CN215652410U - Treadmill type children lower limb weight-reducing exercise rehabilitation training device - Google Patents

Abstract

The utility model provides a treadmill type rehabilitation training device for lower limb weight-reducing movement of children, which comprises a suspension frame, wherein an exoskeleton connecting assembly, an exoskeleton assembly and a dynamic weight-reducing assembly are arranged on the suspension frame; one end of the dynamic weight reducing assembly is connected and arranged on the suspension frame, and the exoskeleton assembly is arranged at one end of the dynamic weight reducing assembly, which is far away from the suspension frame; one end of the exoskeleton connecting assembly is arranged on the suspension frame, and the end, far away from the suspension frame, of the exoskeleton connecting assembly is connected and arranged on the exoskeleton assembly and the dynamic weight-reducing assembly; the exoskeleton connecting assembly and the follow-up exoskeleton connecting assembly are alternately connected and arranged on the exoskeleton assembly. The utility model adopts two groups of large-torque disc type torque motors, and the motors work in a constant output torque mode, so that the weight reduction requirements of children can be met, the weight reduction requirements of patients in different rehabilitation stages can be adapted, and the dynamic balance capability of the patients can be trained.

Description

Treadmill type children lower limb weight-reducing exercise rehabilitation training device

Technical Field

The utility model relates to the technical field of rehabilitation training equipment, in particular to a treadmill type lower limb weight-reducing exercise rehabilitation training device for children.

Background

Cerebral palsy (cerebral palsy) of children is a dyskinesia disease caused by non-progressive injury of the central nervous system in perinatal period, and people with cerebral palsy show the characteristics of spasm, stiffness, coordination ability, weakened motor control and the like. Modern medicine believes that by providing stimulation of the central nerve with a certain intensity repeatedly, it is possible to restore the functional walking ability of the patient after the central nerve injury. The traditional lower limb rehabilitation training of cerebral palsy children promotes the children to repeatedly complete specific actions under the leading of a professional therapist, and achieves the purpose of promoting the development of neuromuscular functions of the children, however, the mode provides low requirements for the working strength of the therapist. The powered exoskeleton provides a new way for continuous and effective training of children with cerebral palsy.

The system of subtracting among the rehabilitation training device that provides at present all designs to the adult, need provide great subtracting the gravity, therefore lead to needing multistage speed reduction transmission, the structure is complicated, the transmission is inefficient, simultaneously in order to realize subtracting the invariable control of gravity, need use force transducer to carry out power full-closed loop control, lead to controlling complicatedly, to the adult human weight lighter children of comparison, need not to provide great subtracting the gravity, thereby make the weight design scope that subtracts of prior art have great waste.

The exoskeleton of the currently proposed device is mostly fixedly connected to a suspension bracket through a connecting device, the movement of the exoskeleton in the left and right directions is limited, the exoskeleton cannot be detached, but for a patient in the later stage of rehabilitation, the lower limb of the patient has certain strength, and the exoskeleton can be directly worn on the body of the patient, so that the dynamic balance capability of the patient is trained, but the prior art cannot achieve the purpose. In addition, the suspension ropes in the prior art adopt a single suspension mode, which causes the phenomenon that the suspension ropes are easy to shake in the left-right direction and become unstable after the exoskeleton connecting device is removed.

Patent document No. CN107693301B discloses a comprehensive gait training and rehabilitation system, the gait training and rehabilitation robot includes a mechanical leg including a hip rod, a thigh, a shank jacket and a linear transmission unit, and is characterized in that: the hip rod and the thigh are hinged through a movable bearing to form a hip joint, the thigh and the shank are hinged through a movable bearing to form a knee joint, the rear end of the first linear transmission unit is hinged with the lower side surface of the hip rod, the movable end of the first linear transmission unit is hinged with the thigh, and the hip joint movement is formed through the telescopic driving of the first linear transmission unit; a thigh jacket is sleeved on the thigh, the length of a thigh is adjusted by adjusting the position of the thigh jacket, one end of the second linear transmission unit is hinged with the thigh jacket, the movable end of the second linear transmission unit is hinged with the thigh, and the knee joint movement is formed by telescopic driving of the second linear transmission unit. Patent document No. CN105476820B discloses an intelligent system for walking rehabilitation training, which includes a weight reduction system, a walking training system, an on-board lifting system, an electrocardiograph monitoring system, a muscle electrical stimulation system, an oxygen supply system, a video system, a mirror surface and a control system.

However, the patent document has the disadvantages of large occupied area, large mass, complex structure, complex control, high cost and the like.

SUMMERY OF THE UTILITY MODEL

Aiming at the defects in the prior art, the utility model aims to provide a treadmill type rehabilitation training device for the lower limb weight-reducing exercise of children.

