CN207755507U - A kind of upper and lower limbs rehabilitation training machine - Google Patents
A kind of upper and lower limbs rehabilitation training machine Download PDFInfo
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- CN207755507U CN207755507U CN201720370367.1U CN201720370367U CN207755507U CN 207755507 U CN207755507 U CN 207755507U CN 201720370367 U CN201720370367 U CN 201720370367U CN 207755507 U CN207755507 U CN 207755507U
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Abstract
The utility model is related to a kind of upper and lower limbs rehabilitation training machines,Including the column being arranged on pedestal,The upper end of column is provided with crossbeam,The position adjustable that the crossbeam constitutes vertical direction with column coordinates,The cantilever end of crossbeam is provided with training rod,The cantilever end of training rod and crossbeam constitutes the revolute pair of horizontal plane,The cantilever end of training rod is provided with training institution,Pedestal is at least made of two supporting rods,The bar length direction of supporting rod is horizontal and is in the same horizontal plane,Proximal support foot and distal end support leg are provided on supporting rod,Driving mechanism is provided on pedestal,Driving mechanism drives proximal support foot and distal end support leg to move up and down,The lower end of corresponding proximal support foot and distal end support leg with surface separation or against,Linkage mechanism is additionally provided on pedestal,Linkage mechanism drives supporting rod to be rotated rotating around proximal support foot,The rotation of proximal support foot and distal end support leg moved up and down with supporting rod around proximal support foot cooperates,The pedestal can enhance the stability supported to rehabilitation machines,The support leg of telescopic arrangement does not influence the normal movement of rehabilitation machines.
Description
Technical field
The present invention relates to rehabilitation equipment technical fields, and in particular to a kind of upper and lower limbs rehabilitation training machine.
Background technology
Mechanical-assisted limbs restore the emphasis of always medical rehabilitation instrument research, since the recovery of mechanical-assisted limbs has
Safety, wide adaptation range and have many characteristics, such as directed movement recovery, therefore can effectively improve limb motion recovery effect,
Mitigate family, hospital rehabilitation center pressure, it is most important that can according to the actual conditions of patient take the circumstances into consideration select training strength.
And locked for supporting the pedestal of rehabilitation machines, then after requiring it that rehabilitation machines can be moved to designated position, and
It cannot turn on one's side.For ease of the movement of rehabilitation machines, it is generally provided with universal wheel below pedestal, is moved to when by rehabilitation machines
Behind designated position, universal wheel is locked by service brake, to firm banking, however universal wheel with contact area of ground is small causes to fix
It is not firm and in some cases can not be all locked by universal wheel all on pedestal simultaneously.
Invention content
The purpose of the present invention is：A kind of upper and lower limbs rehabilitation training machine is provided, the health of upper limb and lower limb can be provided to patient
Refreshment is practiced, and can move, and is moved to that designated position rear base is lockable, increases the contact surface model of pedestal and ground while locking
It encloses, realizes and stablizing for upper and lower limbs rehabilitation training machine is supported.
To achieve the above object, the technical solution adopted by the present invention is：
A kind of upper and lower limbs rehabilitation training machine, including pedestal are provided with column, the upper end setting of the column on the pedestal
There is a crossbeam, the cantilever end of the crossbeam is provided with training rod, and the cantilever end of the training rod and crossbeam constitutes the rotation of horizontal plane
The cantilever end of pair, the training rod is provided with training institution, and the pedestal is at least made of two supporting rods, the supporting rod
Bar length direction is horizontal and is in the same horizontal plane, and proximal support foot and distal end support leg, institute are provided on the supporting rod
It states and is provided with driving mechanism on pedestal, driving mechanism driving proximal support foot and distal end support leg move up and down, corresponding proximal end branch
The lower end of spike and distal end support leg and surface separation or against being additionally provided with linkage mechanism on the pedestal, linkage mechanism drives
Dynamic supporting rod is rotated rotating around proximal support foot, and proximal support foot and distal end support leg are moved up and down with supporting rod around proximal end branch
The rotation of spike cooperates.
There is also following technical characteristics by the present invention：
The upper end of the column is provided with first movement bar, and the first movement bar constitutes the position of vertical direction with column
Adjustable cooperation, the crossbeam are arranged in the upper end of first movement bar, and the cantilever end of the crossbeam is provided with the second mobile bar, institute
The position adjustable for stating the second mobile bar and the cantilever end composition horizontal direction of crossbeam coordinates, and the training rod rotary type setting exists
The rod end of the projecting end of second mobile bar, the training rod is provided with third mobile bar, the third mobile bar and training rod structure
The rod end in third mobile bar is arranged in position adjustable cooperation horizontally, the training institution.
One end of two supporting rod is hingedly arranged on seat tube and articulated shaft is vertical, and the lower end setting of the column exists
On seat tube, the output end of the driving mechanism couples with linkage mechanism, and linkage mechanism couples with the shaft of two supporting rods, linkage
Angle between two supporting rod of mechanism synchronous drive increases or reduces.
The driving mechanism includes the first crossbar being arranged above supporting rod one end, the bar length direction of the first crossbar
The both ends of level, first crossbar are hingedly provided with first connecting rod, and one end of the first connecting rod is upper with proximal support foot respectively
End is hinged, and the both ends articulated shaft of first connecting rod is horizontal, and the shaft of the first crossbar is slidably arranged on the first sliding block, and described the
One sliding block is fixed in seat tube, first crossbar along its bar length direction move linkage proximal support foot relative to supporting rod above and below
It moves in direction.
