CN213666564U - Lower limb traction device and rehabilitation training robot - Google Patents

Abstract

The utility model discloses a low limbs draw gear and rehabilitation training robot, low limbs draw gear includes: the foot traction device comprises a base and a foot traction assembly arranged on the base, and the foot traction assembly is used for traction the affected foot to perform foot simulation movement in the up-down direction and the front-back direction; and the leg traction assembly is mounted on the foot traction assembly and is used for drawing the affected limb to do knee bending movement when the affected limb moves upwards. Therefore, the autonomous and automatic rehabilitation training device can be provided for the lower limb paralysis patient.

Description

Lower limb traction device and rehabilitation training robot

Technical Field

The utility model relates to a medical treatment rehabilitation apparatus technical field, in particular to low limbs draw gear and rehabilitation training robot.

Background

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a lower limb traction device, which aims to provide an autonomous/automatic rehabilitation training device for a patient with paralyzed lower limbs.

In order to achieve the above object, the utility model provides a lower limb traction device, lower limb traction device includes:

the foot traction device comprises a base and a foot traction assembly arranged on the base, and the foot traction assembly is used for traction the affected foot to perform foot simulation movement in the up-down direction and the front-back direction; and

the leg traction assembly is mounted on the foot traction assembly and used for drawing the affected limb to do knee bending movement when the affected limb moves upwards.

Optionally, the foot traction assembly comprises a pedal, a front and rear traction assembly, an upper and lower traction assembly and a rotary traction assembly, the front and rear traction assembly is mounted on the base, the upper and lower traction assembly is mounted on the front and rear traction assembly, the rotary traction assembly is mounted on the upper and lower traction assembly, the pedal is rotatably mounted on the upper and lower traction assembly, the front and rear traction assembly is used for driving the upper and lower traction assembly to move in the front and rear direction, the upper and lower traction assembly is used for driving the pedal to move in the up and down direction, and the rotary traction assembly is used for driving the pedal to rotate; the leg traction assembly is mounted to the pedal.

Optionally, the leg traction assembly includes a side support mounted on the pedal, and a knee bending traction assembly mounted on the side support, the knee bending traction assembly includes a traction arm with one end rotatably mounted on the side support, and a third power assembly for driving the traction arm to rotate, and the other end of the traction arm is used for abutting against the thigh of the affected limb, so as to pull the affected limb to perform knee bending movement when the affected limb moves upward.

Optionally, the leg traction assembly further comprises a support shaft protruding from the side support, the support shaft being configured to be disposed at a rear side of a knee joint of the affected limb; and/or the presence of a gas in the gas,

the leg traction assembly also comprises a resisting piece which is convexly arranged on the side supporting piece, and the resisting piece is used for being arranged on the front side of the lower leg of the affected limb; and/or the presence of a gas in the gas,

the other end of the traction arm is provided with a first buffer piece used for being abutted with the thigh part of the affected limb; and/or the presence of a gas in the gas,

the side supporting pieces are arranged in a plate shape.

Optionally, the front-back traction assembly includes a first power assembly mounted on the base, and a first sliding member slidably mounted on the base in the front-back direction, the first sliding member is connected to an output end of the first power assembly, and the first power assembly is configured to drive the first sliding member to slide in the front-back direction; the upper and lower traction assemblies are mounted to the first slide.

Optionally, the first power assembly comprises a first motor and a linear transmission assembly connected with the first motor, and the first sliding member is connected to an output end of the linear transmission assembly; alternatively, the first and second electrodes may be,

the first power assembly is a linear motor; alternatively, the first and second electrodes may be,

the first power assembly is a first cylinder.

Optionally, a first slide rail extending in the front-rear direction is disposed on the base, and the first sliding member is slidably mounted on the first slide rail; and/or the presence of a gas in the gas,

the first sliding part comprises a transmission sliding block which is slidably arranged on the base in the front-back direction and a mounting seat which is arranged on the transmission sliding block, and the upper and lower traction components are arranged on the mounting seat.

Optionally, the up-down traction assembly includes a second sliding member slidably disposed on the first sliding member in the front-back direction, a second power assembly for driving the second sliding member to slide in the front-back direction, a driving arm having one end rotatably mounted on the second sliding member, and a rotating link having one end rotatably mounted on the first sliding member and the other end rotatably connected to the driving arm;

the pedal is rotatably mounted to the drive arm, and the rotating traction assembly is mounted to the drive arm.

