CN210145027U - Bed type gait rehabilitation training system - Google Patents

Abstract

The utility model discloses a bed-type gait rehabilitation training system, which comprises a bed body, a driving mechanism, a transmission mechanism, a leg support module and/or a foot movement module; the leg support module comprises a thigh support module and a shank support module, is detachably arranged on at least one side of the bed body and is used for supporting thighs and shanks of a patient; the foot motion module is a treadmill which is detachably arranged at one end part of the bed body; the driving mechanism is used for driving the foot movement module to move and driving the leg support module to move up and down along the bed body through the transmission mechanism. The utility model discloses a bed-type gait rehabilitation training system makes the rehabilitation training device of shank and foot solitary module, and each module detachably and bed body coupling can increase or get rid of a certain module according to patient's demand, have realized that rehabilitation training system is multi-functional, low-cost, application scope is wide, can be applicable to the target in different rehabilitation training stages.

Description

Bed type gait rehabilitation training system

Technical Field

The utility model relates to a rehabilitation training equipment technical field, concretely relates to bed formula gait rehabilitation training system.

Background

The existing rehabilitation training robot mostly carries out rehabilitation training aiming at a specific rehabilitation stage of a patient and obtains a primary rehabilitation treatment effect clinically, but the existing rehabilitation training robot has a single function, cannot be applied to the whole process of the rehabilitation training, is low in use rate and causes a long rehabilitation period.

The existing lower limb rehabilitation training robot has some defects. Some rehabilitation robots have poor motion effect due to less drivers or can only carry out single stepping training, and the gait curve of the rehabilitation training is greatly different from the gait curve of normal people; the rehabilitation robot with more drivers drives one robot joint by one motor so as to drive the human body to perform rehabilitation training, has better rehabilitation training effect, but has high cost, high manufacturing cost, poor economical efficiency and more complex control.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a bed-type gait rehabilitation training system, make the rehabilitation training device of shank and foot solitary module, each module passes through quick assembly disassembly interface and bed body coupling, can increase or get rid of a certain module according to patient's demand, has realized that rehabilitation training system is multi-functional, low-cost, application scope is wide, can be applicable to the target in different rehabilitation training stages.

In order to solve the technical problem, the utility model provides a bed-type gait rehabilitation training system, which comprises a bed body, a driving mechanism, a transmission mechanism, a leg support module and/or a foot movement module; the leg support module comprises a thigh support module and a shank support module, and the thigh support module and the shank support module are detachably arranged on at least one side of the bed body and are used for supporting the legs of a patient; the foot motion module is a treadmill which is detachably arranged at one end part of the bed body; the driving mechanism is used for driving the foot movement module to move and driving the leg support module to move up and down along the bed body through the transmission mechanism.

The utility model discloses in, actuating mechanism and drive mechanism set up in the inside of the bed body for drive shank support module is according to the gait law when normal people walks along bed body up-and-down motion, thereby drive the gait orbit motion of patient's shank when normal people walks, reach rehabilitation training's purpose.

Furthermore, the leg supporting module and the foot movement module are arranged on the bed body through the quick assembling and disassembling interfaces, so that the quick assembling and disassembling of the modules can be realized.

Furthermore, the leg support module comprises a vertical support plate, a transverse support rod and a leg support seat, the lower end of the vertical support plate is detachably connected to the transmission mechanism, and the upper end of the vertical support plate is fixedly connected with the transverse support rod; the leg supporting seat is fixedly connected to the transverse supporting rod.

Furthermore, the upper end of the vertical support plate is fixedly connected with the transverse support rod through a butterfly nut; preferably, the upper end of the vertical support plate is provided with a plurality of mounting holes for adjusting the relative position of the transverse support rod to adapt to patients with different leg lengths.

Furthermore, the transverse support rods comprise a first transverse support rod and a second transverse support rod, and the first transverse support rod and the second transverse support rod are connected through an adjusting sleeve. The adjusting sleeve is used for adjusting the relative positions of the first transverse supporting rod and the second transverse supporting rod in the axial direction, and then adjusting the positions of the leg supporting seats so as to adapt to patients with different leg intervals.