The treadmill type rehabilitation training device for the lower limb weight-reducing movement of the child comprises a suspension frame, wherein an exoskeleton connecting assembly, an exoskeleton assembly and a dynamic weight-reducing assembly are arranged on the suspension frame;

one end of the dynamic weight-reducing assembly is connected and arranged on the suspension frame, and the exoskeleton assembly is arranged at one end of the dynamic weight-reducing assembly, which is far away from the suspension frame;

one end of the exoskeleton connecting assembly is arranged on the suspension frame, and one end of the exoskeleton connecting assembly, which is far away from the suspension frame, is connected and arranged on the exoskeleton assembly and the dynamic weight reduction assembly;

the exoskeleton connecting assembly and the follow-up exoskeleton connecting assembly are alternately arranged on the exoskeleton assembly in a connecting way.

Preferably, the suspension frame comprises a dynamic weight-reducing component connecting column, a display, a handrail, a supporting column, a running table and a base; the running platform is arranged on the base;

the dynamic weight reducing component is connected and arranged on the dynamic weight reducing component connecting column; the display is independently and movably arranged;

the dynamic weight-reducing component connecting column is arranged at one end of the supporting column, the base is arranged at one end, far away from the dynamic weight-reducing component connecting column, of the supporting column, the handrail is arranged on the supporting column, and the handrail is located between the dynamic weight-reducing component connecting column and the base.

Preferably, the exoskeleton connection assembly comprises an exoskeleton support assembly and a hip joint adjustment assembly; the hip distance adjustment assembly is connectively disposed on the exoskeleton support assembly;

one end of the exoskeleton supporting assembly, which is far away from the hip distance adjusting assembly, is detachably connected and arranged on the suspension frame, and one end of the hip distance adjusting assembly, which is far away from the exoskeleton supporting assembly, is arranged on the exoskeleton assembly and the dynamic weight-reducing assembly.

Preferably, the exoskeleton supporting assembly comprises a first rotating seat, a first connecting rod, a gas spring, a second connecting rod, a third connecting rod, a second rotating seat and a third rotating seat;

the first rotating seat is detachably arranged on the suspension frame, one end of the first connecting rod is rotatably arranged on the first rotating seat, and one end of the first connecting rod, which is far away from the first rotating seat, is rotatably arranged on the third connecting rod;

the second rotating seat is detachably arranged on the suspension frame, one end of the gas spring is rotatably arranged on the second rotating seat, and one end, far away from the second rotating seat, of the gas spring is hinged to one end, close to the third connecting rod, of the first connecting rod;

the third rotating seat is detachably arranged on the suspension frame, one end of the second connecting rod is rotatably arranged on the third rotating seat, and one end of the second connecting rod, which is far away from the third rotating seat, is rotatably arranged on the third connecting rod;

the third connecting rod is connected and arranged on the hip distance adjusting component.

Preferably, the hip distance adjusting assembly comprises a support link, a first handle screw, a first guide rail, a first slider and a first exoskeleton link;

one end of the support link is connected to the exoskeleton support assembly, and the first guide rail is fixedly arranged at one end of the support link away from the exoskeleton support assembly;

the first sliding block is arranged on the supporting connecting piece in a sliding mode through the first guide rail, the first handle screw is arranged on the first sliding block, and the first handle screw is used for fixing the first sliding block on the first guide rail;

the first exoskeleton connecting piece is arranged on the first sliding block, and the exoskeleton assembly and the dynamic weight reduction assembly are connected and arranged on the first exoskeleton connecting piece.

Preferably, the exoskeleton assembly comprises a hip joint assembly, a hip joint exoskeleton linkage, a knee joint assembly, a knee joint exoskeleton linkage, an ankle-foot orthosis, and a leg strap;

the hip joint assembly is disposed on the exoskeleton connection assembly at one end thereof, and the hip joint exoskeleton linkage is disposed at an end of the hip joint assembly remote from the exoskeleton connection assembly;

the knee joint assembly is disposed at an end of the hip joint exoskeleton linkage distal from the hip joint assembly, and the knee joint exoskeleton linkage is disposed at an end of the knee joint assembly distal from the hip joint exoskeleton linkage;

the ankle-foot orthosis is disposed at an end of the knee exoskeleton linkage distal from the knee assembly;

the leg straps are disposed on the hip exoskeleton link and the knee exoskeleton link.

Preferably, the dynamic weight-reducing assembly comprises a weight-reducing assembly, a lifting rope connecting rod and a weight-reducing lifting clothes;

the weight reduction assembly is arranged on the suspension frame, the lifting rope connecting rod is connected to the weight reduction assembly, and the weight reduction suspension garment is connected to the lifting rope connecting rod;

the exoskeleton connecting assembly and the exoskeleton assembly are connected and arranged on the weight-reducing lifting clothes.

Preferably, the weight reduction assembly comprises a bracket, a driving motor, a winding drum, a rotating shaft, a bearing and a lifting rope;

the bracket is connected and arranged on the suspension bracket, the driving motor and the winding reel are arranged on the bracket, and the winding reel is arranged on the bracket through the rotating shaft and the bearing;

the lifting rope is wound on the winding drum, and one end, far away from the winding drum, of the lifting rope is connected and arranged on the lifting rope connecting rod.

