait rehabilitation training system; the gait rehabilitation training system is arranged above the running machine and supported on the ground through a stand, and comprises a power assembly, a saddle assembly, a gait track generation assembly and a foot pedal assembly which are arranged on the stand;
The power assembly and the saddle assembly are arranged on the frame, the gait track generating assembly is a multi-link mechanism, the upper end of the gait track generating assembly is in sliding fit with the crank and is locked by the locking nail, the pedal assembly is arranged at the lower end of the gait track generating assembly, the crank is fixedly arranged on the power assembly, the crank azimuth angles at two sides are different by 180 degrees, and the included angle between the initial angle of the crank rod at the right side and the horizontal plane is 90 degrees;
The frame comprises a chassis and a lifting frame, wherein the power assembly is arranged on the lifting frame, the chassis is connected with the lifting frame through a vertically arranged telescopic rod, a handrail is arranged between the power assembly and the weight-reducing vest on the lifting frame, a protective baffle is arranged on an outer cover of the power assembly, and the protective baffle is fixedly arranged on the lifting frame;
The saddle assembly comprises a saddle and a support frame, the lower end of the saddle is in sliding fit with a chute on the support frame along the longitudinal direction through a saddle sliding block, the saddle sliding block is locked with the support frame through locking nails, two sides of the lower end of the support frame are sleeved on a bottom frame through upright posts, the upright posts are in sliding fit with the bottom frame along the vertical direction, and the support frame is connected with the bottom frame along the longitudinal direction through at least one buffer spring;
The power assembly comprises a motor and a transverse rotating shaft, the motor is fixedly arranged on the lifting frame, the rotating shaft is arranged on the lifting frame through a bearing seat, a driving pinion is arranged on a vertical shaft of the motor, a reduction gear wheel which is meshed with the driving pinion for transmission is arranged on the rotating shaft, and a crank is fixedly arranged at the end part of the rotating shaft through a connecting seat;
The gait track generation assembly comprises an upper triangle, a lower triangle, a connecting rod A, a connecting rod B, a connecting rod C, a connecting rod D and a tail end rod, wherein three ends of the upper triangle are respectively hinged with the connecting rod A, the connecting rod C and the connecting rod D, the other end of the connecting rod A is in compound hinge with one end of the connecting rod B and an upper sliding block, an upper sliding groove is formed in a crank along the length direction, the upper sliding block is arranged in the sliding groove, and the adjusting sliding block is locked with the crank through a bolt; the other end of the connecting rod D is hinged with the first end of the lower triangular plate, the second end of the lower triangular plate is hinged with the other end of the connecting rod C and the other end of the connecting rod B in a compound way, the third end of the lower triangular plate is in sliding fit with the tail end rod along one side of the tail end rod, a lower sliding groove is formed in the side edge of the lower triangular plate, a lower sliding block is arranged in the lower sliding groove in a sliding way and hinged with the tail end rod, the lower sliding block is locked with the lower triangular plate through a bolt, and the pedal component is arranged at the other end of the tail end rod;
The pedal assembly comprises a connecting plate, a connecting spring and a pedal, wherein two ends of the long side of the inner side of the pedal are connected with connecting bolts through the connecting spring, the connecting bolts are connected with threaded holes in the connecting plate, a binding belt is arranged on the pedal, a plate body is arranged on the long side of the inner side of the pedal, a plurality of connecting holes are formed in the plate body from top to bottom at intervals, and the connecting plate, the tail end rod and one connecting hole in the plate body are in compound hinge joint;
the front end of the pedal is provided with a bending plate which is in damping hinge joint with the pedal;
A running machine is arranged below the gait track generation assembly, and a weight reduction assembly is arranged beside the running machine; the weight-reducing assembly comprises a weight-reducing vest and an electric lifting device, wherein the electric lifting device is arranged beside the running machine, and the weight-reducing vest is arranged above the running machine and at the lifting end of the electric lifting device.
2. The end-drive lower extremity gait rehabilitation training device according to claim 1, wherein: the telescopic rod is an electric telescopic rod or a manual telescopic rod, and a screw for locking the telescopic inner rod is arranged on an outer tube of the manual telescopic rod.
3. The end-drive lower extremity gait rehabilitation training device according to claim 1, wherein: the motor is a constant-speed motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381209.1A CN114767462B (en) | 2022-04-13 | 2022-04-13 | End driving type lower limb gait rehabilitation training device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210381209.1A CN114767462B (en) | 2022-04-13 | 2022-04-13 | End driving type lower limb gait rehabilitation training device |
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| Publication Number | Publication Date |
|---|---|
| CN114767462A CN114767462A (en) | 2022-07-22 |
| CN114767462B true CN114767462B (en) | 2024-07-30 |
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| CN202210381209.1A Active CN114767462B (en) | 2022-04-13 | 2022-04-13 | End driving type lower limb gait rehabilitation training device |
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| CN103948486A (en) * | 2014-05-17 | 2014-07-30 | 长春理工大学 | Four-limb rehabilitation exercise device in sitting posture state |
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| CN107149539B (en) * | 2016-03-04 | 2020-03-24 | 上海电气集团股份有限公司 | Lower limb rehabilitation walking-aid robot supporting omnidirectional movement and control method |
| CN106473897A (en) * | 2016-11-09 | 2017-03-08 | 天津大学 | The four limbs linkage recovery exercising robot of achievable normal gait track |
| CN108245380A (en) * | 2018-03-13 | 2018-07-06 | 西安交通大学 | A kind of human body lower limbs recovery exercising robot |
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| CN103948486A (en) * | 2014-05-17 | 2014-07-30 | 长春理工大学 | Four-limb rehabilitation exercise device in sitting posture state |
| CN105167959A (en) * | 2015-10-12 | 2015-12-23 | 哈尔滨工程大学 | Multifunctional gait rehabilitation training device |
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