CN212118905U - Active gait rehabilitation machine - Google Patents

Abstract

An active gait rehabilitation machine comprises a rack, a front bearing module, a rear bearing module, at least one trunk bearing module and two lower limb positioning devices, wherein the human sagittal plane position is adjusted and positioned by the front bearing module and the rear bearing module, the human coronal plane position is adjusted and positioned by the trunk bearing module, and the lower limb positioning devices are used for positioning the lower limbs of the human body and the human transverse plane. By using the integral configuration, the human body can be positioned along the sagittal plane, the coronal plane and the transverse plane, and the human body can be in the normal walking posture during rehabilitation, thereby achieving better rehabilitation effect.

Description

Active gait rehabilitation machine

Technical Field

The utility model relates to a rehabilitation machine, in particular to an active gait rehabilitation machine.

Background

A conventional gait rehabilitation machine (chinese patent application publication No. CN 102727363A) includes a support, a rear support for supporting the rear side of a human body, a thigh support pivotally connected to the support and corresponding to the thigh of the human body, a shank support pivotally connected to the thigh support and corresponding to the shank of the human body, a knee support disposed on the thigh support or the shank support, and an actuator mounted on the support and capable of driving the shank support to move. The gait rehabilitation machine has no structure for fixing the trunk of a human body, has no supporting and leaning function for a patient with poor trunk control, and ensures that the patient is not in a normal walking posture during training. And the patient is uncomfortable to bear on the knee of the knee support because of the active force during the active training, and the force is blocked.

Another sitting walking rehabilitation machine (chinese patent application publication No. CN 107708641A) is known, which mainly comprises a body weight support with a saddle on which a patient sits in his crotch. When the patient actively exerts force, the weight measurement is less accurate. Moreover, the patient is supported by only one chest support platform in front of the chest, and when the control of the patient's trunk is poor, deviation may occur, and the patient cannot be fixed at the correct walking position.

There is still another rehabilitation machine (US 20190151710a1 patent), which uses two supporting parts to support the armpit position of the patient, but there is no design for the patient to support and position the patient's legs, when the patient actively applies force, the legs have no supporting surface, and during the gait of the patient, the force application position is only on the pedal, not the movement resistance direction of the shank extensor, resulting in less resistance feeling when applying force. In addition, when the patient walks, the positions of the trunk and the hip joint of the human body are not limited, and the wrong posture is easy to generate. Moreover, the trunk is supported and leaned at the armpit position of the arm, so that uncomfortable feeling can be generated during blocking, and the position of the coronal plane of the trunk of the human body can not be adjusted by matching with a patient in the movement process.

Disclosure of Invention

An object of the utility model is to provide an active gait rehabilitation machine which can be in the correct walking posture when the patient actively exerts force.

The utility model discloses an active gait is strong machine again, suitable human body is strong again to contain frame, fore bearing lean on module, after to lean on module, at least one truck to bear by the module, and two low limbs positioner, the fore bearing lean on the module can adjust install in the frame, the after bear by the module can adjust and install in the frame, and be located the fore bearing leans on the rear side of module, human sagittal plane position by the fore bearing lean on the module with after bear the adjustment of module and fix a position, the truck bear by the module install in the frame, and be located the fore bearing lean on the module with after bear on module one side, human coronal plane position by the truck bears by module adjustment and fix a position, low limbs positioner install in the frame just supplies human low limbs location, human transverse plane position by low limbs positioner produces the location.

The utility model discloses an active gait rehabilitation machine, the frame includes end frame spare, a pair of braced frame spare that connects respectively in end frame spare, a pair of guide piece that connects respectively in braced frame spare, end frame spare have the front portion, along first axial in the back side portion, the left side portion of front portion to and along the perpendicular to first axial second axial in the right side portion of left side portion, the front is held and is leaned on the module and correspond to the front portion to have the front locating part that supplies the human body front chest to lean on, and for the front locating part produces the front restraint that the location just can be adjusted and tie up the piece, the front restraint ties in human trunk, the back is held and is leaned on the module and has to adjust and cover and locate one of them the back locating part of guide piece, pin joint in the pole of striding of back locating part, and install in stride the back of pole and lean on the pad, the trunk holds and has two, corresponding to respectively the left side portion with the right side portion, the truck holds to lean on the module respectively have two install in the side setting element of braced frame spare to and can dismantle and the eye-splice in the side constraint piece of side setting element, the side constraint piece is the bandage that can adjust the circle around the scope, the side constraint piece is tied in human chest both sides respectively.