Preferably, the driving motor comprises a fixed end and a rotating end;

the fixed end is fixedly arranged on the support, one end of the rotating end is connected and arranged on the rotating shaft, and the end, far away from the rotating shaft, of the rotating end is connected and arranged on the fixed end.

Preferably, the follow-up exoskeleton connection assembly comprises a second exoskeleton connection member, a second handle screw, a second slider, a second guide rail and a connection rod;

the exoskeleton assembly is disposed on the second exoskeleton attachment member, and the second slider is disposed at an end of the second exoskeleton attachment member remote from the exoskeleton assembly;

the second guide rail is arranged on the connecting rod, the second sliding block is arranged on the connecting rod in a sliding mode through the second guide rail, a second handle screw is arranged on the second sliding block, and the second handle screw is used for fixing the second sliding block on the second guide rail.

Compared with the prior art, the utility model has the following beneficial effects:

1. the lower limb exoskeleton rehabilitation robot has small occupied area and light weight, and reduces the cost of matched equipment for rehabilitation training based on the lower limb exoskeleton rehabilitation robot;

2. the weight reduction system is convenient to control, adopts a direct drive mode of the large-torque disc type torque motor, has few redundant structures and high transmission efficiency, can realize dynamic adjustment of the weight reduction force and keeps constant in the training process;

3. the exoskeleton connecting assembly is detachable, can meet the weight reduction requirements of patients in different rehabilitation stages, and can train the dynamic balance capacity of the patients;

4. the weight reducing mechanisms are arranged in a left group and a right group, and the weight reducing mode that two suspension ropes are symmetrically distributed in the left-right direction is adopted, so that after the exoskeleton connecting device is disassembled, the instability caused by the shaking of a patient in the left-right direction can be still avoided.

Drawings

Other features, objects and advantages of the utility model will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic overall structure diagram of a treadmill type children lower limb weight-reducing exercise rehabilitation training device of the utility model;

FIG. 2 is a schematic structural view of a suspension frame of the treadmill type rehabilitation training device for children's lower limb weight-reducing exercise of the present invention;

fig. 3 is a schematic structural diagram of an exoskeleton connecting assembly of the treadmill type rehabilitation training device for weight loss movement of lower limbs of children;

FIG. 4 is a schematic structural diagram of an exoskeleton assembly of the treadmill type lower limb weight-reducing exercise rehabilitation training device of the present invention;

FIG. 5 is a schematic structural diagram of a dynamic weight reduction assembly of the treadmill type children lower limb weight reduction exercise rehabilitation training device of the present invention;

fig. 6 is a schematic structural diagram of a weight reduction assembly of the treadmill type children lower limb weight reduction exercise rehabilitation training device;

FIG. 7 is a schematic structural view of the treadmill type children lower limb weight-reducing exercise rehabilitation training device of the present invention, which is a highlighted follow-up exoskeleton connection assembly;

FIG. 8 is a schematic structural diagram of a follow-up exoskeleton connecting assembly of the treadmill type rehabilitation training device for weight loss of lower limbs of children;

fig. 9 is a schematic view of the installation of the display of the treadmill type children lower limb weight-reducing exercise rehabilitation training device in another orientation.

The figures show that:

suspension frame 100 hip joint exoskeleton link 320

Dynamic weight reduction device for connecting column 110 knee joint component 330

Display 120 knee exoskeleton linkage 340

Elbow 130 ankle-foot orthosis 350

Support column 140 leg strap 360

Running platform 150 dynamic weight-reducing assembly 400

Base 160 weight reduction assembly 410

Exoskeleton connection assembly 200 bracket 411

Exoskeleton support assembly 210 drive motor 412

Fixed end 4121 of first rotating seat 211

Rotating end 4122 of first link 212

Gas spring 213 bobbin 413

Second link 214 shaft 414

Third link 215 bearing 415

The lifting rope 416 of the second rotating base 216

Third rotary seat 217 lifting rope connecting rod 420

Weight-reducing coat hanger 430 for hip distance adjustment assembly 220

Support link 221 follow-up exoskeleton coupling assembly 500

First handle screw 222 second exoskeleton connector 510

First rail 223 second handle screw 520

First slider 224 and second slider 530

Second rail 540 of exoskeleton coupler 225

Exoskeleton assembly 300 connecting rod 550

Hip joint assembly 310

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the utility model, but are not intended to limit the utility model in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the utility model. All falling within the scope of the present invention.