Be fixedly installed collar on the supporting rod, bearing assembly inner ring is in close contact with collar, bearing assembly outer ring with
Seat tube secure fit.The second sliding block, third sliding block and Four-slider are fixedly installed on the supporting rod.Second sliding block
Coupled by prismatic pair with proximal support foot, second connecting rod, second connecting rod and the first vertical pole are hingedly provided on proximal support foot
Rod end it is hinged, the bar length direction of the first vertical pole is horizontal and the rod end of one end and third connecting rod is hinged, the third connecting rod it is another
One end and the shaft of distal end support leg are hinged, and the second connecting rod and the articulated shaft at third connecting rod both ends are horizontal, the distal end branch
Spike is coupled with third sliding block by prismatic pair, and the supporting rod is set in outside the first vertical pole, and first vertical pole and the 4th is slided
Block is coupled by prismatic pair.
The stage casing of the first crossbar and the 5th sliding block are hinged, are provided with the first slide bar on the 5th sliding block, and described the
One end of one slide bar is fixed on rotation seat, and the rotation seat is coupled with support plate by revolute pair, and the support plate is fixed on
The lower section of seat tube is provided with drive rod on rotation seat, and drive rod upwardly extends, and manual actuation can be used in type of drive, also may be used
Electric pushrod to be arranged in seat tube 60, electric drive first crossbar 51 acts.
The linkage mechanism further includes the spring for supporting club bodies hinged with two respectively, and the articulated shaft of the spring is vertical,
In the linkage mechanism, the stage casing of first crossbar and one end of fourth link are hinged, the other end of the fourth link and second
The lower end of slide bar is hinged, and the articulated shaft at the fourth link both ends is horizontal and vertical with first crossbar glide direction, and described second
Sliding bar is arranged on the 6th sliding block, and the 6th sliding block is fixed on seat tube, the lower end and the 5th of second slide bar
One end of connecting rod is hinged, and the other end of the 5th connecting rod and the shaft stage casing of second crossbar are hinged, the second crossbar and support plate
Coupled by prismatic pair, one end of the spring is hinged with second crossbar and both ends articulated shaft is vertical.
Connecting rod is provided on the shaft of the first crossbar, the connecting rod is vertical with first crossbar, and connecting rod is hanged
The one end for stretching end and drive link is hinged, and the other end and driving block of the drive link are hinged, the driving block sliding setting
On the supporting plate, the glide direction of the driving block is vertical with first crossbar bar length direction, and one end of the spring is hinged on
On driving block and articulated shaft is vertical.
It is both provided with idler wheel below the both ends of described two supporting rods, the proximal support foot and distal end support leg are in most
The lower end height that proximal support foot and distal end support leg are corresponded to when low side or most significant end is below or above the lower rim height of idler wheel,
The proximal support foot and distal end support leg are respectively adjacent to the rod end arrangement of two supporting rods.
The linkage mechanism further includes the spring being fixed between third cross bar and second crossbar, in the linkage mechanism
In, the stage casing of first crossbar and one end of fourth link are hinged, the lower end hinge of the other end of the fourth link and the second slide bar
It connects, the articulated shaft at the fourth link both ends is horizontal and vertical with first crossbar glide direction, the second sliding bar setting
On the 6th sliding block, the 6th sliding block is fixed on seat tube, and the lower end of second slide bar is cut with scissors with one end of the 5th connecting rod
It connects, the other end of the 5th connecting rod is hinged with third cross bar, and second crossbar both ends are hinged with connecting rod respectively, connecting rod and two supports
Club body is hinged, and second crossbar and third cross bar are slidably arranged in support plate.
Compared with the prior art, beneficial effects of the present invention are embodied in：The present invention can be placed in by bed or tailstock, allows patient
Rehabilitation training is carried out in bed, and adjusts each movable part by forms such as rotation hand wheels, and rehabilitation is waited for for different,
Size adjusting can be independently carried out, and then preferably trains upper limb or lower limb, is passed through after rehabilitation machines are moved to designated position
Driving mechanism drives remote, close support leg to move down, with ground against realizing the support to rehabilitation machines；It is moved down in remote, close support leg
In the process, increased by angle between two supporting rods on linkage mechanism synchronous drive pedestal, so as to increase pedestal and ground
Contact range, according to equipment actual conditions, it can be ensured that the center of gravity of equipment is fallen between two supporting rods, enhancing pedestal to rehabilitation
The stability of machine support.Far, the action that moves down of nearly support leg is mutually cooperateed with the angle increase of two supporting rods action.Telescopic cloth
The support leg set does not influence the normal movement of rehabilitation machines.
Description of the drawings
Fig. 1 is a kind of structural schematic diagram of upper and lower limbs rehabilitation training machine；
Fig. 2 is that a kind of upper and lower limbs rehabilitation training machine removes the structural schematic diagram after pedestal；
Fig. 3 is the attachment structure schematic diagram of the column and first movement bar in a kind of upper and lower limbs rehabilitation training machine；
Fig. 4 is the attachment structure schematic diagram of the crossbeam and the second mobile bar in a kind of upper and lower limbs rehabilitation training machine；
Fig. 5 is the attachment structure schematic diagram of the training rod and third mobile bar in a kind of upper and lower limbs rehabilitation training machine；
Fig. 6 is the second mobile bar and training rod rotating part structural schematic diagram in a kind of upper and lower limbs rehabilitation training machine；
Fig. 7 is a kind of structural schematic diagram of pedestal in upper and lower limbs rehabilitation training machine；
Fig. 8 is the structural schematic diagram that pedestal removes after seat tube in a kind of upper and lower limbs rehabilitation training machine；
Fig. 9 is the structural schematic diagram that pedestal removes after seat tube and supporting rod in a kind of upper and lower limbs rehabilitation training machine；
Figure 10 is the structural schematic diagram after a kind of two supporting rod angles of pedestal in upper and lower limbs rehabilitation training machine increase；
Figure 11 is that a kind of structure of driving mechanism driving second of embodiment of linkage mechanism in upper and lower limbs rehabilitation training machine is shown
It is intended to；
Figure 12 is a kind of structural schematic diagram of second of embodiment of linkage mechanism in upper and lower limbs rehabilitation training machine.