Furthermore, be equipped with on the horizontal support pole and rotate the piece, the lower part of shank supporting seat is equipped with the guide rail, rotate be equipped with the gliding first slider of guide rail cooperation. The guide rail slides relative to the first sliding block, and the rotating part rotates relative to the transverse supporting rod, so that the man-machine flexible connection is realized, and the secondary injury caused by over-restraint of a patient is avoided.

Further, the transmission mechanism comprises a connecting rod sliding block mechanism, a cam and a roller push rod; the connecting rod sliding block mechanism comprises a connecting rod fixing seat, a first connecting rod, a second connecting rod, a vertical guide rail, a connecting rod connecting block and a second sliding block which is connected onto the vertical guide rail in a sliding mode, the connecting rod fixing seat and the vertical guide rail are fixedly connected onto the bed body, the first connecting rod and the second connecting rod are hinged to each other, two ends of the first connecting rod and the second connecting rod are hinged to the connecting rod fixing seat and the connecting rod connecting block respectively, and the second sliding block is fixed onto the connecting rod connecting block; the lower end of the vertical supporting plate is detachably connected to the connecting rod connecting block; the cam is driven to rotate by the driving mechanism, a curve groove is formed in the cam, one end of the roller push rod moves in the curve groove, and the other end of the roller push rod is fixed on a first connecting rod of the connecting rod sliding block mechanism.

In the utility model, the cam is driven by the driving mechanism to rotate around the center of the cam, so as to drive the roller push rod to move in the curve groove of the cam; the motion of roller push rod can drive first connecting rod and rotate around its pin joint with the connecting rod fixing base, and then drives the connecting rod connecting block along vertical guide rail up-and-down motion. The connecting rod connecting block is connected with the vertical supporting plate of the leg supporting module through the quick assembly disassembly interface, so that the connecting rod connecting block can drive the leg supporting module to move up and down along the bed body.

The motion track of the leg support module is determined by the rotational speed of the cam and the shape of the curved slot on the cam. As the swing of the thighs and the shanks is inconsistent when a human body walks normally, the cam curves of the transmission mechanisms of the thigh supporting module and the shank supporting module are inconsistent, and other structures are consistent.

As the gait cycles of the left leg and the right leg of the human body always keep 50 percent of phase difference when the human body normally walks, the cam rotation cycles of the transmission mechanisms of the thigh support module and the shank support module on the left side and the right side of the bed body always keep 50 percent of phase difference.

The cam in the transmission mechanism of the thigh support module is named as a thigh cam, and the cam in the transmission mechanism of the shank support module is named as a shank cam. Furthermore, thigh cams on the left side and the right side of the bed body are respectively connected with two ends of a thigh cam transmission shaft, and the rotation period is different by 50%; the shank cams at the left side and the right side of the bed body are respectively connected with the two ends of a shank cam transmission shaft, and the rotation period difference is 50%. The two transmission shafts rotate synchronously and are driven by the same motor.

Furthermore, the foot motion module adopts a bilateral symmetry structure and comprises a left side plate, a right side plate and a running belt positioned between the two side plates; a pedal is arranged under the running belt to bear the weight of a patient, and the pedal is fixedly connected on the two side plates. The left side plate and the right side plate are provided with a driving shaft and a driven shaft, and the running belt is wound on the driving shaft and the driven shaft and provides torque for the driving shaft.

A first treadmill transmission shaft and a second treadmill transmission shaft are arranged between the left side plate and the right side plate, and a first treadmill gear and a second treadmill gear which are meshed with each other are respectively arranged on the first treadmill transmission shaft and the second treadmill transmission shaft; the power input mechanism of the foot motion module is a first gear of the running machine, the first gear of the running machine is meshed with a gear of a driving mechanism in the bed body, the driving mechanism in the bed body drives the first gear of the running machine to rotate, and the first gear of the running machine drives a second gear of the running machine to rotate so as to drive a second transmission shaft of the running machine to rotate. The two ends of a second transmission shaft of the treadmill are provided with second synchronous belt wheels, the second synchronous belt wheels drive the first synchronous belt wheels to rotate through synchronous belts, and the two first synchronous belt wheels are respectively arranged at the two ends of the driving shaft and drive the driving shaft to rotate, so that the running belt rotates around the driving shaft and the driven shaft.