Optionally, the pedal is rotatably mounted to the other end of the driving arm; and/or the presence of a gas in the gas,

the rotary traction assembly is mounted inside the drive arm.

The utility model discloses still provide a rehabilitation training robot, include as above lower limbs draw gear.

In the utility model, the affected foot can do foot simulation movement (such as stepping movement) in the up-down direction and the front-back direction by controlling the foot traction device, so that the affected foot can realize the movement of various tracks; the leg traction assembly can be matched with a lower limb traction device to realize knee joint bending, so that rehabilitation training of patients with lower limb dyskinesia can be realized; and the training action of medical rehabilitation can be combined to customize the motion trail, so that the aim of scientific medical rehabilitation is fulfilled. Therefore, the autonomous and automatic rehabilitation training device can be provided for the lower limb paralysis patient.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic view of an embodiment of a foot traction device according to the present invention;

FIG. 2 is a partial schematic view of the lower portion of the foot traction device of FIG. 1;

FIG. 3 is a schematic structural view of an embodiment of the lower limb traction device of the present invention;

fig. 4 is a schematic structural view of an embodiment of the rehabilitation training robot of the present invention;

FIG. 5 is a side view of the rehabilitation training robot of FIG. 4;

FIG. 6 is a top view of the rehabilitation training robot of FIG. 4;

fig. 7 is a front view of the rehabilitation training robot of fig. 4.

The reference numbers illustrate:

the objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that if the embodiments of the present invention are described with reference to "first", "second", etc., the description of "first", "second", etc. is only for descriptive purposes and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In addition, the meaning of "and/or" appearing throughout is to include three juxtapositions, exemplified by "A and/or B" including either scheme A, or scheme B, or a scheme in which both A and B are satisfied.

The utility model provides a foot traction device.

In an embodiment of the present invention, as shown in fig. 1 and 2, the foot traction device 10 includes a base 11 and a foot traction assembly 1, the base 11 is used for providing a supporting function, and the foot traction assembly 1 is used for traction the affected foot 2100 to perform a foot simulation exercise in the up-down direction and the front-back direction.

Thus, by controlling the foot traction device 10, the affected foot 2100 can perform foot simulation motions (i.e., various motions of the healthy foot) in the vertical direction and the front-back direction, so that the affected foot 2100 can perform motions of various trajectories, and at the same time, trajectory motions can be performed according to the rehabilitation training motions of the doctor, thereby achieving the purpose of scientific rehabilitation training. Therefore, rehabilitation training can be performed on patients with lower limb dyskinesia, the movement track is customized by combining the training action of medical rehabilitation, and the aim of scientific medical rehabilitation is fulfilled.

It should be particularly noted that the directional indications referred to in the embodiments of the present invention (such as upper, lower, left, right, front and rear … …) are only used to explain the relative position, motion, etc. of the components in a particular position (as shown in fig. 1 and 2, the position of the patient during use of the foot traction device 10), and if the particular position is changed, the directional indication is changed accordingly.

In the illustrated embodiment, the foot traction assembly 1 is constructed in a number of ways, as will be illustrated by way of example.

Further, as shown in fig. 1 and 2, the foot traction assembly 1 includes a pedal 12, a front and rear traction assembly 13, an up-down traction assembly 14, and a rotary traction assembly 15, wherein the front and rear traction assembly 13 is mounted on the base 11, the up-down traction assembly 14 is mounted on the front and rear traction assembly 13, the rotary traction assembly 15 is mounted on the up-down traction assembly 14, the pedal 12 is rotatably mounted on the up-down traction assembly 14, the front and rear traction assembly 13 is used for driving the up-down traction assembly 14 to move in the front-rear direction, the up-down traction assembly 14 is used for driving the pedal 12 to move in the up-down direction, and the rotary traction assembly 15 is used for driving the pedal 12 to.

Wherein, as shown in fig. 1 and 2, since the rotary traction assembly 15 and the pedal 12 are both mounted on the up-down traction assembly 14, they can move in the front-back direction with the up-down traction assembly 14 under the driving of the front-back traction assembly 13; that is, the front and rear traction assemblies 13 may drive the pedals 12 to move in the front and rear directions.