Specific implementation mode
In conjunction with Fig. 1 to Figure 12, the present invention is further described：
A kind of upper and lower limbs rehabilitation training machine, including pedestal are provided with column, the upper end setting of the column on the pedestal
There is a crossbeam, the cantilever end of the crossbeam is provided with training rod, and the cantilever end of the training rod and crossbeam constitutes the rotation of horizontal plane
The cantilever end of pair, the training rod is provided with training institution, and the pedestal is at least made of two supporting rods, the supporting rod
Bar length direction is horizontal and is in the same horizontal plane, and proximal support foot and distal end support leg, institute are provided on the supporting rod
It states and is provided with driving mechanism on pedestal, driving mechanism driving proximal support foot and distal end support leg move up and down, corresponding proximal end branch
The lower end of spike and distal end support leg and surface separation or against being additionally provided with linkage mechanism on the pedestal, linkage mechanism drives
Dynamic supporting rod is rotated rotating around proximal support foot, and proximal support foot and distal end support leg are moved up and down with supporting rod around proximal end branch
The rotation of spike cooperates；
In conjunction with shown in Fig. 1, Fig. 7 to Figure 12, solves the problems, such as that existing pedestal supports unstability to rehabilitation machines, work as pedestal
After being moved to designated position by idler wheel 30, drives proximal support foot 20 and distal end support leg 21 to move down by driving mechanism, make
Proximal support foot 20 and distal end support leg 21 are obtained with ground against to realize the support to pedestal.Above-mentioned driving mechanism is driven
During dynamic proximal support foot 20 and distal end support leg 21 move down, linkage mechanism links two supporting rods 11 rotating around proximal support
Foot 20 rotates so that angle increases between two supporting rods 11, to increase proximal support foot 20 and distal end support leg 21 and ground
Between contact range, according to the practical situations of equipment, it is ensured that during use, center of gravity can be fallen at two equipment
Between strut 11, to improve the stability that pedestal supports upper and lower limbs rehabilitation training machine；
And above-mentioned limbs restoring training apparatus is in actual use, due to waiting for that the patient of rehabilitation training generally requires sleeping lie
The rehabilitation training of upper limb or lower limb can be carried out in bed, therefore the present invention, in actual design, extremely necessary consideration is used
In the spatial position of the training institution 31 of rehabilitation training, to adapt to the actual rehabilitation training requirement of patient；
As the preferred embodiment of the present invention, the upper end of the column 12 is provided with first movement bar 121, and described first moves
The position adjustable that lever 121 constitutes vertical direction with column 12 coordinates, and the crossbeam 13 is arranged in the upper of first movement bar 121
End；
In the above embodiments, it is located at the position on column 12, and then adjusting training machine by adjusting first movement bar 121
The height of structure 15, to adapt to and wait for the vertical position of rehabilitation；
In the above embodiments, the position adjustable cooperation of vertical direction is constituted between first movement bar 121 and column 12
Mode it is as follows：
In conjunction with shown in Fig. 1 and Fig. 2, the square tube type structure that the column 12 is integrally arranged vertically, positioned at opening for column 12
The first sliding block 122 is fixedly installed in mouthful, the first sliding block 122 is constituted with the first guide rail 12 in the opening of column 12 to be grown along column 12
The straight-line guidance cooperation in direction is spent, the first movement bar 121 is fixed on the first guide rail 123, on the first movement bar 121
It is provided with the first feed screw nut 124, first feed screw nut, 124 and first leading screw 125 constitutes leadscrew-nut mechanism, first
125 rotary type of thick stick is arranged on the inner pedestal 126 being arranged in column 12, and the stationary plane of the inner pedestal 126 is stood with described
12 side wall of column is vertical；
For convenience of the adjusting of vertical direction height is carried out, the first handwheel 127 can rotate the outer wall for being arranged in column 12, the
It can be connected by universal joint 128 between one handwheel 127 and the first leading screw 125, and then realize to work as and rotate first handwheel 128
When, the rotation with fixed first leading screw of the universal joint 128 125 is driven, and then drive and first feed screw nut
The 124 fixed first movement bars 121, which are located in the column 12, to be moved up and down.
As one of the preferred embodiment of the present invention, the cantilever end of the crossbeam 13 is provided with the second mobile bar 131, described
The position adjustable that the cantilever end of second mobile bar 131 and crossbeam 13 constitutes horizontal direction coordinates, 14 rotary type of the training rod
Projecting end in the second mobile bar 131 is set；
In the above embodiments, for the more convenient adjustment realized between training institution 15 and rehabilitation position, pass through
The position for adjusting the second mobile bar 131 and crossbeam 13 trains the adjusting of position to realize the position to training institution 15 with patient；
In above-described embodiment, the position adjustable fit system constituted between the second mobile bar 131 and crossbeam 13 is as follows：
In conjunction with shown in Fig. 4, the whole crossbeam 13 is in horizontally disposed square tube type structure, is located at solid in the opening of crossbeam 13
Surely it is provided with the second sliding block 132, the second sliding block 132 is constituted with the second guide rail 133 in the opening of crossbeam 13 along 13 length side of crossbeam
To straight-line guidance cooperation, second mobile bar 131 is fixed on the second guide rail 138, is arranged in second mobile bar 131
There are the second feed screw nut 135, second feed screw nut, 135 and second leading screw 136 to constitute leadscrew-nut mechanism, the second leading screw
136 rotary types are arranged on the crossbeam bearing block 137 being arranged on crossbeam 13, and the second handwheel 138 is arranged in the rear end of crossbeam 13, institute
It states and is connected by second shaft coupling 139 between the second handwheel 138 and the second leading screw 136；
Rehabilitation or nursing staff are waited for by rotating the second handwheel 138, to which adjusting is fixed with the second guide rail 133
Second mobile bar 131 is located at the reciprocating movement on the second sliding block 132 so that the second mobile bar 131 be located at it is past on crossbeam 13
It is multiple mobile, adjusting training mechanism 15 and the horizontal position for waiting for rehabilitation.