When a person walks normally, the leg movement speed and the foot movement speed have a certain matching relationship, so that the running speed of the running belt is matched with the running speeds of the thigh movement module and the shank movement module; the matching relationship between the running speed of the running belt and the running speeds of the thigh motion module and the shank motion module is determined by the transmission mechanism of the bed body. The movement of the leg movement module and the foot movement module can be driven by the same motor due to the definite matching relationship of the movement speeds of the movement modules.

Further, the driving mechanism comprises a motor, and the motor drives the foot motion module and the leg motion module to move synchronously.

Furthermore, the driving mechanism specifically comprises a motor and a gear I fixed on a main shaft of the motor, a gear II and a first chain wheel are respectively fixed on a thigh cam transmission shaft, and a second chain wheel and a third chain wheel are respectively fixed on a shank cam transmission shaft; the chain wheel transmission mechanism further comprises a gear transmission shaft, and a fourth chain wheel and a transmission gear which are fixed on the gear transmission shaft.

When the motor drives the gear I to rotate, the gear I is in meshed transmission with the gear II, the gear II drives the thigh cam transmission shaft to rotate, two thigh cams are respectively arranged on two sides of the thigh cam transmission shaft, and the two thigh cams rotate along with the thigh cam transmission shaft; meanwhile, a first chain wheel arranged on the thigh cam transmission shaft drives a second chain wheel to synchronously rotate through a chain; the second chain wheel drives the shank cam transmission shaft to rotate, two shank cams are respectively arranged on two sides of the shank cam transmission shaft, and the two shank cams rotate along with the shank cam transmission shaft; meanwhile, a third chain wheel arranged on the shank cam transmission shaft drives a fourth chain wheel to synchronously rotate through a chain, so that the gear transmission shaft is driven to rotate, and further, a transmission gear on the foot module is driven to rotate so as to drive the foot module to move.

The leg support module and the foot motion module move synchronously, and the transmission ratio distribution relationship is determined by the tooth number of the gear and the chain wheel.

Further, the bed body includes bottom frame and lathe bed, be equipped with drive push rod on the bottom frame, drive push rod is used for promoting the lathe bed and rotates in 0 ~ 90 within range to the patient carries out the rehabilitation training when lying, slope and standing, in order to adapt to different rehabilitation stages. Preferably, the drive ram is a pneumatic spring. Preferably, the bed surface is divided into two parts, and when rehabilitation training is carried out, the lower bed surface can be turned downwards by a certain angle, so that the interference between the bed plate and the legs of a patient is avoided.

Further, the handrails are installed on two sides of the bed body, so that the body of a patient can be stabilized during rehabilitation training.

Furthermore, the other end of the bed body relative to the foot movement module is provided with a suspension mechanism, so that the upper body of the patient can be suspended when the patient performs rehabilitation training under the inclined or nearly standing posture, the load borne by the lower limb of the patient is reduced, and the rehabilitation of the patient is facilitated.

The utility model has the advantages that:

1. the utility model discloses use the modularized theory, make the rehabilitation training device of shank and foot into solitary module, each module detachably and bed body coupling can increase or get rid of a certain module according to patient's demand, have realized that the rehabilitation training system is multi-functional, low-cost, application scope is wide, can be applicable to the target in different rehabilitation training stages.

2. The utility model discloses regard as the motion transmission mechanism of shank support module with the cam, the motion state of shank support module only is relevant with cam curve and motor speed, just can change the motion trail of shank support module through changing the cam curve, even the system breaks down when the operation, also can not cause secondary damage to the patient, factor of safety is high.

3. The utility model discloses only use a motor as the drive original paper of rehabilitation training system, design into the linkage with rehabilitation training system shank support module and foot motion module according to normal people's leg, foot motion law, the motion track when the motion of each module of rehabilitation training system can the accurate normal people walking that accords with.