When the patient uses the foot traction device 10, the affected foot 2100 of the patient is placed on the pedal 12, and the front and rear traction assembly 13 can drive the pedal 12 to move in the front and rear direction, so that the affected foot 2100 on the pedal 12 can move in the front and rear direction; furthermore, the up-down traction assembly 14 can drive the pedal 12 to move in the up-down direction, so that the affected foot 2100 on the pedal 12 moves in the up-down direction; meanwhile, the rotating traction assembly 15 can drive the pedal 12 to rotate, so that the affected foot 2100 on the pedal 12 can rotate the ankle; thereby, the three-degree-of-freedom movement of the affected foot 2100 can be realized, so that the affected foot 2100 can realize the stepping action.

Thus, the foot traction device 10 can pull the affected foot 2100 to move in the front-back direction and the up-down direction through the pedal 12, and meanwhile, the affected foot 2100 can be pulled to rotate the ankle through the pedal 12, so that the motion (such as stepping motion and the like) of various foot simulation tracks in the stroke range of the foot traction device 10 can be realized through the control of the foot traction device 10, further, the automatic rehabilitation training of patients with lower limb dyskinesia can be performed, the training motion of medical rehabilitation is combined, the motion track is customized, and the purpose of scientific medical rehabilitation is realized.

Specifically, the front and rear pulling assembly 13 is used for driving the upper and lower pulling assembly 14 to slide in the front and rear directions, so as to ensure the stability of the movement. Of course, in other embodiments, the upper and lower pulling elements 14 may also be suspended in the fore-and-aft direction.

Further, as shown in fig. 1 and 2, the front and rear pulling assembly 13 includes a first power assembly 131 mounted on the base 11, and a first sliding member 132 slidably mounted on the base 11 in the front and rear directions, the first sliding member 132 is connected to an output end of the first power assembly 131, and the first power assembly 131 is used for driving the first sliding member 132 to slide in the front and rear directions; the up-down pulling assembly 14 is mounted to the first slide 132.

In this way, the front and rear traction assembly 13 can drive the up-down traction assembly 14 to move in the front and rear direction to draw the affected foot 2100 to move in the front and rear direction.

Further, as shown in fig. 1 and 2, the first power assembly 131 includes a first motor 1311 and a linear transmission assembly connected to the first motor 1311, and the first slider 132 is connected to an output end of the linear transmission assembly.

The linear transmission assembly can be a screw rod transmission assembly, a gear-rack transmission assembly, a belt transmission assembly, a chain transmission assembly or the like.

Of course, in other embodiments, the first power assembly 131 may be configured in other configurations, for example, the first power assembly 131 may be configured as a linear motor, for example, the first power assembly 131 may be configured as a first air cylinder or a first hydraulic cylinder.

Further, as shown in fig. 1 and 2, the base 11 is provided with a slide rail extending in the front-rear direction, and the first sliding member 132 is slidably mounted on the slide rail. Thus, the sliding stability can be improved.

Specifically, a sliding groove is formed in the first sliding member 132, and the sliding rail is slidably disposed in the sliding groove, so that the first sliding member 132 is slidably mounted on the sliding rail.

Of course, in other embodiments, other manners may be adopted to enable the first sliding member 132 to be slidably installed on the base 11 in the front-back direction, for example, a guide rod extending in the front-back direction may be provided on the base 11, and a sliding hole is provided on the first sliding member 132, and the guide rod is slidably disposed in the sliding hole, so that the first sliding member 132 is slidably installed on the base 11 in the front-back direction.

Further, as shown in fig. 1 and 2, the first sliding member 132 includes a transmission block 1321 slidably mounted on the base 11 in the front-rear direction, and a mounting seat 1322 mounted on the transmission block, and the up-down drawing assembly 14 is mounted on the mounting seat 1322.

Specifically, the sliding groove or the sliding hole is disposed on the transmission sliding block 1321.

As such, by making the first slider 132 include the transmission slider 1321 and the mount 1322, on the one hand, the sliding contact area can be reduced by slidably coupling the transmission slider 1321 with the base 11 to reduce the sliding resistance; alternatively, mounting seat 1322 may provide sufficient mounting area for upper and lower hitch assembly 14.