As shown in fig. 1, the treadmill type rehabilitation training device for children's lower limb weight loss exercise provided by the present invention includes a suspension frame 100, an exoskeleton connecting assembly 200, an exoskeleton assembly 300 and a dynamic weight loss assembly 400 are disposed on the suspension frame 100, one end of the dynamic weight loss assembly 400 is connected to the suspension frame 100, the exoskeleton assembly 300 is disposed at one end of the dynamic weight loss assembly 400 far from the suspension frame 100, one end of the exoskeleton connecting assembly 200 is disposed on the suspension frame 100, one end of the exoskeleton connecting assembly 200 far from the suspension frame 100 is connected to the exoskeleton assembly 300 and the dynamic weight loss assembly 400, and further includes a follow-up exoskeleton connecting assembly 500, the follow-up exoskeleton connecting assembly 500 is independently and movably disposed, and the exoskeleton connecting assembly 200 and the follow-up exoskeleton connecting assembly 500 are alternately connected to the exoskeleton assembly 300.

As shown in fig. 2, the suspension frame 100 includes a dynamic weight-reducing assembly connecting column 110, a display 120, an armrest 130, a supporting column 140, a running platform 150 and a base 160; the running platform 150 is arranged on the base 160, and the dynamic weight-reducing component 400 is connected and arranged on the dynamic weight-reducing component connecting column 110; the display 120 is independently and movably arranged, the dynamic weight-reducing assembly connecting column 110 is arranged at one end of the supporting column 140, the base 160 is arranged at one end of the supporting column 140 far away from the dynamic weight-reducing assembly connecting column 110, the handrail 130 is arranged on the supporting column 140, and the handrail 130 is positioned between the dynamic weight-reducing assembly connecting column 110 and the base 160.

As shown in fig. 3, the exoskeleton connection assembly 200 includes an exoskeleton support assembly 210 and a hip distance adjustment assembly 220; hip distance adjustment assembly 220 is coupled to exoskeleton support assembly 210, the end of exoskeleton support assembly 210 distal from hip distance adjustment assembly 220 is removably coupled to suspension frame 100, and the end of hip distance adjustment assembly 220 distal from exoskeleton support assembly 210 is coupled to exoskeleton assembly 300 and dynamic weight reduction assembly 400.

The exoskeleton supporting assembly 210 comprises a first rotating seat 211, a first connecting rod 212, a gas spring 213, a second connecting rod 214, a third connecting rod 215, a second rotating seat 216 and a third rotating seat 217, wherein the first rotating seat 211 is detachably arranged on the suspension bracket 100, one end of the first connecting rod 212 is rotatably arranged on the first rotating seat 211, one end of the first connecting rod 212 far away from the first rotating seat 211 is rotatably arranged on the third connecting rod 215, the second rotating seat 216 is detachably arranged on the suspension bracket 100, one end of the gas spring 213 is rotatably arranged on the second rotating seat 216, one end of the gas spring 213 far away from the second rotating seat 216 is hinged to one end of the first connecting rod 212 close to the third connecting rod 215, the third rotating seat 217 is detachably arranged on the suspension bracket 100, one end of the second connecting rod 214 is rotatably arranged on the third rotating seat 217, one end of the second connecting rod 214 far away from the third rotating seat 217 is rotatably arranged on the third connecting rod 215, third link 215 is connected to hip pitch adjustment assembly 220. The hip pitch adjustment assembly 220 comprises a support link 221, a first handle screw 222, a first guide rail 223, a first slider 224 and a first exoskeleton link 225, wherein one end of the support link 221 is connected and arranged on the exoskeleton support assembly 210, the first guide rail 223 is fixedly arranged at one end of the support link 221 far away from the exoskeleton support assembly 210, the first slider 224 is slidably arranged on the support link 221 through the first guide rail 223, the first handle screw 222 is arranged on the first slider 224, the first handle screw 222 is used for fixing the first slider 224 on the first guide rail 223, the first exoskeleton link 225 is arranged on the first slider 224, and the exoskeleton assembly 300 and the dynamic weight reduction assembly 400 are both connected and arranged on the first exoskeleton link 225.

As shown in fig. 4, the exoskeleton assembly 300 includes a hip joint assembly 310, a hip joint exoskeleton linkage 320, a knee joint assembly 330, a knee joint exoskeleton linkage 340, an ankle-foot orthosis 350, and a leg strap 360, one end of the hip joint assembly 310 being disposed on the exoskeleton linkage assembly 200, the hip joint exoskeleton linkage 320 being disposed on an end of the hip joint assembly 310 distal from the exoskeleton linkage assembly 200, the knee joint assembly 330 being disposed on an end of the hip joint exoskeleton linkage 320 distal from the hip joint assembly 310, the knee joint exoskeleton linkage 340 being disposed on an end of the knee joint assembly 330 distal from the hip joint exoskeleton linkage 320, the ankle-foot orthosis 350 being disposed on an end of the knee exoskeleton linkage 340 distal from the knee joint assembly 330, the leg strap 360 being disposed on the hip joint exoskeleton linkage 320 and the knee joint exoskeleton linkage 340.