The utility model discloses an active gait rehabilitation machine, the front bearing lean on the module still have connect in the locating rack of carriage spare, connect in the handrail support of locating rack, can follow first axial adjustment and install in the preceding support piece of handrail support, can follow the perpendicular to first axial with the third axial adjustment of second axial just install in the preceding adjusting part of handrail support, and connect in the locating rack just is located the preceding cushion of preceding locating part below, preceding locating part install in preceding adjusting part, preceding constraint install in preceding adjusting part just is located preceding setting element below.

The utility model discloses an active gait is strong machine again, the handrail support that the front bearing leaned on the module have be the handle portion of the shape of falling U, connect in handle portion just follows the sleeve pipe of primary shaft extension, and the screw lock in sheathed tube locking button, preceding support piece has wear to locate horizontal pole in the sleeve pipe, and crossing connect in the riser of horizontal pole, the riser has the edge the elongated slot of tertiary shaft extension, preceding adjustment piece have support by support in the adjusting plate of riser, and the several passes elongated slot and screw lock in the retaining member of adjusting plate.

The utility model discloses an active gait is strong machine again, low limbs positioner respectively include the pin joint in thigh support module, the pin joint of frame in the shank of thigh support module holds by the module, and install in the shank holds by the footboard module of module, the footboard module have connect in the shank holds by the swing arm of module, crossing connect in the bottom plate of swing arm, set up in footboard, the several of bottom plate top set up in the bottom plate with strength sensor between the footboard, be located in the sole setting element that the bottom plate just adopted the meshbelt to make, and be located the ankle setting element that the bottom plate just adopted the meshbelt to make.

The utility model discloses an active gait is strong machine again, low limbs positioner's shank holds and leans on the module respectively to have adjacent to thigh support module's pin, can adjust and install in the fixed plate of pin, install in the blotter of fixed plate, and install in tying up of fixed plate ties up the group, tie up and tie up the group and tie up respectively in human knee.

The utility model discloses an active gait rehabilitation machine, the back holds the pole of striding by the module have the pin joint in the pin joint end of back setting element, on the contrary in the expansion end of pin joint end, set up in the expansion end inboard and can buckle in another the draw-in groove of guide to and two spiral shell locks in the expansion end just can with the expansion end is fixed in the knob of the guide that corresponds.

The utility model discloses an active gait is strong machine again includes two install in the drive unit of frame, drive unit can drive the shank hold by the module with the footboard module is along first axial and perpendicular to first axial third axial produces reciprocating motion, drive unit respectively has the sideslip driving piece, receives the sideslip driving piece drive can be followed first axial for the gliding base of frame, install in the lift driving piece of base, receive the lift driving piece drive can be followed the third axial for the gliding slide of base, a pair of set up in the frame with first linear guide rail between the base, a pair of set up in the base with second linear guide rail between the slide, the swing arm pin joint of footboard module in the slide.

The beneficial effects of the utility model reside in that: the front bearing and leaning module and the rear bearing and leaning module are matched to adjust and position the sagittal plane of the human body, the trunk bearing and leaning module is used to adjust and position the coronal plane of the human body, and the lower limb positioning device is used to position the lower limbs and the transverse plane of the human body, so that the human body is in a normal walking posture during rehabilitation, and a better rehabilitation effect can be achieved.

Drawings

Fig. 1 is a perspective view of an embodiment of the active gait rehabilitation apparatus of the invention;

FIG. 2 is a schematic cross-sectional view of the embodiment;

FIG. 3 is a cross-sectional view taken along line III-III in FIG. 2;

FIG. 4 is a cross-sectional view taken along line IV-IV in FIG. 2;

FIG. 5 is an enlarged partial schematic view of FIG. 2 illustrating a front bearing module, a rear bearing module and a torso bearing module;

fig. 6 is an enlarged partial view of fig. 3 illustrating a lower limb positioning device and a drive unit.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and examples.

Referring to fig. 1 to 3, an embodiment of the active gait rehabilitation machine of the present invention comprises a frame 10, a front leaning module 20, a rear leaning module 30, two torso leaning modules 40, two lower limb positioning devices 50, two driving units 60 and a control unit 70.

The frame 10 includes a base frame 11, a pair of support frames 12 respectively connected to the base frame 11, a pair of guides 13 respectively connected to the support frames 12, the base frame 11 having a front side 111, a rear side 112 opposite to the front side 111 along a first axial direction X, a left side 113, and a right side 114 opposite to the left side 113 along a second axial direction Y. The supporting frame 12 is disposed on the left side portion 113 and the right side portion 114, and the guiding members 13 are connected to the supporting frame 12 and are in a straight rod shape extending along the first axial direction X.