Specifically, the transmission slide 1321 is connected to the middle of the mounting seat 1322 in the front-rear direction, so as to facilitate reducing the overall length of the foot traction device 10 in the front-rear direction, and improve the stress condition of the mounting seat 1322.

Further, as shown in fig. 1 and 2, the up-down traction assembly 14 includes a second sliding member 142 slidably disposed on the first sliding member 132 in the front-back direction, a second power assembly 141 for driving the second sliding member 142 to slide in the front-back direction, a driving arm 143 having one end rotatably mounted on the second sliding member 142, and a rotating link 144, wherein one end of the rotating link 144 is rotatably mounted on the first sliding member 132, and the other end is rotatably connected to the driving arm 143; the pedals 12 are rotatably mounted to a drive arm 143, and the rotating traction assembly 15 is mounted to the drive arm 143.

Specifically, as shown in fig. 1 and 2, the second sliding member 142 is slidably mounted to the mounting seat 1322, the second power assembly 141 is mounted to the mounting seat 1322, one end of the driving arm 143 is rotatably mounted to the mounting seat 1322, and one end of the rotating link 144 is rotatably mounted to the mounting seat 1322.

Specifically, when the second power assembly 141 drives the second slider 142 to slide in the front-rear direction, the second slider 142 can be moved close to or away from the rotatable connection between the rotating link 144 and the first slider 132, and when the second slider 142 is moved close to the rotatable connection between the rotating link 144 and the first slider 132, the driving arm 143 is rotated upward by the rotating link 144 to move the pedal 12 upward; when the second slider 142 is away from the rotatable connection of the rotating link 144 and the first slider 132, the driving arm 143 is rotated downward by the rotating link 144 to move the pedal 12 downward, so that the traction pedal 12 can be moved up and down. Wherein the rotating traction assembly 15 rotates with the drive arm 143.

Further, as shown in fig. 1 and 2, the pedal 12 is rotatably mounted to the other end of the driving arm 143.

Specifically, the rotational connection point of the rotational connecting rod 144 and the driving arm 143 is located between the rotational connection point of the pedal 12 and the driving arm 143 and the rotational connection point of the second sliding member 142 and the driving arm 143.

In this way, the stroke of the pedal 12 in the up-down direction can be increased under the drive arms 143 of the same length.

Further, as shown in fig. 1 and 2, the mounting seat 1322 includes a first supporting protrusion 1323 protruding upward, and one end of the rotating link 144 is rotatably connected to the first supporting protrusion 1323. In this manner, the maximum rotation amplitude of the rotation link 144 can be conveniently increased.

Specifically, the second power assembly 141 is disposed on one side of the second sliding member 142 away from the rotational connection point (specifically, the first supporting protrusion 1323) between the rotating link 144 and the first sliding member 132.

Specifically, the first support protrusion 1323 is disposed near an end of the mounting seat 1322.

Further, as shown in fig. 1 and 2, the second sliding member 142 includes a second supporting protrusion 1421 protruding upward, and one end of the driving arm 143 is rotatably connected to the second supporting protrusion 1421. In this way, the maximum rotation range of the drive arm 143 can be increased.

In a specific embodiment, the structural form of the second power assembly 141 can refer to the first power assembly 131, and a detailed description thereof is not required.

In a specific embodiment, the slidable connection between the second sliding member 142 and the first sliding member 132 can refer to the slidable connection between the first sliding member 132 and the base 11, which is not described herein.

Further, as shown in fig. 1 and 2, the rotating traction assembly 15 is mounted inside the drive arm 143.

Specifically, the driving arm 143 has a hollow structure, and the rotating traction assembly 15 is installed inside the driving arm 143.

In this manner, the rotating traction assembly 15 may be hidden.

Further, as shown in fig. 1 and 2, the rotating traction assembly 15 includes a second motor 151, a transmission assembly and a driven shaft 152, the second motor 151 drives the driven shaft 152 to rotate through the transmission assembly, and the pedal 12 is fixedly connected to the driven shaft 152.