As shown in fig. 5 and 6, the dynamic weight-reducing assembly 400 includes a weight-reducing assembly 410, a lifting rope connecting rod 420 and a weight-reducing suspension garment 430, wherein the weight-reducing assembly 410 is disposed on the suspension frame 100, the lifting rope connecting rod 420 is connected to the weight-reducing assembly 410, the weight-reducing suspension garment 430 is connected to the lifting rope connecting rod 420, and the exoskeleton connecting assembly 200 and the exoskeleton assembly 300 are connected to the weight-reducing suspension garment 430. The weight-reducing assembly 410 comprises a bracket 411, a driving motor 412, a winding drum 413, a rotating shaft 414, a bearing 415 and a lifting rope 416, wherein the bracket 411 is connected and arranged on the suspension bracket 100, the driving motor 412 and the winding drum 413 are arranged on the bracket 411, the winding drum 413 is arranged on the bracket 411 through the rotating shaft 414 and the bearing 415, the lifting rope 416 is wound and arranged on the winding drum 413, and one end of the lifting rope 416, which is far away from the winding drum 413, is connected and arranged on a lifting rope connecting rod 420. The driving motor 412 includes a fixed end 4121 and a rotating end 4122, the fixed end 4121 is fixedly disposed on the bracket 411, one end of the rotating end 4122 is connected to the rotating shaft 414, and one end of the rotating end 4122 away from the rotating shaft 414 is connected to the fixed end 4121.

As shown in fig. 7 and 8, the follower exoskeleton coupling assembly 500 comprises a second exoskeleton attachment member 510, a second handle screw 520, a second slider 530, a second rail 540 and a connecting rod 550, the exoskeleton assembly 300 is disposed on the second exoskeleton attachment member 510, the second slider 530 is disposed at an end of the second exoskeleton attachment member 510 remote from the exoskeleton assembly 300, the second rail 540 is disposed on the connecting rod 550, the second slider 530 is slidably disposed on the connecting rod 550 via the second rail 540, the second handle screw 520 is disposed on the second slider 530, and the second handle screw 520 is used to fix the second slider 530 to the second rail 540.

Example 1：

A treadmill type rehabilitation training device for children's lower limb weight-reducing exercise comprises a suspension frame, an exoskeleton connecting device, an exoskeleton device, a dynamic weight-reducing device and a follow-up exoskeleton connecting device. The suspension frame plays a role in bearing the whole device and reducing weight of a patient. The exoskeleton device is worn on the body of a patient and drives the lower limbs of the patient to do gait training through the driving motor. The exoskeleton connecting device plays a role in connecting the exoskeleton devices, can adapt to the height of the exoskeleton devices, can adjust the distance between the exoskeleton and can also provide certain support for the waist of a patient. The dynamic weight reduction device can dynamically adjust the weight reduction force, and plays a role in reducing the weight of a patient constantly. With the development of the rehabilitation process, when the patient with certain lower limb strength does not need the support of the exoskeleton connecting device any more, the exoskeleton connecting device can be detached and replaced by the follow-up exoskeleton connecting device, so as to further train the dynamic balance capability of the patient.

The suspension frame plays a role in bearing the whole device and reducing weight of a patient, and comprises a dynamic weight reduction device connecting column, a display, a handrail, a supporting column, a running table and a base. Wherein the developments subtract and respectively have a set ofly about the heavy device spliced pole, two sets of developments of its front end connection left and right sides subtract heavy device, rear end joint support post, the display is located patient the place ahead, can show the software interface of rehabilitation training device on it, make things convenient for therapist's operation, also can show rehabilitation recreation and supply the patient to play during the training, increase the interest of training, improve patient's training effect, the handrail is fixed in the support column, trilateral encircleing the patient, prevent that the patient unstability from falling down, the developments subtract heavy device spliced pole is connected to the support column upper end, the base is connected to the lower extreme, ectoskeleton connecting device is connected to the place ahead, run the platform both can be active and run the platform, it is rotatory to drive the area of running by the motor, also can be passive form and run the platform, driving motor is not set up, it is rotatory to drive the area of running by the frictional force of patient's both legs.

The exoskeleton connecting device comprises an exoskeleton supporting device and a hip distance adjusting device. The exoskeleton supporting device is detachably connected to the supporting column and can adapt to the height of the exoskeleton device, so that the exoskeleton device can move up and down along with the fluctuation of the gravity center of a patient, the exoskeleton device is limited to shake left and right, the waist of the patient can be stably supported for the patient with weak lower limb strength, and the hip distance adjusting device can adjust the distance between the left leg and the right leg of the exoskeleton to adapt to the hip distances of different patients. The lifting device comprises a rotating seat, a first connecting rod, a second connecting rod, a third connecting rod and an air spring, the rotating seat is detachably connected to the supporting column, the first connecting rod, the second connecting rod and the third connecting rod form a parallelogram mechanism, the exoskeleton device can move along the vertical direction all the time, and the air spring is connected to any one of the supporting column, the first connecting rod, the second connecting rod and the third connecting rod and plays a role in buffering, damping and supporting. The hip distance adjusting device comprises a supporting connecting piece, a handle screw, a guide rail, a sliding block and an exoskeleton connecting piece, and the hip distance adjusting device is provided with two parts which are bilaterally symmetrical, wherein one end of the supporting connecting piece is fixedly connected to the second connecting rod, and one side of the supporting connecting piece is fixedly connected with the guide rail. The sliding block can slide on the guide rail and is fixedly connected with the exoskeleton connecting piece, a handle screw is arranged on the sliding block, and the sliding block can be locked on the guide rail by screwing the handle screw. The exoskeleton connecting piece is fixedly connected with the exoskeleton device. Other types of moving pairs can be adopted for the hip distance adjusting device, such as cylindrical surface sliding guide rails, prismatic surface sliding guide rails and other mechanisms, and a bolt connection type with multiple holes can be adopted, and the hole positions with proper distances can be selected according to different hip distances.