As present invention further optimization embodiment, the rod end of the training rod 14 is provided with third mobile bar 141, institute
The position adjustable cooperation that third mobile bar 141 constitutes horizontal direction with the training rod 14 is stated, the training institution 15 is arranged
In the rod end of third mobile bar 141；
In the above embodiments, it is located at the position on training rod 14, and then adjusting training by adjusting third mobile bar 141
Mechanism 15 and the distance between rehabilitation is waited for, to adapt to wait for the training position of rehabilitation；
Be located at the height on column 12 by adjusting crossbeam 13, and then adjustable training institution 15 and the waiting for of lying on a bed of crouching
The training vertical direction height of rehabilitation is adapted, and is adjusted horizontal position of the training rod 14 on crossbeam 13 and is adjusted horizontal direction
Size, adjust third mobile bar 141 the position adjustable range patient of training rod 14 distance, to facilitate the health for waiting for rehabilitation
Refreshment is practiced, and is adjusted by rotating training rod 14, and then by training institution 15 to waiting for that rehabilitation is suitble to trained position, in short,
The rehabilitation training of the rehabilitation training equipment of the present invention, very convenient patient uses.
In the above embodiments, the position adjustable that horizontal direction is constituted between third mobile bar 141 and training rod 14 is matched
The mode of conjunction is as follows：
In conjunction with shown in Fig. 5, the whole training rod 14 is in horizontally disposed square tube type structure, is located at the opening of training rod 14
It is inside provided with third sliding block 142, third sliding block 142 is constituted with fixed third guide rail 143 in third mobile bar 141 along training rod
The straight-line guidance of 14 length directions coordinates, and third feed screw nut 144, the third silk are provided in the third mobile bar 141
Thick stick nut 144 constitutes leadscrew-nut mechanism with third leading screw 145, and the setting of 145 rotary type of third leading screw is arranged on training rod 14
3rd bearing seat 146 on, the stationary plane of 3rd bearing seat 146 is vertical with 14 inner wall of training rod；
Third handwheel 147 is fixed on the end face of training rod 14, and axle center is fixed with 145 axle center of third leading screw, passes through rotation
Third handwheel 147 is moved back and forth with 141 fixed third guide rail 143 of third mobile bar on third sliding block 142 to drive,
It is moved back and forth so that third mobile bar 141 is located in training rod 14, adjusting training mechanism 15 and the position for waiting for rehabilitation.
Further, the projecting end of second mobile bar 131 is fixedly installed rotation connection seat 18, the training rod
14 rod end side wall is hinged with rotation connection seat 18 and articulated shaft is vertical, and adjusting bolt is provided on the rotation connection seat 18
181 and caging bolt 182, the rotation that the adjusting bolt 181 is used to adjust training rod 14 is locked, and the caging bolt 181 is adjusted
Save the safe spacing of training rod 14；
In conjunction with shown in Fig. 5, above-mentioned rotation connection seat 18 includes the first annulus 183 being arranged outside the second mobile bar 131, institute
It states and is provided with the second annulus 184 on training rod 14, there are certain interval, 184 rotary types of the second annulus between the first annulus 183
It is arranged in the first annulus 183, caging bolt 182, the limit spiral shell is provided between the first annulus 183 and the second annulus 184
Bolt 182 realizes the rotary spacing to the first annulus 183 and the second annulus 184 by the journal stirrup being distributed on the second annulus 184,
The outer wall in the first annulus 183 is arranged in the adjusting bolt 182, to realize the lock to the first annulus 183 and the second annulus 184
Extremely, the second movement is stretched into the overhanging for 185 rolling ladder axis 185 of multi-diameter shaft being further fixedly arranged on the hinged face of the training rod 14
In bar 131, and it is rotatably assorted with the realization of rotary end cover 186 for being covered in 131 outer wall of the second mobile bar by a pair of bearing.
The movement to equipment is realized for ease of patient or nursing staff, and the upper end of the column 12 is provided with mobile handrail
120, can show the training of rehabilitation by information display screen A, information display screen A may be provided at the column 12 or
On the crossbeam 13.
As the preferred embodiment of the present invention, one end of two supporting rod 11 is hingedly arranged on seat tube 60 and articulated shaft
Vertically, the output end of the driving mechanism couples with linkage mechanism, and linkage mechanism couples with the shaft of two supporting rods 11, gear
Angle between two supporting rod 11 of structure synchronous drive increases or reduces；
Above-mentioned driving mechanism action linkage linkage mechanism acts simultaneously, to realize the angle between two supporting rods 11
Equipment is mounted on seat tube 60, one end of two supporting rods 11 by variation to realize the increase of pedestal and ground contact range
It is hinged with the both ends of seat tube 60, utilize linkage mechanism, to which two supporting rods 11 of driving are rotated around proximal support foot 20, Jin Ershi
Angle change between existing two supporting rods 11.