Specifically, the transmission assembly includes a driving wheel, a driven wheel 153 and a transmission belt 154, the driving wheel is installed on an output shaft of the second motor 151, the driven wheel 153 is installed on the driven shaft 152, and the transmission belt 154 is connected with the driving wheel and the driven wheel 153, so that the second motor 151 drives the driven shaft 152 to rotate through the transmission assembly.

Of course, in other embodiments, the driving wheel may also be driven to rotate by a speed changing device, that is, the transmission assembly further includes a driving shaft and a speed changing device, the second motor 151 is connected with the driving shaft by the speed changing device, and the driving wheel is mounted on the driving shaft.

Of course, in other embodiments, the transmission assembly may be formed in other structures, such as a chain transmission structure, a gear transmission structure (in this case, the rotating traction assembly 15 is not necessarily completely installed in the driving arm 143), and the like.

In this manner, the pedal 12 can be rotated by driving the driven shaft 152 to rotate.

It should be noted that the utility model discloses a foot draw gear 10 is different from bicycle pedal formula rotary motion, the utility model discloses in, the motion of various orbits can be realized to its footboard, can realize the orbit motion according to doctor's rehabilitation training action to reach scientific rehabilitation training's purpose.

As shown in fig. 3, the present invention further provides a lower limb traction device 100, wherein the lower limb traction device 100 comprises the foot traction device 10 as described above. Specifically, as shown in fig. 1 and 2, the specific structure of the foot traction device 10 refers to the above embodiments, and since the lower limb traction device 100 of the present invention adopts all the technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not repeated herein.

Further, as shown in fig. 3, the lower limb traction apparatus 100 further comprises a leg traction assembly 20, the leg traction assembly 20 is mounted on the foot traction assembly 1, and the leg traction assembly 20 is used for traction of the affected limb 2000 to perform knee bending movement when the affected limb 2000 moves upwards.

Thus, by controlling the foot traction device 10, the affected foot 2100 can perform foot simulation motions in the up-down direction and the front-back direction, so that the affected foot 2100 can realize motions of various trajectories; the leg traction component 20 can be matched with the lower limb traction device 100 to realize knee joint bending, so that rehabilitation training of patients with lower limb dyskinesia can be realized; and the training action of medical rehabilitation can be combined to customize the motion trail, so that the aim of scientific medical rehabilitation is fulfilled.

Further, as shown in fig. 3, the leg traction assembly 20 includes a side support 21 mounted on the pedal 12, and a knee bending traction assembly 22 mounted on the side support 21, wherein the knee bending traction assembly 22 includes a traction arm 221 with one end rotatably mounted on the side support 21, and a third power assembly 222 for driving the traction arm 221 to rotate, and the other end of the traction arm 221 is used for abutting against the thigh portion 2200 of the affected limb 2000, so as to pull the affected limb 2000 to perform a knee bending movement when the affected limb 2000 moves upwards.

Specifically, the knee bending traction assembly 22 is arranged on the front side of the affected limb 2000.

Specifically, when the foot traction device 10 draws the affected foot 2100 to move upward, the third power assembly 222 drives the traction arm 221 to rotate to abut against the thigh portion 2200 of the affected limb 2000, so as to draw the affected limb 2000 to perform knee bending movement.

Specifically, the pulling arm 221 is rotatably mounted to the side support 21 by a pulling shaft.

Specifically, the third power assembly 222 includes a third motor and a transmission structure connecting an output shaft of the third motor and the traction shaft, and the transmission structure may be a belt transmission assembly, a chain transmission assembly, a gear transmission assembly, or the like.

Further, as shown in fig. 3, the other end of the traction arm 221 is provided with a first cushion 2211 for abutting against the thigh portion 2200 of the affected limb 2000.

Specifically, the first cushion 2211 has a cushion surface provided rearward for abutting against the thigh portion 2200.

Thus, the comfort of the affected limb 2000 can be improved when the affected limb 2000 is abutted.

Further, as shown in fig. 3, the leg traction assembly 20 further includes a support shaft 23 protruding from the side support 21, and the support shaft 23 is configured to be disposed at the rear side of the knee joint of the affected limb 2000. Thus, the affected limb 2000 can be conveniently pulled to do the knee bending exercise.

Specifically, the support shaft 23 may be externally provided with a second buffer 231.