Referring to fig. 5, the front supporting module 20 is mounted to the frame 10 and corresponds to the front portion 111, and has a positioning frame 21 connected to the supporting frame 12, a supporting plate 22 mounted to the positioning frame 21, an armrest support 23 connected to the supporting plate 22, a front support 24 capable of being adjusted along the first axial direction X and mounted to the armrest support 23, a front adjusting member 25 capable of being adjusted along a third axial direction Z perpendicular to the first axial direction X and the second axial direction Y and mounted to the front support 24, a front positioning member 26 mounted to the front adjusting member 25, a front restraining member 27 mounted to the front adjusting member 25 and located below the front positioning member 26, and a front cushion 28 mounted to the supporting plate 22 and located below the front positioning member 26. The armrest support 23 has an inverted U-shaped handle 231, a sleeve 232 connected to the handle 231 and extending along the first axial direction X, and a locking button 233 screwed to the sleeve 232, the front support 24 has a cross bar 241 penetrating through the sleeve 232, and a vertical plate 242 intersecting with the cross bar 241, the vertical plate 242 has a long slot 243 extending along the third axial direction Z, the front adjustment member 25 has an adjustment plate 251 abutting against the vertical plate 242, and two locking members 252 passing through the long slot 243 and screwed to the adjustment plate 251, the front attachment member 27 has two straps 271, and the end of each strap 271 can be provided with male and female adhesive fastening bands (not shown).

The rear support module 30 is mounted on the frame 10 and located at the rear side of the front support module 20 corresponding to the rear side portion 112, and the rear support module 30 has a rear positioning member 31 capable of being adjusted and sleeved on one of the guiding members 13, a cross bar 32 pivotally connected to the rear positioning member 31, and a rear cushion 33 mounted on the cross bar 32. The cross bar 32 has a pivoting end 321 pivoted to the rear positioning member 31, a movable end 322 opposite to the pivoting end 321, a slot 323 disposed inside the movable end 322 and capable of being fastened to another guiding member 13, and two knobs 324 screwed to the movable end 322 and capable of fixing the movable end 322 to the corresponding guiding member 13.

The trunk bearing module 40 is installed in the frame 10, and respectively corresponds to the left side portion 113 and the right side portion 114, the trunk bearing module 40 respectively has two side positioning members 41 installed on the supporting frame member 12, and a side binding member 42 detachable and inserted and buckled to the side positioning members 41. The side restraints 42 are U-shaped and straps with adjustable looping range.

Referring to fig. 4 and 6, the lower limb positioning devices 50 are mounted to the frame 10, and each include a thigh support module 51 pivotally connected to the support frame 12, a lower leg rest module 52 pivotally connected to the thigh support module 51, and a pedal module 53 mounted to the lower leg rest module 52. The calf leaning module 52 has a stop lever 521 adjacent to the thigh supporting module 51 and extending along the second axial direction Y, a fixing plate 522 capable of being adjusted and installed on the stop lever 521, a cushion 523 installed on the fixing plate 522 and arranged in a V shape, and a binding set 524 installed on the fixing plate 522. The pedal module 53 has a swing arm 531 connected to the lower leg rest module 52, a bottom plate 532 intersecting with the swing arm 531, a pedal 533 disposed above the bottom plate 532, a plurality of force sensors 534 disposed between the bottom plate 532 and the pedal 533, a sole positioning member 535 positioned on the bottom plate 532 and made of webbing, and an ankle positioning member 536 positioned on the bottom plate 532 and made of webbing.

The driving unit 60 is mounted on the bottom frame member 11 of the frame 10, and the driving unit 60 can drive the lower leg bearing module 52 and the pedal module 53 to reciprocate along the first axial direction X and the third axial direction Z. The driving units 60 each have a traverse driving member 61 installed on the bottom frame 11 and respectively disposed on the left side 113 and the right side 114, a base 62 driven by the traverse driving member 61 to slide relative to the bottom frame 11 along the first axis X, a lifting driving member 63 installed on the base 62, a sliding seat 64 driven by the lifting driving member 63 to slide relative to the base 62 along the third axis Z, a pair of first linear guide rails 65 disposed between the bottom frame 11 and the base 62, a pair of second linear guide rails 66 disposed between the base 62 and the sliding seat 64, and the swing arm 531 of the pedal module 53 is pivotally connected to the sliding seat 64. The traverse driving member 61 and the lifting driving member 63 are both in a transmission structure of a motor and a lead screw.