With the development of the rehabilitation process, the exoskeleton connecting device can be replaced by the follow-up exoskeleton connecting device for patients with certain lower limb strength after the exoskeleton supporting device is no longer needed to be used as an auxiliary lumbar support. The follow-up exoskeleton connecting device is directly worn on the body of a patient, connects the exoskeleton devices of the left part and the right part and adjusts the distance between the exoskeleton. Comprises an exoskeleton connecting piece, a handle screw, a sliding block, a guide rail and a connecting rod. The guide rails on the left side and the right side are fixedly connected to the connecting rod, and the sliding blocks can slide on the guide rails and are fixedly connected with the exoskeleton connecting piece. The slider is provided with a handle screw, and the slider can be locked on the guide rail by screwing the handle screw. The exoskeleton connecting piece is fixedly connected with the exoskeleton device. Other types of sliding pairs can be adopted for the follow-up exoskeleton connecting device, such as cylindrical surface sliding guide rails, prismatic surface sliding guide rails and other mechanisms, and a bolt connection type with multiple holes can be adopted, and the hole positions with proper distances can be selected according to different hip distances.

The exoskeleton device comprises a hip joint component, a hip joint exoskeleton connecting rod, a knee joint component, a knee joint exoskeleton connecting rod, an ankle-foot orthosis and a leg strap, wherein a first driving motor is arranged in the hip joint component, a second driving motor is arranged in the knee joint component and comprises a first stator end and a first rotor end, the second driving motor comprises a second stator end and a second rotor end, the first stator end and the first rotor end are allowed to rotate relatively, the second stator end and the second rotor end are allowed to rotate relatively, the first stator end is fixedly connected with an exoskeleton connecting piece, the first rotor end is fixedly connected with the upper end of the hip joint exoskeleton connecting rod, the lower end of the hip joint exoskeleton connecting rod is fixedly connected with the second stator end, the upper end of the knee joint exoskeleton connecting rod is fixedly connected with the second rotor end, the lower end of the knee joint exoskeleton connecting rod is fixedly connected with the ankle-foot orthosis, the hip joint component, the hip joint exoskeleton connecting rod and the leg strap are arranged in the hip joint component, The knee joint component, the knee joint exoskeleton connecting rod and the ankle-foot orthosis are provided with a left group and a right group, and leg binding bands are arranged at the hip joint exoskeleton connecting rod and the knee joint exoskeleton connecting rod. The drive motors are arranged at the hip joint component and the knee joint component and are used as active drive joints, the drive motors are not arranged at the ankle joint component and are used as passive joints, and the motors can be arranged at the hip joint component, the knee joint component and the ankle joint component and are used as active drive joints.

The dynamic weight reduction device comprises a weight reduction mechanism, a lifting rope connecting rod and a weight reduction lifting clothes. The two groups of weight reducing mechanisms are arranged in bilateral symmetry, so that when the patient adopts the follow-up exoskeleton connecting device, the patient cannot shake left and right to cause instability and fall over. Subtract heavy mechanism simultaneously can provide the weight reduction force of equidimension not according to therapist's setting to keep subtracting the constancy of weight size, include: support, driving motor, bobbin, pivot, bearing and lifting rope. The driving motor is preferably a large-torque motor, works in a constant-torque mode, and adjusts the current on the armature of the motor through a current loop so as to realize the adjustment of output torque, thereby providing stable torque for a load. The lower end of the lifting rope is connected with a lifting rope connecting rod, and the lifting rope connecting rod is connected with a lifting belt for weight reduction of the clothes. The lifting rope can be tightened by rotating the rotating end of the driving motor, and the weight of the patient can be reduced by reducing the weight of the clothes.

In the present technical solution, the dynamic weight reduction device shown in fig. 1 may be matched with the exoskeleton connecting device, or the dynamic weight reduction device shown in fig. 8 may be matched with the follow-up exoskeleton connecting device. In the present technical solution, there may be two installation manners in the directions, as shown in fig. 1 and fig. 9, respectively.

Orientation in fig. 1: the display is located the dead ahead of ectoskeleton device and can freely move, and the patient stands to the support column dorsad, and the handrail is around the patient from three each positions of back, left and right, prevents that the patient unstability from falling down, makes things convenient for the patient to get into from the front simultaneously. Orientation in fig. 9: in order to further reduce the occupied area of the device, the display can be fixed on the supporting column, the patient stands facing the supporting column, the armrests surround the patient from the front, the left and the right, the instability and the falling of the patient are prevented, and meanwhile the patient can conveniently enter from the rear.