Alternatively, the support shaft 23 may be rotatably mounted to the side support portion. Of course, in other embodiments, the supporting column 410 may be fixedly mounted on the side supporting portion.

Further, the leg traction assembly 20 further comprises a stop member 24 protruding from the side support 21, wherein the stop member 24 is configured to be disposed on the front side of the lower leg 2300 of the affected limb 2000. Thus, the lower leg can be guided to move upwards, so that the affected limb 2000 can be pulled to do knee bending movement.

Specifically, a third cushion 241 is disposed outside the abutting member 24.

The first, second, and third buffering members 2211, 231, and 241 may be (elastic) flexible members, such as a sponge or a silicone member.

Further, as shown in fig. 3, the side support 21 is provided in a plate shape. Thus, the weight of the side support 21 can be reduced, and the overall volume can be reduced.

As shown in fig. 4-7, the present invention further provides a rehabilitation training robot 1000, wherein the rehabilitation training robot 1000 comprises the foot traction device 10 as described above. Specifically, as shown in fig. 1 and 2, the specific structure of the foot traction device 10 refers to the above embodiments, and since the rehabilitation training robot 1000 of the present invention adopts all the technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and are not repeated herein.

In the embodiment, the rehabilitation training robot 1000 has many structural forms, and can be divided into a vertical type and a horizontal type from the use state (it is understood that the vertical type is taken as an example in the present application, and the directional indication is changed when the foot traction device 10 is applied to the horizontal type), and can be divided into a single-foot traction type and a double-foot traction type from the function. Especially for the single-limb paralysis patient (such as hemiplegic patient or the patient with single limb injury), the single-foot traction type rehabilitation training robot 1000 can be used, so that the cost can be reduced, the unit price of the product can be reduced, and the market demand can be met. The following description will be given taking the single-foot traction type rehabilitation training robot 1000 as an example.

In one embodiment, the rehabilitation training robot 1000 is used for rehabilitation training of a paralyzed patient (e.g., a hemiplegic patient or a patient with a single-limb injury). As shown in fig. 4 to 7, the rehabilitation training robot 1000 includes:

a base 200;

a foot-strengthening traction device 30010, the foot-strengthening traction device 30010 including a walking belt disposed in a front-rear direction; and

the affected foot traction device is arranged on one side of the healthy foot traction device 30010 and is used for traction of the affected foot 2100 to perform foot simulation movement in the up-down direction and the front-back direction.

Wherein, the affected foot traction device is the foot traction device 10.

Specifically, as shown in fig. 4 to 7, the rehabilitation training robot 1000 further includes a hanging bracket 400, and the hanging bracket 400 is used for hanging the patient above the base 200. Wherein the hanger 400 can be (detachably) mounted on the base 200; or may be provided separately from the base 200 and placed on a support surface (e.g., the ground) together therewith. Gallows 400 is used for subtracting heavy support hoist and mount patient, through with people integral hoisting, to the face motion weight who alleviates patient, on the other hand improves safety protection, avoids patient injured.

When in use, the hemiplegic patient is hoisted above the base 200 through the hanging bracket 400, and the healthy foot of the hemiplegic patient is arranged on the healthy limb foot traction device 30010, and the affected foot 2100 is arranged on the affected limb foot traction device.

Particularly, the utility model discloses rehabilitation training robot 1000 can satisfy the rehabilitation training of single-limb paralysed patient (like hemiplegia patient etc.), particularly, single-limb paralysed patient's healthy limb can be in healthy limb foot draw gear 30010 walk the traction of area move down (like doing the action of taking a step etc.), its affected limb 2000 can be under the traction of affected limb foot draw gear do the foot simulated motion (like doing the action of taking a step etc.) to can realize single-limb paralysed patient's automatic rehabilitation training.

Furthermore, the utility model discloses rehabilitation training robot 1000, for single-foot towed rehabilitation training robot 1000, reduce cost for the equipment price is low, in order to satisfy the market demand.

In a specific embodiment, the rehabilitation training robot 1000 is controlled to perform stepping training on both feet of the hemiplegic patient, performing knee bending training on both limbs, and the like.

