CN216653285U

CN216653285U - Training subassembly and have joint training function's rehabilitation training machine

Info

Publication number: CN216653285U
Application number: CN202122453041.4U
Authority: CN
Inventors: 王勇; 高合一; 汪金龙; 穆景颂; 陆益民
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-07-09
Filing date: 2021-10-12
Publication date: 2022-06-03
Anticipated expiration: 2031-10-12
Also published as: CN113877143A

Abstract

The utility model discloses a training component and a rehabilitation training machine with a joint training function, which comprises a base; the supporting frame is arranged on the base; the lower limb training mechanism comprises a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first connecting rod and a first sliding or rotating part; a first support member provided on the base; the first rotating shaft is rotatably arranged on the first supporting component; the first crank is rotatably connected with one end of the first connecting rod or the first supporting auxiliary tool; the first support assistive device is fixedly arranged on the first connecting rod; the other end of the first connecting rod is rotationally connected with the first sliding or rotating part; the first sliding or rotating piece and the base form a moving pair or a high pair. The rehabilitation training machine can eliminate local freedom degree, inhibit abnormal joint reaction, enable ankle joints or wrist joints at two sides to generate a certain moving angle, form ankle pump movement, and has good ankle joint or wrist joint training effect.

Description

Training subassembly and have joint training function's rehabilitation training machine

Technical Field

The utility model relates to the technical field of sports equipment, in particular to a training component and a rehabilitation training machine with a joint training function.

Background

At present, the aging degree of the population of China is increased, and the number of patients with unhealthy limbs is increased day by day, so that limb rehabilitation auxiliary appliances become research hotspots in the rehabilitation field, and various rehabilitation robots designed by research teams at home and abroad are put into practical use.

The existing limb rehabilitation training device has small joint movement angle in the rehabilitation training process, and the ankle joint or the wrist joint can not be well trained, so that the expected rehabilitation training effect can not be achieved; in addition, the existing limb rehabilitation training device does not consider the training requirements of the ankle joint or the wrist joint of the human body, or does not set the training function of the ankle joint or the wrist joint, so that the ankle joint or the wrist joint can not be well trained and the expected rehabilitation training effect can not be achieved in the rehabilitation training process; and the function of preventing venous thrombosis cannot be realized without effective ankle pump movement.

Therefore, it is particularly important to develop a rehabilitation training machine which has a reasonable structure and can meet the rehabilitation training requirements of ankle joints or wrist joints.

SUMMERY OF THE UTILITY MODEL

In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a training assembly and a rehabilitation training machine with joint training function, which can meet the requirements of ankle joint or wrist joint rehabilitation training.

To achieve the above and other related objects, the present invention provides a rehabilitation training machine having a joint training function, comprising:

a base;

the supporting frame is arranged on the base;

the lower limb training mechanism comprises a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first connecting rod and a first sliding or rotating part;

the first supporting component is arranged on the base;

the first rotating shaft is rotatably arranged on the first supporting component;

the first crank is fixedly connected with the first rotating shaft;

the first crank is rotatably connected with one end of the first connecting rod or the first support auxiliary tool;

when the first crank is rotatably connected with one end of the first connecting rod, the first support auxiliary tool is fixedly arranged on the first connecting rod or the first sliding or rotating part;

when the first crank is rotationally connected with the first support auxiliary tool, the first support auxiliary tool is fixedly arranged on the first connecting rod;

the other end of the first connecting rod is rotationally connected with the first sliding or rotating part;

the first sliding or rotating part and the base form a moving pair or a high pair.

In an optional embodiment of the present invention, the lower limb training mechanism further comprises a first sliding rail matched with the first sliding or rotating member, the first sliding rail is mounted on the base, and the first sliding or rotating member and the first sliding rail form a sliding pair or a high pair.

In an optional embodiment of the present invention, the rehabilitation training machine further comprises an upper limb training mechanism, which comprises a second supporting component, a second supporting auxiliary tool, a second revolving shaft and a second crank; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, and the second supporting auxiliary tool is rotatably arranged on the second crank.