The control unit 70 is mounted on the frame 10 and electrically connected to the driving unit 60, and can control the traverse driving member 61 and the elevation driving member 63 to be sequentially activated according to a predetermined program.

For a further understanding of the nature and operation of the various elements of the invention, as well as the intended function and advantages thereof, reference should be made to the following detailed description and to the accompanying drawings, which are included to provide a further understanding of the invention.

When in use, the straddle rod 32 of the rear support module 30 is pivoted relative to the rear positioning member 31 (see the imaginary line in fig. 1), and the engaging groove 323 is disengaged from the corresponding guiding member 13, so that the patient can straddle between the supporting frame members 12, and after the foot of the patient steps on the pedal 533 of the pedal module 53, the energy of the force sensor 534 is used to measure the weight of the patient, and the pedal module 53 is used to support, so that a transverse plane P3 of the human body is positioned relative to the active gait rehabilitation machine.

The front restraint member 27 of the front support module 20 is used to fasten the front positioning member 26 to the chest of the human body, the front cushion 28 is used to fasten the chest of the human body, the side restraint members 42 of the trunk support module 40 are used to respectively surround the chest of the human body, so that a coronal plane P2 of the human body is fixed, finally, the cross rod 32 of the rear support module 30 is pivoted relative to the rear positioning member 31, the slot 323 is buckled into the corresponding guide member 13, the cross rod 32 is adjusted to move along the first axial direction X, the rear support pad 33 is abutted to the hip of the patient, and the knob 324 is locked, so that the front support module 20 is used to cooperate with the rear support module 30, and a sagittal plane P1 of the human body is fixed. And the adjustable characteristic of the side binding piece 42 of the trunk bearing module 40 is utilized to make the patient can complement the trunk strength insufficiency or high tension action when actively exerting force.

When the control unit 70 establishes data and starts the driving unit 60, the traverse driving member 61 and the elevation driving member 63 are simultaneously controlled, so that the base 62 moves along the first axial direction X and moves up and down in cooperation with the sliding base 64, thereby driving the lower leg rest module 52 to generate a gait motion trajectory and adjusting the posture of the lower limb of the patient.

Therefore, the utility model discloses an active gait is strong machine again utilizes this preceding bearing to lean on module 20 and this back to bear the cooperation of module 30 and enable human sagittal plane P1 position adjustment location, utilizes this truck to bear the module 40 and enable human coronal plane P2 position adjustment location, utilizes low limbs positioner 50 then enables human low limbs and horizontal form face P3 and produces the location, can adjust the posture of disease low limbs motion to cooperate this the control unit 70 with drive unit 60, the motion trail that produces the gait makes the human physical stamina be in normal people walking posture when being strong again, can reach the effect of being strong again of preferred.

In addition, the patient can be positioned in the walking posture of a normal person during the training by the overall configuration, and even if the patient actively exerts force during the active training, the positioning of the human sagittal plane P1 is generated by the stop rod 521 and the binding group 524 of the shank bearing module 52, and the cushioning effect is provided by the cushion 523, so that the knee can be more comfortable, and the force exerting is not hindered.

Furthermore, by using the pedal module 53 with the force sensor 534, when the patient is in the walking posture of the normal person, the weight value of the patient can be accurately measured, and accurate data can be established. The sole positioning member 535 and the ankle positioning member 536 made of woven straps have a better leg positioning effect when the patient actively applies force, so that the force is smoothly applied by the patient in the gait process.

To sum up, the utility model discloses an active gait is strong machine again enables the disease and can both cooperate the disease adjustment at human trunk sagittal plane P1, coronal plane P2, horizontal form plane P3 position in the initiative motion process, and the human physical stamina is in normal people's posture of walking during the rehabilitation, can reach cost utility model's purpose really.

Claims (8)

1. The utility model provides an active gait is strong machine again, suitable human body is strong again to contain the frame, before hold by the module, after hold by the module, at least one truck hold by the module, and two low limbs positioner, its characterized in that:

the front bearing module is adjustably arranged on the rack;

the rear bearing and leaning module can be adjusted and installed on the rack and is positioned at the rear side of the front bearing and leaning module, and the sagittal plane position of a human body is adjusted and positioned by the front bearing and leaning module and the rear bearing and leaning module;

the trunk bearing module is arranged on the rack and positioned on one side of the front bearing module and the rear bearing module, and the position of the coronal plane of the human body is adjusted and positioned by the trunk bearing module;

the lower limb positioning device is arranged on the rack and used for positioning the lower limbs of the human body, and the transverse surface position of the human body is positioned by the lower limb positioning device.