Further, be both provided with idler wheel 30 below the both ends of described two supporting rods 11, the proximal support foot 20 and
Distal end support leg 21 corresponds to proximal support foot 20 when being in least significant end or most significant end and the lower end height of distal end support leg 21 is less than
Or the lower end flange height higher than idler wheel 30, the proximal support foot 20 and distal end support leg 21 are respectively adjacent to two supporting rods 11
Rod end arrangement；
In conjunction with shown in Fig. 7 to Figure 10, above-mentioned proximal support foot 20 respectively arranges one on two supporting rods 11 respectively, and distal end is propped up
Spike 21 respectively arranges one on two supporting rods 11 respectively, and driving mechanism drives two proximal support feet 20 and two distal ends to support
Foot 21 moves down, and makes it with ground against and then integrally lifting the rehabilitation machines above pedestal and pedestal, in two proximal end branch
During spike 20 and two distal end support legs 21 move down so that the lower rim of idler wheel 30 is detached from ground, at the same time, is driven
Motivation structure linkage linkage mechanism, linkage mechanism drive two supporting rods 11 to be rotated rotating around corresponding proximal support foot 20, realize two
Included angle between supporting rod 11 incrementally increases, and to increase the contact range on pedestal and ground, and then further increases
The stability that pedestal supports equipment.
Further preferred embodiment, the linkage mechanism include spring 40 hinged with two supporting rods, 11 shaft respectively, institute
The articulated shaft for stating spring 40 is vertical；
In above-mentioned preferred embodiment, when driving mechanism drives two proximal support feet 20 and two distal end support legs 21 to move down simultaneously
Gradually with ground against when, along be linkage mechanism link two supporting rods 11 between included angle increasing, roll at this time
Wheel 30 lower rim still with ground against.Rear drive mechanism continue that proximal support foot 20 and distal end support leg 21 is driven to move down,
Pedestal is jacked up, at this time the lower rim of idler wheel 30 with surface separation and proximal support foot 20 and distal end support leg 21 are supported with ground
It leans on, two supporting rods 11 can not be rotated around respective proximal support leg 20, and the angle between two supporting rods 11 stops increasing, and driving machine
Structure but continues to drive linkage mechanism action, in this regard, the compression to avoid linkage mechanism lasting leads to the damage of mechanism member, using bullet
The movement of linkage mechanism can be realized in the compression travel of spring 40, avoids the damage of linkage mechanism
The use of above-mentioned spring 40, during the included angle between supporting rod 11 becomes smaller, effect is also extremely
Important, during driving mechanism driving proximal support foot 20 and distal end support leg 21 move up, idler wheel 30 is to moving down
Dynamic, before the lower rim of idler wheel 30 is contacted with ground, proximal support foot 20 and distal end support leg 21 are still with ground against two support
Bar 11 can not still be rotated around corresponding proximal support foot 20, and the included angle between two supporting rods 11 is constant, and driving mechanism
But continue to drive linkage mechanism action, due to the compression travel of spring 40, can release the required movement of linkage mechanism away from
From leading to the damage of mechanism member so as to avoid the lasting compression of linkage mechanism.After the lower rim of idler wheel 30 is contacted with ground,
The compression travel rebound of spring 40 terminates, and idler wheel 30 still continues to move down, moving down in stroke thereafter, and pedestal is by 30, idler wheel
Support, and proximal support foot 20 and distal end support leg 21 and surface separation, driving mechanism continue to drive linkage mechanism action, realize two
A supporting rod 11 is rotated rotating around corresponding proximal support foot 20, and angle is decreased to initial angle between two supporting rods 11.
Further, in conjunction with shown in Fig. 8 to Figure 10, the driving mechanism includes be arranged above 11 one end of supporting rod
The bar length direction of one cross bar 51, the first crossbar 51 is horizontal, and the both ends of first crossbar 51 are hingedly provided with first connecting rod 52, institute
The one end for stating first connecting rod 52 is hinged with the upper end of proximal support foot 20 respectively, and the both ends articulated shaft of first connecting rod 52 is horizontal, institute
The shaft for stating first crossbar 51 is slidably arranged on the first sliding block 53, and first sliding block 53 is fixed in seat tube 60, and first
Cross bar 51 moves linkage proximal support foot 20 along its bar length direction and is moved relative to 11 upper and lower directions of supporting rod；
First crossbar 51, which is located on the first sliding block 53, to be moved, and is moved back and forth along 51 length direction of first crossbar,
The first connecting rod 52 at 51 both ends of the first crossbar that links is rotated around its articulated shaft, so that proximal support foot 20 is relative to supporting rod
11 vertically move up and down；
Two first crossbars 51 can be used in above-mentioned 2 proximal support feet 20 and 2 moving up and down for distal end support leg 21
It realizes, the transverse shiftings of two first crossbars 51 interlocks the movement of the respective first connecting rod in its both ends 52；
Above-mentioned two proximal support feet 20 and two distal end support legs 21 select two first crossbars 51, and two first horizontal
The transverse shifting of bar 51 should to ensure consistency that two proximal support feet 20 and two distal end support legs 21 move up and down
Ensure the consistency of the transverse shifting of two first crossbars 51.
As the present invention more preferably scheme, it is fixedly installed collar 16 on the supporting rod 11, in bearing assembly 17
Circle is in close contact with collar 16,17 outer ring of bearing assembly and 60 secure fit of seat tube.It is fixedly installed on the supporting rod 11
Second sliding block 54, third sliding block 58 and Four-slider 59, second sliding block 54 are coupled with proximal support foot 20 by prismatic pair,
Hingedly it is provided with second connecting rod 55 on proximal support foot 20, the rod end of second connecting rod 55 and the first vertical pole 56 is hinged, the first vertical pole
56 bar length direction is horizontal and one end and the rod end of third connecting rod 57 are hinged, and the other end and the distal end of the third connecting rod 57 support
The shaft of foot 21 is hinged, and the second connecting rod 55 and the articulated shaft at 57 both ends of third connecting rod are horizontal, the distal end support leg 21 with
Third sliding block 58 is coupled by prismatic pair, and the supporting rod 11 is set in outside the first vertical pole 56, first vertical pole 56 and the 4th
Sliding block 59 is coupled by prismatic pair.