The following explanation is given by taking the training of taking the steps of the both feet of the hemiplegic patient one by one as an example, namely the utility model discloses rehabilitation training robot 1000 to single-limb paralysed patient's demand, can walk on class treadmill (being healthy limb foot draw gear 30010) healthy limb one side, suffers from limb 2000 one side and drives/pulls the walking through suffering from limb foot draw gear, and the normal walking gait of anthropomorphic dummy realizes the rehabilitation training purpose.

Further, the rehabilitation training robot 1000 further includes a detection device for detecting a motion state of the healthy foot. Thus, the working state of the affected foot 2100 can be controlled according to the exercise state of the healthy foot.

Further, as shown in fig. 4-7, the sensing device includes a position sensor 510 for sensing the position of the foot of the healthy limb.

Specifically, the position sensor 510 may be an optical fiber sensor, a laser sensor, an infrared sensor, or the like, and the position sensor 510 is disposed on one side of the walking belt.

Specifically, the position sensor 510 may be used to detect whether a limb/foot is in place. Optionally, the position sensor 510 may also be used to detect the extreme position to which a limb/foot is being transported by the walking belt.

Of course, in other embodiments, the position sensor 510 may be a pressure sensor located below the walking belt, and the pressure sensor outputs a go-to-go signal when the foot is landed at a predetermined position (i.e., taking a step).

Specifically, the foot traction device 30010 further comprises a fourth motor, and the fourth motor is used for driving the walking belt to move. It can be understood that when the foot is on the walking belt, the fourth motor outputs a first load signal; when the healthy foot is lifted off the walking belt, the fourth motor outputs a second load signal.

The process of the rehabilitation training robot 1000 for towing a patient to perform successive stepping training of both feet is approximately: when the equipment is opened, the healthy limbs do stepping movement, when the healthy feet fall on the walking belt, the fourth motor outputs a first load signal, the position sensor 510 outputs a position signal, and when the two signals are simultaneously met, the diseased limb foot traction device pulls the diseased feet 2100 to do stepping movement, and meanwhile, the walking belt drives the healthy feet to move backwards. When the affected foot 2100 finishes stepping, the healthy limb starts stepping, and when the foot is lifted, the fourth motor outputs a second load signal, the affected foot 2100 is pulled by the affected foot traction device to move backwards, so that the next round of movement is performed after the healthy foot is stepped in place. Furthermore, the front and back of the upper machine are selected according to which lower limb is trained.

Of course, in other embodiments, the rehabilitation training can be performed more autonomously by manual key control, i.e., the control key is used to replace the detection device.

Further, as shown in fig. 4 to 7, a first mounting groove and a second mounting groove are formed in the base 200, the limb-strengthening foot traction device 30010 is installed in the first mounting groove, and the affected foot traction device is installed in the first mounting groove. In this way, the device 30010 can be concealed from both healthy and affected foot traction devices.

Further, as shown in fig. 4, the hanger 400 includes two support columns 410 disposed opposite to each other, a connection column 420 connecting the two support columns 410, and a safety belt 430 suspended below the connection column 420, wherein the lower ends of the support columns 410 are used for supporting on the ground, or the lower ends of the support columns 410 are mounted on the base 200.

Optionally, the height of the connecting column 420 is adjustable, such as the length of the supporting column 410 can be adjusted, or the connecting column 420 can be connected with the supporting column 410 in a manner of sliding up and down, so that the height of the connecting column 420 can be adjusted.

Further, as shown in fig. 4, the rehabilitation training robot 1000 further includes an armrest 600. Optionally, the armrest 600 is height adjustable.

Further, the rehabilitation training robot 1000 further comprises a diseased limb leg traction assembly 20, and the diseased limb leg traction assembly 20 is mounted on the healthy limb foot traction device 30010 to traction the diseased limb 2000 to perform knee bending movement when the diseased limb 2000 moves upwards.

Specifically, as shown in fig. 3, the affected limb leg traction assembly 20 is the leg traction assembly 20 as described above, and the specific structure and connection relationship with the limb-strengthening foot traction device 30010 can refer to the above embodiments, which need not be repeated herein.

In addition, it can be understood that the biped traction type rehabilitation training robot 1000 performs rehabilitation training by using the foot traction device 10 in the above embodiment for both the left and right lower limbs.