Drawings

Fig. 1 is the overall effect diagram of the bed-type gait rehabilitation training system of the utility model;

FIG. 2 is a schematic view of the bed structure with the motion modules removed;

FIG. 3 is a schematic view of the bed at different inclinations;

FIG. 4 is a schematic structural view of a leg support module;

FIG. 5 is a schematic structural view of the transmission mechanism;

FIG. 6 is a schematic view of the positions of the transmission mechanisms of the thigh support module and the shank support module on the bed;

FIG. 7 is a schematic diagram of a foot motion module;

FIG. 8 is a schematic view of the drive mechanism;

the reference numbers in the figures illustrate: 1. a bed body; 11. a handrail; 12. a bed surface; 13. a suspension mechanism; 14. a guard plate; 15. a caster wheel; 16. a pneumatic spring;

2. a leg support module; 21. a vertical support plate; 22. a butterfly nut; 23. a transverse support rod; 231. a first cross support bar; 232. a second transverse supporting rod; 24. adjusting the screw; 25. adjusting the sleeve; 26. a leg support base; 27. a guide rail; 28. a first slider; 29. a rotating member;

3. a foot motion module; 301. connecting an interface; 302. a synchronous belt guard plate; 303. a side plate; 304. a running belt; 305. a pedal; 306. a driven shaft; 307. a support; 308. a drive shaft; 309. a first timing pulley; 310. a synchronous belt; 311. a synchronous belt tensioning device; 312. a second timing pulley; 313. a treadmill second gear; 314. a treadmill first gear; 315. a second transmission shaft of the treadmill; 316. a first transmission shaft of the treadmill;

4. a transmission mechanism; 401. a connecting rod fixing seat; 402. a first hinge pin; 403. a push rod fixing pin; 404. a first link; 405. a second slider; 406. a vertical guide rail; 407. a connecting rod connecting block; 408. a second hinge; 409. a second link; 410. a third hinge pin; 411. a roller push rod; 412. a cam;

501. a transmission gear; 502. a gear transmission shaft; 503. a fourth sprocket; 504. a shank cam drive shaft; 505. a third sprocket; 506. a second sprocket; 507. a motor; 508. a gear I; 509. a gear II; 510. a thigh cam drive shaft; 511. a first sprocket.

Detailed Description

The present invention is further described with reference to the following drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Referring to fig. 1, an embodiment of the bed-type gait rehabilitation training system of the present invention comprises a bed body 1 and each exercise module. The motion module comprises a foot motion module 3 and a leg support module 2, wherein the leg support module 2 is divided into four groups of modules with the same structure and respectively connected with thighs and calves of patients; the foot motion module 3 is a treadmill.

When the rehabilitation training is not carried out, each motion module can be conveniently detached from the bed body 1 through the quick assembly and disassembly interface, and the bed body 1 at the moment is a common sickbed. The bed 1 with the motion modules removed is shown in fig. 2.

Referring to fig. 3, the bed body 1 is a frame structure, and includes a bottom frame and a bed body, where guard plates 14 are disposed on two sides of the bed body, and casters 15 are mounted on the bottom frame. The bottom frame is provided with a driving push rod, and the driving push rod is used for pushing the bed body to rotate within the range of 0-90 degrees, so that the patient can carry out rehabilitation training when lying, inclining and standing to adapt to different rehabilitation stages. The bed surface 12 is divided into two parts, when rehabilitation training is carried out, the lower bed surface 12 can be turned downwards for a certain angle, and the interference between the bed plate and the legs of a patient is avoided. The drive ram is preferably a pneumatic spring 16.

Handrails 11 are arranged on two sides of the bed body so as to stabilize the body of a patient during rehabilitation training. The other end of the bed body relative to the foot motion module 3 is provided with a suspension mechanism 13, so that the upper body of the patient can be suspended when the patient performs rehabilitation training under the inclined or nearly standing posture, the load born by the lower limb of the patient is reduced, and the rehabilitation of the patient is facilitated.

The leg support module 2 consists of four sets of identically constructed modules, one set of which is described herein, as shown in fig. 4.