During above-mentioned 51 transverse shifting of first crossbar, the rotation for the first connecting rod 52 that links, first connecting rod 52 acts,
The proximal support foot 20 that links acts, and then the second connecting rod 55 that links acts, and then the first vertical pole of linkage 56 is located at Four-slider
It is slided on 59, the both ends of above-mentioned first crossbar 51 are connect with the linkage unit on respective supporting rod 11, to form 3 groups
Double-slider mechanism, first crossbar 51 can realize two proximal supports on two supporting rods 11 during transverse shifting
The synchronizing moving up and down of foot 20 and two distal end support legs 21, so that it is guaranteed that two proximal support feet 20 and two distal end support legs
21 synchronize moves up and down, and then can ensure the stability of strutting system of pedestal.
Specifically, the stage casing of the first crossbar 51 is hinged with the 5th sliding block 510, is provided on the 5th sliding block 510
One end of first slide bar 81, first slide bar 81 is fixed on rotation seat 82, and the rotation seat 82 is with support plate 90 by turning
Dynamic duplicate invoice connects, and the support plate 90 is fixed on the lower section of seat tube 60, is provided with drive rod 83 on rotation seat 82, drive rod 83 to
Manual actuation can be used in upper extension, type of drive, and electric pushrod, electric drive first crossbar can also be arranged in seat tube 60
51 actions；
In actual use, operating personnel make rotation seat 82 be located at support to the pedestal by pulling drive rod 83
It is rotated on plate 90, to linkage the first slide bar 81 rotation, the first slide bar 81 is located at the sliding of the 5th sliding block 510, to linkage the 5th
Sliding block 510 is rotated and is moved in parallel along 81 bar length direction of the first slide bar, and then the first crossbar 51 that links is put down along its length
Row movement.
The first embodiment of driving mechanism linkage linkage mechanism action as the present invention：
In the linkage mechanism, the stage casing of first crossbar 51 is hinged with one end of fourth link 42, the fourth link 42
The other end and the second slide bar 43 lower end it is hinged, the articulated shaft at 42 both ends of the fourth link is horizontal and is slided with first crossbar 51
Dynamic direction is vertical, and second slide bar 43 is slidably arranged on the 6th sliding block 44, and the 6th sliding block 44 is fixed on seat tube 60
On, the lower end of second slide bar 43 is hinged with one end of the 5th connecting rod 45, the other end and the second crossbar 41 of the 5th connecting rod 45
Shaft stage casing it is hinged, the second crossbar 41 is coupled with support plate 90 by prismatic pair, one end of the spring 40 and second
Cross bar 41 is hinged and both ends articulated shaft is vertical.
During being moved in parallel along its bar length direction, linkage fourth link 42 acts above-mentioned first crossbar 51, and the 4th
Action the second slide bar 43 of linkage of connecting rod 42, which is located on the 6th sliding block 44, to reciprocatingly slide, in the process that the second slide bar 43 slides up and down
In, the action for the 5th connecting rod 45 that links, the 5th connecting rod 45 action is located in support plate 90 back and forth directly to interlock second crossbar 41
Line moves, and the reciprocating linear of above-mentioned second crossbar 41 and support plate 90 moves, and the cooperation side of sliding block and guide rail can be used in mode
Formula realizes that above-mentioned second crossbar 41 is located in support plate 90 during reciprocating linear movement, and linkage spring 40 acts, to real
Now to the driving of two supporting rods, 11 variable angle.
Second of embodiment of the driving mechanism linkage linkage mechanism action as the present invention：
In conjunction with shown in Figure 11, connecting rod 511, the connecting rod 511 are fixedly installed on the shaft of the first crossbar 51
Vertical with first crossbar 51, the projecting end of connecting rod 511 is hinged with one end of drive link 512, the other end of the drive link 512
Hinged with driving block 513, the driving block 513 is slidably arranged in support plate 90, the sliding side of the driving block 513
To vertical with 51 bar length direction of first crossbar, one end of the spring 40 is hinged on driving block 513 and articulated shaft is vertical；
During pulling drive rod 83 so that first crossbar 51 is relative to the first sliding block 53 along its parallel cunning of bar length direction
Dynamic, to 511 transverse reciprocating of the bar movement that is connected, and then the drive link 512 that links pulls driving block 513 and is located at support plate 90
On reciprocatingly slide, linkage spring 40 act, to realize to two supporting rods 11 open or close closed operation.