The above is only the optional embodiment of the present invention, and not the scope of the present invention is limited thereby, all the equivalent structure changes made by the contents of the specification and the drawings are utilized under the inventive concept of the present invention, or the direct/indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims (10)

1. A lower limb traction device, comprising:

the foot traction device comprises a base and a foot traction assembly arranged on the base, and the foot traction assembly is used for traction the affected foot to perform foot simulation movement in the up-down direction and the front-back direction; and

the leg traction assembly is mounted on the foot traction assembly and used for drawing the affected limb to do knee bending movement when the affected limb moves upwards.

2. The lower limb traction device of claim 1, wherein the foot traction assembly comprises a pedal, a front-rear traction assembly mounted to the base, a front-rear traction assembly mounted to the front-rear traction assembly, a top-bottom traction assembly mounted to the top-bottom traction assembly, and a rotational traction assembly mounted to the top-bottom traction assembly, the pedal being rotatably mounted to the top-bottom traction assembly, the front-rear traction assembly being configured to drive the top-bottom traction assembly to move in a front-rear direction, the top-bottom traction assembly being configured to drive the pedal to move in a top-bottom direction, and the rotational traction assembly being configured to drive the pedal to rotate; the leg traction assembly is mounted to the pedal.

3. The lower limb traction device as claimed in claim 2, wherein the leg traction assembly comprises a side support mounted on the pedal, and a knee bending traction assembly mounted on the side support, the knee bending traction assembly comprises a traction arm with one end rotatably mounted on the side support, and a third power assembly for driving the traction arm to rotate, and the other end of the traction arm is used for abutting against the thigh of the affected limb so as to pull the affected limb to perform knee bending movement when the affected limb moves upward.

4. The lower limb traction device of claim 3, wherein the leg traction assembly further comprises a support shaft protruding from the side support member, the support shaft being adapted to be positioned at a posterior side of a knee joint of the affected limb; and/or the presence of a gas in the gas,

the leg traction assembly also comprises a resisting piece which is convexly arranged on the side supporting piece, and the resisting piece is used for being arranged on the front side of the lower leg of the affected limb; and/or the presence of a gas in the gas,

the other end of the traction arm is provided with a first buffer piece used for being abutted with the thigh part of the affected limb; and/or the presence of a gas in the gas,

the side supporting pieces are arranged in a plate shape.

5. The lower limb traction device of any one of claims 2 to 4, wherein the forward and backward traction assembly comprises a first power assembly mounted to the base, and a first sliding member slidably mounted to the base in the forward and backward directions, the first sliding member being connected to an output end of the first power assembly, the first power assembly being configured to drive the first sliding member to slide in the forward and backward directions; the upper and lower traction assemblies are mounted to the first slide.

6. The lower limb traction device of claim 5, wherein the first power assembly comprises a first motor and a linear drive assembly connected to the first motor, the first slide member being connected to an output of the linear drive assembly; alternatively, the first and second electrodes may be,

the first power assembly is a linear motor; alternatively, the first and second electrodes may be,

the first power assembly is a first cylinder.

7. The lower limb traction device of claim 5, wherein the base is provided with a first slide rail extending in the fore-and-aft direction, the first slide member being slidably mounted to the first slide rail; and/or the presence of a gas in the gas,

the first sliding part comprises a transmission sliding block which is slidably arranged on the base in the front-back direction and a mounting seat which is arranged on the transmission sliding block, and the upper and lower traction components are arranged on the mounting seat.

8. The lower limb traction apparatus according to claim 5, wherein the vertical traction assembly includes a second slider slidably provided to the first slider in the front-rear direction, a second power assembly for driving the second slider to slide in the front-rear direction, a drive arm having one end rotatably mounted to the second slider, and a rotation link having one end rotatably mounted to the first slider and the other end rotatably connected to the drive arm;

the pedal is rotatably mounted to the drive arm, and the rotating traction assembly is mounted to the drive arm.

9. The lower limb traction device of claim 8 wherein the pedal is rotatably mounted to the other end of the drive arm; and/or the presence of a gas in the gas,

the rotary traction assembly is mounted inside the drive arm.

10. A rehabilitation training robot comprising a lower limb traction device according to any one of claims 1 to 9.

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