Specifically, the leg support module 2 includes a vertical support plate 21, a horizontal support rod 23 and a leg support seat 26, wherein the lower end of the vertical support plate 21 is connected to the transmission mechanism 4 inside the bed body 1 by a quick assembly and disassembly interface, and the upper end is connected to the horizontal support rod 23 by a butterfly nut 22. Three holes are reserved at the upper end of the vertical support plate 21 for adjusting the relative position of the transverse support rod 23 to adapt to patients with different leg lengths. Preferably, the cross support rod 23 includes a first cross support rod 231 and a second cross support rod 232, and the first cross support rod 231 and the second cross support rod 232 are connected through the adjusting sleeve 25, so that the axial relative positions of the first cross support rod 231 and the second cross support rod 232 can be adjusted, and then the positions of the leg support bases 26 can be adjusted to adapt to patients with different leg spacings. A rotating part 29 is arranged on the second transverse supporting rod 232, a guide rail 27 is arranged at the lower part of the leg supporting seat 26, and a first sliding block 28 which is matched with the guide rail 27 to slide is arranged on the rotating part 29. The guide rail 27 and the first sliding block 28 slide relatively, and the rotating member 29 and the second transverse supporting rod 232 rotate relatively, so that the man-machine flexible connection is realized, and the secondary injury caused by over-restriction of the patient is avoided.

The driving mechanism and the transmission mechanism 4 are arranged in the bed body 1 to drive the four leg supporting modules 2 to move up and down along the bed body 1 according to the gait rule of the normal person when walking, so that the legs of the patient are driven to move according to the gait track of the normal person when walking, and the purpose of rehabilitation training is achieved.

Referring to fig. 5, the transmission mechanism 4 of the leg support module 2 is located inside the bed 1, and is also composed of four groups of modules with similar structures, which respectively drive the thigh and calf movement modules on the left and right sides, and one of the groups is taken for description.

The transmission mechanism 4 comprises a link slider mechanism, a cam 412 and a roller push rod 411; the connecting rod sliding block mechanism comprises a connecting rod fixing seat 401, a first connecting rod 404, a second connecting rod 409, a vertical guide rail 406, a connecting rod connecting block 407 and a second sliding block 405 connected to the vertical guide rail 406 in a sliding mode, the connecting rod fixing seat 401 and the vertical guide rail 406 are fixedly connected to the bed body 1, the first connecting rod 404 is hinged to the connecting rod fixing seat 401 through a first hinge pin 402, the second connecting rod 409 is hinged to the connecting rod connecting block 407 through a second hinge pin 408 in a pin mode, the first connecting rod 404 and the second connecting rod 409 are hinged through a third hinge pin 410, and the lower end of the vertical supporting plate 21 is connected to the connecting rod connecting block 407 through a quick-release interface. The cam 412 is driven to rotate by the driving mechanism, a curved slot is formed on the cam 412, one end of the roller push rod 411 moves in the curved slot, and the other end of the roller push rod is connected to the first connecting rod 404 of the connecting rod slider mechanism through the push rod fixing pin 403.

In the present invention, the cam 412 is driven by the driving mechanism to rotate around its center, so as to drive the roller push rod 411 to move in the curved groove of the cam 412; the roller push rod 411 can rotate around the push rod fixing pin 403, and the roller push rod 411 drives the first connecting rod 404 to rotate around the first hinge pin 402 through the push rod fixing pin 403, so as to drive the connecting rod connecting block 407 to move up and down along the vertical guide rail 406. The connecting rod connecting block 407 is connected to the vertical supporting plate 21 of the leg supporting module 2 through the quick assembly and disassembly interface, so that the connecting rod connecting block 407 drives the leg supporting module 2 to move up and down along the bed body 1.

The motion profile of the leg support module 2 is determined by the rotational speed of the cam 412 and the shape of the curved slot in the cam 412. Because the swinging of the thighs and the calves is inconsistent when the human body walks normally, the curves of the cams 412 of the transmission mechanisms 4 of the thigh support module and the calves support module are inconsistent, and the other structures are consistent.