Second of embodiment of the linkage mechanism action as the present invention：
In conjunction with shown in Figure 12, the linkage mechanism further includes the bullet being fixed between third cross bar 411 and second crossbar 41
Spring 412, in the linkage mechanism, the stage casing of first crossbar 51 is hinged with one end of fourth link 42, the fourth link 42
The other end and the second slide bar 43 lower end it is hinged, the articulated shaft at 42 both ends of the fourth link is horizontal and is slided with first crossbar 51
Dynamic direction is vertical, and second slide bar 43 is slidably arranged on the 6th sliding block 44, and the 6th sliding block 44 is fixed on seat tube 60
On, the lower end of second slide bar 43 is hinged with one end of the 5th connecting rod 45, the other end and the third cross bar 411 of the 5th connecting rod 45
Hinged, 41 both ends of second crossbar are hinged with connecting rod 413 respectively, and connecting rod 413 and two supporting rods, 11 shaft are hinged, second crossbar
41 and third cross bar 411 be slidably arranged in support plate 90；
During being moved in parallel along its bar length direction, linkage fourth link 42 acts above-mentioned first crossbar 51, and the 4th
Action the second slide bar 43 of linkage of connecting rod 42, which is located on the 6th sliding block 44, to reciprocatingly slide, in the process that the second slide bar 43 slides up and down
In, the action for the 5th connecting rod 45 that links, the 5th connecting rod 45 action, to which the third cross bar 411 that links is located in support plate 90 back and forth
Linear movement, third cross bar 411 drive second crossbar 41 to be located at reciprocating linear on supporting rod 90 and move by compressed spring 412,
Matching for sliding block and guide rail can be used in the reciprocating linear move mode of above-mentioned third cross bar 411 and second crossbar 41 and support plate 90
Conjunction mode realizes that above-mentioned second crossbar 41 is located in support plate 90 during reciprocating linear movement, and the bar 413 that is connected is dynamic
Make, to realize the driving to two supporting rods, 11 variable angle；
In above-mentioned preferred embodiment, when driving mechanism drives two proximal support feet 20 and two distal end support legs 21 to move down simultaneously
Gradually with ground against when, along be linkage mechanism link two supporting rods 11 between included angle increasing, roll at this time
Wheel 30 lower rim still with ground against.Rear drive mechanism continue that proximal support foot 20 and distal end support leg 21 is driven to move down,
Pedestal is jacked up, at this time the lower rim of idler wheel 30 with surface separation and proximal support foot 20 and distal end support leg 21 are supported with ground
It leans on, two supporting rods 11 can not be rotated around respective proximal support leg 20, and the included angle between two supporting rods 11 stops increasing, and drives
Motivation structure but continues that linkage mechanism action is driven to adopt in this regard, the compression to avoid linkage mechanism lasting leads to the damage of mechanism member
The movement that linkage mechanism can be realized with the compression travel of spring 412 avoids the damage of linkage mechanism；
The use of above-mentioned spring 412, during the included angle between supporting rod 11 becomes smaller, effect is also extremely
Important, during driving mechanism driving proximal support foot 20 and distal end support leg 21 move up, idler wheel 30 is to moving down
Dynamic, before the lower rim of idler wheel 30 is contacted with ground, proximal support foot 20 and distal end support leg 21 are still with ground against two support
Bar 11 can not still be rotated around corresponding proximal support foot 20, and the included angle between two supporting rods 11 is constant, and driving mechanism
But continue to drive linkage mechanism action, due to the compression travel of spring 412, can release the required movement of linkage mechanism away from
From leading to the damage of mechanism member so as to avoid the lasting compression of linkage mechanism.After the lower rim of idler wheel 30 is contacted with ground,
The compression travel rebound of spring 40 terminates, and idler wheel 30 still continues to move down, moving down in stroke thereafter, and pedestal is by 30, idler wheel
Support, and proximal support foot 20 and distal end support leg 21 and surface separation, driving mechanism continue to drive linkage mechanism action, realize two
A supporting rod 11 is rotated rotating around corresponding proximal support foot 20, and angle is decreased to initial angle between two supporting rods 11.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Profit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent requirements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiment being appreciated that.
Claims (10)
1. a kind of upper and lower limbs rehabilitation training machine, it is characterised in that：Including pedestal, column (12) is provided on the pedestal, it is described
The upper end of column (12) is provided with crossbeam (13), and the position adjustable that the crossbeam (13) constitutes vertical direction with column (12) is matched
It closes, the cantilever end of training rod (14) is provided with training institution (15), and the pedestal is at least made of two supporting rods (11), described
The bar length direction of supporting rod (11) is horizontal and is in the same horizontal plane, and proximal support foot is provided on the supporting rod (11)
(20) with distal end support leg (21), it is provided with driving mechanism on the pedestal, driving mechanism drives proximal support foot (20) and remote
End support leg (21) moves up and down, and the lower end of corresponding proximal support foot (20) and distal end support leg (21) and surface separation or supports
It leaning on, linkage mechanism is additionally provided on the pedestal, linkage mechanism drives supporting rod (11) to be rotated rotating around proximal support foot (20),
The rotation phase of proximal support foot (20) and distal end support leg (21) moved up and down with supporting rod (11) around proximal support foot (20)
Mutually cooperation.
2. a kind of upper and lower limbs rehabilitation training machine according to claim 1, it is characterised in that：Crossbeam (13) fixed setting
Upper end in first movement bar (121), the first movement bar (121) are located at sliding in column (12), are constituted with column (12)
The cantilever end of prismatic pair along column direction, the crossbeam (13) is provided with the second mobile bar (131), second mobile bar
(131) position adjustable that horizontal direction is constituted with the cantilever end of crossbeam (13) coordinates, training rod (14) the rotary type setting
The rod end of projecting end in the second mobile bar (131), the training rod (14) is provided with third mobile bar (141), the third
The position adjustable that mobile bar (141) and training rod (14) constitute horizontal direction coordinates, and training institution (15) setting is the
The rod end of three mobile bars (141).
3. a kind of upper and lower limbs rehabilitation training machine according to claim 1 or 2, it is characterised in that：Two supporting rod (11)
One end be hingedly arranged on seat tube (60) and articulated shaft is vertical, the lower end of the column (12) is arranged in seat tube (60)
On, the output end of the driving mechanism couples with linkage mechanism, and linkage mechanism couples with the shaft of two supporting rods (11), gear
Angle between two supporting rod of structure synchronous drive (11) increases or reduces.
4. a kind of upper and lower limbs rehabilitation training machine according to claim 3, it is characterised in that：The driving mechanism includes setting
The bar length direction of first crossbar (51) above supporting rod (11) one end, the first crossbar (51) is horizontal, first crossbar
(51) both ends are hingedly provided with first connecting rod (52), one end of the first connecting rod (52) respectively with proximal support foot (20)
Upper end is hinged, and the both ends articulated shaft of first connecting rod (52) is horizontal, and the shaft of the first crossbar (51) is slidably arranged in the first cunning
On block (53), first sliding block (53) is fixed in seat tube (60), and first crossbar (51) moves parallel connection along its bar length direction
Dynamic proximal support foot (20) is moved relative to supporting rod (11) upper and lower directions.