The suspension weight-reducing driving motor is preferably a large-torque disc type torque motor, and can be other motors with force control modes.

For the exoskeleton device, motors are preferably arranged at the hip joint and the knee joint to be used as active driving joints, motors are not arranged at the ankle joint to be used as passive joints, and the motors can be arranged at the hip joint, the knee joint and the ankle joint to be used as active driving joints.

For the exoskeleton hip distance adjusting device, a linear guide rail mechanism with a locking ball is preferably used as the hip distance adjusting mechanism, and other types of sliding pairs can also realize the utility model, such as a cylindrical surface sliding guide rail, a prismatic surface sliding guide rail and other mechanisms. And a bolt connection mode with multiple holes can be adopted, and holes with proper distances can be selected according to different hip distances.

The utility model provides a treadmill type rehabilitation training device for children lower limb weight-reducing exercise, which has the characteristics of small volume, light weight, constant and controllable weight-reducing force and convenience in control. Meanwhile, in order to meet the weight reduction requirements of patients in different rehabilitation stages (for example, early patients need to suspend and reduce the weight and the support of the exoskeleton connecting device at the same time, and later patients only need to suspend and reduce the weight support), the exoskeleton connecting device is designed to be detachable, and meanwhile, in order to prevent the patients from shaking left and right and losing stability after the exoskeleton connecting device is removed, a mode that two suspension ropes are symmetrically distributed left and right is adopted.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the utility model. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims (10)

1. A treadmill type rehabilitation training device for children lower limb weight-reducing exercise is characterized by comprising a suspension frame (100), wherein an exoskeleton connecting assembly (200), an exoskeleton assembly (300) and a dynamic weight-reducing assembly (400) are arranged on the suspension frame (100);

one end of the dynamic weight-reducing assembly (400) is connected and arranged on the suspension bracket (100), and the exoskeleton assembly (300) is arranged at one end of the dynamic weight-reducing assembly (400) far away from the suspension bracket (100);

one end of the exoskeleton connecting assembly (200) is arranged on the suspension bracket (100), and one end of the exoskeleton connecting assembly (200) far away from the suspension bracket (100) is connected and arranged on the exoskeleton assembly (300) and the dynamic weight reduction assembly (400);

the exoskeleton connecting assembly further comprises a follow-up exoskeleton connecting assembly (500), wherein the follow-up exoskeleton connecting assembly (500) is independently and movably arranged, and the exoskeleton connecting assembly (200) and the follow-up exoskeleton connecting assembly (500) are alternately arranged on the exoskeleton assembly (300) in a connecting mode.

2. The treadmill type children lower limb weight-loss exercise rehabilitation training device as claimed in claim 1, wherein the suspension frame (100) comprises a dynamic weight-loss component connecting column (110), a display (120), a handrail (130), a supporting column (140), a treadmill (150) and a base (160); the treadmill (150) is arranged on the base (160);

the dynamic weight-reducing assembly (400) is connected and arranged on the dynamic weight-reducing assembly connecting column (110); the displays (120) are individually actively arranged;

the dynamic weight-reducing assembly connecting column (110) is arranged at one end of the supporting column (140), the base (160) is arranged at one end of the supporting column (140) far away from the dynamic weight-reducing assembly connecting column (110), the handrail (130) is arranged on the supporting column (140), and the handrail (130) is positioned between the dynamic weight-reducing assembly connecting column (110) and the base (160).

3. The treadmill type children lower limb weight loss exercise rehabilitation training device according to claim 1, wherein the exoskeleton connecting assembly (200) comprises an exoskeleton supporting assembly (210) and a hip distance adjusting assembly (220); the hip distance adjustment assembly (220) is connectively disposed on the exoskeleton support assembly (210);

the end of the exoskeleton supporting assembly (210) far away from the hip distance adjusting assembly (220) is detachably connected and arranged on the suspension bracket (100), and the end of the hip distance adjusting assembly (220) far away from the exoskeleton supporting assembly (210) is arranged on the exoskeleton assembly (300) and the dynamic weight-reducing assembly (400).

4. The treadmill type children lower limb weight loss exercise rehabilitation training device according to claim 3, wherein the exoskeleton support assembly (210) comprises a first rotating seat (211), a first connecting rod (212), a gas spring (213), a second connecting rod (214), a third connecting rod (215), a second rotating seat (216) and a third rotating seat (217);

the first rotating seat (211) is detachably arranged on the suspension frame (100), one end of the first connecting rod (212) is rotatably arranged on the first rotating seat (211), and one end of the first connecting rod (212) far away from the first rotating seat (211) is rotatably arranged on the third connecting rod (215);

the second rotating seat (216) is detachably arranged on the suspension bracket (100), one end of the gas spring (213) is rotatably arranged on the second rotating seat (216), and one end, far away from the second rotating seat (216), of the gas spring (213) is hinged to one end, close to the third connecting rod (215), of the first connecting rod (212);

the third rotating seat (217) is detachably arranged on the suspension frame (100), one end of the second connecting rod (214) is rotatably arranged on the third rotating seat (217), and one end of the second connecting rod (214) far away from the third rotating seat (217) is rotatably arranged on the third connecting rod (215);

the third connecting rod (215) is connected and arranged on the hip distance adjusting assembly (220).