Referring to fig. 6, since the gait cycles of the left and right legs of the human body always keep 50% phase difference when the human body normally walks, the rotation cycles of the cams 412 of the transmission mechanisms 4 of the thigh support modules and the shank support modules on the left and right sides of the bed body 1 always keep 50% phase difference.

The cam 412 in the transmission 4 of the thigh support module is named thigh cam 412 and the cam 412 in the transmission 4 of the calf support module is named calf cam 412. Thigh cams 412 on the left side and the right side of the bed body 1 are respectively connected with two ends of a thigh cam transmission shaft 510, and the rotation period difference is 50%; the shank cams 412 on the left side and the right side of the bed body 1 are respectively connected with the two ends of the shank cam transmission shaft 504, and the rotation period difference is 50%. The two transmission shafts rotate synchronously and are driven by the same motor 507.

Referring to fig. 7, the foot exercise module 3 is a treadmill, which can be conveniently installed on the bed 1 or removed from the bed 1 through a quick-release interface.

The foot exercise module 3 adopts a bilaterally symmetrical structure, and includes left and right side plates 303 and a running belt 304 positioned between the side plates 303; a pedal 305 is installed under the running belt 304 to bear the weight of the patient, and the pedal 305 is fixedly connected to the two side plates 303. A driving shaft 308 and a driven shaft 306 are installed on the left and right side plates 303, and a running belt 304 is wound around the driving shaft 308 and the driven shaft 306 to provide torque thereto from the driving shaft 308.

A first treadmill transmission shaft 316 and a second treadmill transmission shaft 315 are further arranged between the left side plate 303 and the right side plate 303, and a first treadmill gear 314 and a second treadmill gear 313 which are meshed with each other are respectively arranged on the first treadmill transmission shaft 316 and the second treadmill transmission shaft 315; the power input mechanism of the foot exercise module 3 is a first gear 314 of the treadmill, the first gear 314 of the treadmill is engaged with a gear of a driving mechanism inside the bed body 1, the driving mechanism inside the bed body 1 drives the first gear 314 of the treadmill to rotate, the first gear 314 of the treadmill drives the second gear 313 of the treadmill to rotate, and then drives the second transmission shaft 315 of the treadmill to rotate. The second synchronous pulleys 312 are installed at two ends of the second transmission shaft 315 of the treadmill, the second synchronous pulleys 312 drive the first synchronous pulleys 309 to rotate through a synchronous belt, and the two first synchronous pulleys 309 are respectively installed at two ends of the driving shaft 308 to drive the driving shaft 308 to rotate, so that the running belt 304 rotates around the driving shaft 308 and the driven shaft 306.

When the person walks normally, the leg movement speed and the foot movement speed have a certain matching relationship, so that the running speed of the running belt 304 is matched with the running speeds of the thigh movement module and the shank movement module; and the matching relationship between the running speed of the running belt 304 and the running speeds of the thigh movement module and the shank movement module is determined by the transmission mechanism 4 of the bed body 1. Since the movement speeds of the respective movement modules have a certain matching relationship, the movements of the leg movement module and the foot movement module 3 can be driven by the same motor 507.

The driving mechanism is located inside the bed 1, and the structure of the driving mechanism is shown in fig. 8. As can be seen from the figure, the driving mechanism comprises a motor 507 and a gear i 508 fixed on the main shaft of the motor 507, a gear ii 509 and a first chain wheel 511 are respectively fixed on a thigh cam transmission shaft 510, and a second chain wheel 506 and a third chain wheel 505 are respectively fixed on a shank cam transmission shaft 504; the chain transmission device further comprises a gear transmission shaft 502, and a fourth chain wheel 503 and a transmission gear 501 which are fixed on the gear transmission shaft 502.