5. a kind of upper and lower limbs rehabilitation training machine according to claim 4, it is characterised in that：It is fixed on the supporting rod (11)
It is provided with collar (16), bearing assembly (17) inner ring is in close contact with collar (16), bearing assembly (17) outer ring and seat tube
(60) secure fit is fixedly installed the second sliding block (54), third sliding block (58) and Four-slider on the supporting rod (11)
(59), second sliding block (54) is coupled with proximal support foot (20) by prismatic pair, and proximal support foot is hingedly arranged on (20)
There is second connecting rod (55), second connecting rod (55) and the rod end of the first vertical pole (56) are hinged, the bar length direction water of the first vertical pole (56)
Flat and one end and the rod end of third connecting rod (57) are hinged, the bar of the other end and distal end support leg (21) of the third connecting rod (57)
Body is hinged, and the second connecting rod (55) and the articulated shaft at third connecting rod (57) both ends are horizontal, the distal end support leg (21) and the
Three sliding blocks (58) are coupled by prismatic pair, and the supporting rod (11) is set in the first vertical pole (56) outside, first vertical pole (56)
Coupled by prismatic pair with Four-slider (59).
6. a kind of upper and lower limbs rehabilitation training machine according to claim 5, it is characterised in that：In the first crossbar (51)
Five sliding blocks of Duan Yu (510) are hinged, and the first slide bar (81), first slide bar (81) are provided on the 5th sliding block (510)
One end be fixed on rotation seat (82), the rotation seat (82) is coupled with support plate (90) by revolute pair, the support plate
(90) it is fixed on the lower section of seat tube (60), drive rod (83) is provided on rotation seat (82), drive rod (83) upwardly extends.
7. a kind of upper and lower limbs rehabilitation training machine according to claim 6, it is characterised in that：The linkage mechanism further includes point
The articulated shaft of the not spring (40) hinged with two supporting rods (11) shaft, the spring (40) is vertical, in the linkage mechanism, the
The stage casing of one cross bar (51) is hinged with one end of fourth link (42), the other end and the second slide bar of the fourth link (42)
(43) lower end is hinged, and the articulated shaft at fourth link (42) both ends is horizontal and vertical with first crossbar (51) glide direction,
Second slide bar (43) is slidably arranged on the 6th sliding block (44), and the 6th sliding block (44) is fixed on seat tube (60),
The lower end of second slide bar (43) is hinged with one end of the 5th connecting rod (45), the other end and second crossbar of the 5th connecting rod (45)
(41) shaft stage casing is hinged, and the second crossbar (41) is coupled with support plate (90) by prismatic pair, the spring (40)
One end is hinged with second crossbar (41) and both ends articulated shaft is vertical.
8. a kind of upper and lower limbs rehabilitation training machine according to claim 7, it is characterised in that：The bar of the first crossbar (51)
Be provided with connecting rod (511) with it, the connecting rod (511) is vertical with first crossbar (51), the projecting end of connecting rod (511) with
One end of drive link (512) is hinged, and the other end and driving block (513) of the drive link (512) are hinged, the driving block
(513) it is slidably arranged in support plate (90), glide direction and first crossbar (51) bar length direction of the driving block (513)
Vertically, one end of the spring (40) is hinged on driving block (513) and articulated shaft is vertical.
9. a kind of upper and lower limbs rehabilitation training machine according to claim 3, it is characterised in that：Described two supporting rods (11)
It is both provided with idler wheel (30) below both ends, the proximal support foot (20) and distal end support leg (21) are in least significant end or most significant end
When correspond to the lower end height of proximal support foot (20) and distal end support leg (21) and be below or above the lower rim height of idler wheel (30),
The proximal support foot (20) and distal end support leg (21) are respectively adjacent to the rod end arrangement of two supporting rods (11).
10. a kind of upper and lower limbs rehabilitation training machine according to claim 7, it is characterised in that：The linkage mechanism further includes
The spring (412) being fixed between third cross bar (411) and second crossbar (41), in the linkage mechanism, first crossbar
(51) stage casing and one end of fourth link (42) are hinged, under the other end and the second slide bar (43) of the fourth link (42)
End is hinged, and the articulated shaft at fourth link (42) both ends is horizontal and vertical with first crossbar (51) glide direction, and described second
Slide bar (43) is slidably arranged on the 6th sliding block (44), and the 6th sliding block (44) is fixed on seat tube (60), and described second
The lower end of slide bar (43) and one end of the 5th connecting rod (45) are hinged, and the other end and the third cross bar (411) of the 5th connecting rod (45) are cut with scissors
It connects, second crossbar (41) both ends are hinged with connecting rod (413) one end respectively, connecting rod (413) other end and two supporting rods (11)
Shaft is hinged, and second crossbar (41) and third cross bar (411) are slidably arranged in support plate (90).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720370367.1U CN207755507U (en) | 2017-04-10 | 2017-04-10 | A kind of upper and lower limbs rehabilitation training machine |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720370367.1U CN207755507U (en) | 2017-04-10 | 2017-04-10 | A kind of upper and lower limbs rehabilitation training machine |
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| CN207755507U true CN207755507U (en) | 2018-08-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113397905A (en) * | 2021-04-30 | 2021-09-17 | 苏州玄朱愈智能医疗科技有限公司 | Multifunctional intelligent passive trainer for upper and lower limbs |
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2017
- 2017-04-10 CN CN201720370367.1U patent/CN207755507U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113397905A (en) * | 2021-04-30 | 2021-09-17 | 苏州玄朱愈智能医疗科技有限公司 | Multifunctional intelligent passive trainer for upper and lower limbs |
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