2. The active gait rehabilitation machine of claim 1, wherein: the frame includes end frame spare, a pair of support frame spare of connecting respectively in end frame spare, a pair of guide piece of connecting respectively in support frame spare, end frame spare has preceding lateral part, along first axial in the back lateral part of preceding lateral part, left side portion to and along perpendicular to first axial second axial in the right side portion of left side portion, preceding holding is leaned on the module and is corresponded to preceding lateral part to have the preceding locating part that supplies human body front chest to lean on, and for preceding locating part produces the preceding restraint piece of location and can adjust, preceding restraint piece is tied in human truck, back holding is leaned on the module and has can adjust and overlap and locate one of them the back locating element of guide piece, pin joint in the pole of striding of back locating element, and install in the back cushion of striding the pole, the truck holds the quantity of leaning on the module and has two, is corresponding to respectively left side portion with right side portion, the truck holds and leans on the module respectively have two install in the side setting element of braced frame spare to and can dismantle and the eye-splice in the side tie piece of side setting element, the side tie piece is the bandage that can adjust the circle and wind the scope, the side tie piece is tied in human chest both sides respectively.

3. The active gait rehabilitation machine of claim 2, wherein: the front bearing leaning module is also provided with a positioning frame connected with the supporting frame piece, an armrest support connected with the positioning frame, a front support piece capable of being adjusted in the first axial direction and installed on the armrest support, a front adjusting piece capable of being adjusted in the third axial direction in the first axial direction and the second axial direction and installed on the armrest support, and a front cushion connected with the positioning frame and located below the front positioning piece, wherein the front positioning piece is installed on the front adjusting piece, and the front binding piece is installed on the front adjusting piece and located below the front positioning piece.

4. The active gait rehabilitation machine of claim 3, wherein: the armrest support of the front bearing module is provided with an inverted U-shaped handle part, a sleeve connected to the handle part and extending along the first axial direction, and a locking button screwed on the sleeve, the front support part is provided with a cross rod penetrating through the sleeve, and a vertical plate crossed and connected to the cross rod, the vertical plate is provided with a long groove extending along the third axial direction, the front adjustment part is provided with an adjusting plate abutted against the vertical plate, and a plurality of locking parts penetrating through the long groove and screwed on the adjusting plate.

5. The active gait rehabilitation machine of claim 1, wherein: lower limbs positioner respectively including the pin joint in thigh supporting module, the pin joint of frame in the shank of thigh supporting module holds to lean on the module, and install in the shank holds to lean on the footboard module of module, the footboard module have connect in the shank holds to lean on the swing arm of module, crossing connect in the bottom plate of swing arm, set up in footboard, the several of bottom plate top set up in the bottom plate with force transducer between the footboard, be located in the sole setting element that the bottom plate just adopts the meshbelt to make, and be located in the ankle setting element that the bottom plate just adopted the meshbelt to make.

6. The active gait rehabilitation machine of claim 5, wherein: the crus bearing and leaning module of the lower limb positioning device is respectively provided with a stop lever adjacent to the thigh supporting module, a fixing plate capable of being adjusted and installed on the stop lever, a cushion pad installed on the fixing plate, and a binding group installed on the fixing plate, wherein the binding group is respectively bound on the knees of a human body.

7. The active gait rehabilitation machine of claim 2, wherein: the cross rod of the rear bearing module is provided with a pin joint end which is pin jointed with the rear positioning piece, a movable end which is opposite to the pin joint end, a clamping groove which is arranged at the inner side of the movable end and can be buckled on the other guide piece, and two knobs which are locked at the movable end and can fix the movable end on the corresponding guide piece.

8. The active gait rehabilitation machine of claim 5, wherein: the driving units can drive the shank leaning module and the pedal module to reciprocate along a first axial direction and a third axial direction perpendicular to the first axial direction, each driving unit is provided with a transverse driving piece, a base driven by the transverse driving piece to slide relative to the frame along the first axial direction, a lifting driving piece arranged on the base, a sliding seat driven by the lifting driving piece to slide relative to the base along the third axial direction, a pair of first linear guide rails arranged between the frame and the base, and a pair of second linear guide rails arranged between the base and the sliding seat, and the swing arm of the pedal module is pivoted to the sliding seat.

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