5. The treadmill type children lower limb weight loss exercise rehabilitation training device according to claim 3, wherein the hip pitch adjustment assembly (220) comprises a support connection member (221), a first handle screw (222), a first guide rail (223), a first slider (224) and a first exoskeleton connection member (225);

one end of the support link (221) is connected to the exoskeleton support assembly (210), and the first guide rail (223) is fixedly disposed at an end of the support link (221) away from the exoskeleton support assembly (210);

the first sliding block (224) is arranged on the support connecting piece (221) in a sliding mode through the first guide rail (223), the first handle screw (222) is arranged on the first sliding block (224), and the first handle screw (222) is used for fixing the first sliding block (224) on the first guide rail (223);

the first exoskeleton link (225) is disposed on the first slider (224), and the exoskeleton assembly (300) and the dynamic weight reduction assembly (400) are each connectively disposed on the first exoskeleton link (225).

6. The treadmill lower limb weight loss exercise rehabilitation training device of claim 1, wherein the exoskeleton assembly (300) comprises a hip joint assembly (310), a hip joint exoskeleton linkage (320), a knee joint assembly (330), a knee joint exoskeleton linkage (340), an ankle-foot orthosis (350), and a leg strap (360);

the hip joint assembly (310) is disposed on the exoskeleton connection assembly (200) at one end, and the hip joint exoskeleton linkage (320) is disposed on the hip joint assembly (310) at an end distal from the exoskeleton connection assembly (200);

the knee joint assembly (330) is disposed at an end of the hip exoskeleton linkage (320) distal from the hip joint assembly (310), and the knee exoskeleton linkage (340) is disposed at an end of the knee joint assembly (330) distal from the hip exoskeleton linkage (320);

the ankle-foot orthosis (350) is disposed at an end of the knee exoskeleton link (340) distal from the knee assembly (330);

the leg straps (360) are disposed on the hip exoskeleton links (320) and the knee exoskeleton links (340).

7. The treadmill type children lower limb weight-reducing exercise rehabilitation training device as claimed in claim 1, wherein the dynamic weight-reducing assembly (400) comprises a weight-reducing assembly (410), a lifting rope connecting rod (420) and a weight-reducing coat (430);

the weight-reducing assembly (410) is arranged on the suspension bracket (100), the lifting rope connecting rod (420) is connected and arranged on the weight-reducing assembly (410), and the weight-reducing suspension garment (430) is connected and arranged on the lifting rope connecting rod (420);

the exoskeleton connecting assembly (200) and the exoskeleton assembly (300) are connected and arranged on the weight-reducing lifting clothes (430).

8. The treadmill type children lower limb weight-reducing exercise rehabilitation training device as claimed in claim 7, wherein the weight-reducing assembly (410) comprises a bracket (411), a driving motor (412), a winding reel (413), a rotating shaft (414), a bearing (415) and a lifting rope (416);

the bracket (411) is connected to the suspension bracket (100), the driving motor (412) and the winding reel (413) are arranged on the bracket (411), and the winding reel (413) is arranged on the bracket (411) through the rotating shaft (414) and the bearing (415);

the lifting rope (416) is wound on the bobbin (413), and one end, far away from the bobbin (413), of the lifting rope (416) is connected to the lifting rope connecting rod (420).

9. The treadmill lower limb weight loss motor rehabilitation training device as recited in claim 8, wherein the drive motor (412) comprises a fixed end (4121) and a rotating end (4122);

the fixed end (4121) is fixedly arranged on the bracket (411), one end of the rotating end (4122) is connected to the rotating shaft (414), and one end of the rotating end (4122) far away from the rotating shaft (414) is connected to the fixed end (4121).

10. The treadmill type children lower limb weight loss exercise rehabilitation training device according to claim 1, wherein the follow-up exoskeleton connection assembly (500) comprises a second exoskeleton connection member (510), a second handle screw (520), a second slider (530), a second guide rail (540) and a connection rod (550);

the exoskeleton assembly (300) is disposed on the second exoskeleton connector (510), and the second slider (530) is disposed at an end of the second exoskeleton connector (510) distal to the exoskeleton assembly (300);

the second guide rail (540) is arranged on the connecting rod (550), the second sliding block (530) is arranged on the connecting rod (550) in a sliding mode through the second guide rail (540), a second handle screw (520) is arranged on the second sliding block (530), and the second handle screw (520) is used for fixing the second sliding block (530) on the second guide rail (540).

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