When the motor 507 drives the gear I508 to rotate, the gear I508 and the gear II 509 are in meshed transmission, the gear II 509 drives the thigh cam transmission shaft 510 to rotate, two thigh cams 412 are respectively arranged on two sides of the thigh cam transmission shaft 510, and the two thigh cams 412 rotate along with the thigh cam transmission shaft 510; meanwhile, a first chain wheel 511 arranged on the thigh cam transmission shaft 510 drives a second chain wheel 506 to synchronously rotate through a chain; the second chain wheel 506 drives the lower leg cam transmission shaft 504 to rotate, two lower leg cams 412 are respectively arranged on two sides of the lower leg cam transmission shaft 504, and the two lower leg cams 412 rotate along with the lower leg cam transmission shaft 504; meanwhile, a third chain wheel 505 arranged on the shank cam transmission shaft 504 drives a fourth chain wheel 503 to synchronously rotate through a chain, so as to drive the gear transmission shaft 502 to rotate, and further drive a transmission gear 501 on the foot module to rotate, so as to drive the foot module to move.

The leg support module 2 moves synchronously with the foot movement module 3, and the transmission ratio distribution relationship is determined by the number of teeth of the gears and the chain wheels.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims (10)

1. A bed-type gait rehabilitation training system is characterized by comprising a bed body, a driving mechanism, a transmission mechanism, a leg support module and/or a foot movement module;

the leg support module comprises a thigh support module and a shank support module, and the thigh support module and the shank support module are detachably arranged on at least one side of the bed body and are used for supporting thighs and shanks of a patient; the foot motion module is a treadmill which is detachably arranged at one end part of the bed body;

the driving mechanism is used for driving the foot movement module to move and driving the leg support module to move up and down along the bed body through the transmission mechanism, so that the legs of the patient are driven to move according to the gait track when the patient walks normally.

2. The bed-style gait rehabilitation training system of claim 1, wherein the leg support module and the foot movement module are connected to the bed body through quick-release interfaces.

3. The bed-type gait rehabilitation training system according to claim 1, wherein the leg support module comprises a vertical support plate, a transverse support rod and a leg support seat, the lower end of the vertical support plate is detachably connected to the transmission mechanism, and the upper end of the vertical support plate is fixedly connected with the transverse support rod; the leg supporting seat is fixedly connected to the transverse supporting rod.

4. The bed-style gait rehabilitation training system of claim 3, wherein the cross support bar comprises a first cross support bar and a second cross support bar, the first cross support bar and the second cross support bar being connected by an adjustment sleeve.

5. The bed-type gait rehabilitation training system according to claim 3, wherein the cross support bar is provided with a rotating member, the lower part of the leg support base is provided with a guide rail, and the rotating member is provided with a first sliding block which is matched with the guide rail to slide.

6. The bed-style gait rehabilitation training system of claim 3, wherein the transmission mechanism includes a link-slider mechanism, a cam and a roller pusher;

the connecting rod sliding block mechanism comprises a connecting rod fixing seat, a first connecting rod, a second connecting rod, a vertical guide rail, a connecting rod connecting block and a second sliding block which is connected to the vertical guide rail in a sliding mode, the connecting rod fixing seat and the vertical guide rail are fixedly connected to the bed body, the first connecting rod and the second connecting rod are hinged to each other, two ends of the first connecting rod and the second connecting rod are hinged to the connecting rod fixing seat and the connecting rod connecting block respectively, and the second sliding block is fixed to the connecting rod connecting block; the lower end of the vertical supporting plate is detachably connected to the connecting rod connecting block;

the cam is driven to rotate by the driving mechanism, a curve groove is formed in the cam, one end of the roller push rod moves in the curve groove, and the other end of the roller push rod is fixedly connected to the first connecting rod.

7. The bed-style gait rehabilitation training system of claim 1, wherein the drive mechanism includes a motor that drives the foot motion module and the leg motion module in synchronous motion.

8. The bed-type gait rehabilitation training system of claim 1, wherein the bed body comprises a bottom frame and a bed body, the bottom frame is provided with a driving push rod, and the driving push rod is used for pushing the bed body to rotate within the range of 0-90 degrees.

9. The bed-type gait rehabilitation training system of claim 8, wherein handrails are mounted on both sides of the bed.

10. The bed gait rehabilitation training system of claim 8, wherein the other end of the bed relative to the foot movement module is mounted with a suspension mechanism.

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