In an alternative embodiment of the present invention, the upper limb training mechanism comprises: the second support part, the second support auxiliary tool, the second rotating shaft, the second crank, the second connecting rod, the second sliding or rotating part and the second sliding rail; the second supporting part is arranged on the supporting frame, the second revolving shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second revolving shaft, the second sliding rail is arranged on the second supporting part, the second sliding or rotating part and the second sliding rail form a sliding pair or a high pair, one end of the second connecting rod is rotatably connected with the second sliding or rotating part, the other end of the second connecting rod is rotatably connected with the second crank, and the second supporting auxiliary tool is arranged on the second connecting rod.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises a slide rail supporting member, and the second slide rail is mounted on the second supporting member through the slide rail supporting member.

In an optional embodiment of the present invention, an inclination angle of the second slide rail is adjustable.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises a second driving member disposed in the second supporting member, and the second driving member is connected to the second rotation shaft.

In an optional embodiment of the present invention, the rehabilitation training machine further comprises an armrest, and the armrest is mounted on the support frame.

In an alternative embodiment of the utility model, the lower limb training mechanism further comprises a first drive member arranged within the first support member, the first drive member being connected to the first pivot shaft.

In an alternative embodiment of the present invention, the lower limb training mechanism comprises a pair of the first support aids, a pair of the first cranks, a pair of the first connecting rods, and a pair of the first sliding or rotating members.

In an optional embodiment of the present invention, when the first support aid is fixedly installed on the first connecting rod, a maximum included angle between a support plane of the first connecting rod or the first support aid and a horizontal direction is greater than or equal to 35 °, or a maximum included angle between the first connecting rods located at two sides of the first rotation axis is greater than or equal to 32 °.

To achieve the above and other related objects, the present invention provides a training assembly for a rehabilitation training machine, the training assembly comprising:

the sliding rail is provided with an installation part fixedly connected with the rehabilitation training machine;

the sliding or rotating piece and the sliding rail form a sliding pair or a high pair;

the connecting rod is provided with a fixed connection part which is fixedly connected with the supporting auxiliary tool of the rehabilitation training machine, one end of the connecting rod is rotatably connected with the sliding or rotating part, and the other end of the connecting rod is used as a rotating end which forms a rotating pair with the crank of the rehabilitation training machine.

and one end of the connecting rod is rotatably connected with the sliding or rotating part, and the other end of the connecting rod is used as a fixed connection end fixedly connected with the supporting auxiliary tool of the rehabilitation training machine.

the supporting auxiliary tool is fixedly connected to the connecting rod;

and one end of the connecting rod is rotationally connected with the sliding or rotating part, and the other end of the connecting rod is used as a rotating end which forms a rotating pair with the crank of the rehabilitation training machine.

the supporting assistive device is provided with a rotating part which forms a rotating pair with a crank of the rehabilitation training machine;

and one end of the connecting rod is rotatably connected with the sliding or rotating part, and the other end of the connecting rod is fixedly connected with the supporting auxiliary tool.

In an optional embodiment of the present invention, the training assembly further includes a slide rail supporting component for fixedly mounting the slide rail on the rehabilitation training machine, and the slide rail is fixedly connected to the slide rail supporting component through the mounting portion, or the mounting portion and the slide rail supporting component are integrated into a whole.

In an alternative embodiment of the utility model, the support aid comprises a handle, a foot rest or a support plate.

The rehabilitation training machine provided by the utility model adopts the crank-slider mechanism, so that the local degree of freedom is eliminated, the abnormal reaction of joints can be inhibited, the ankle joints or wrist joints on two sides generate a certain moving angle to form ankle pump movement, and the good ankle joint or wrist joint training effect is achieved.

The second support auxiliary tool of the upper limb movement training mechanism of the rehabilitation training machine can be fixed on the second connecting rod and forms the same position of a rotating pair with the second crank, and at the moment, the second support auxiliary tool generally does circular rotation motion relative to the second rotating shaft, but still can keep the rotating centers of the rotating pair of the second connecting rod and the second crank which are opposite to each other to swing because the second support auxiliary tool is still positioned on the second connecting rod, so that the second support auxiliary tool has a proper wrist joint moving angle.

The rehabilitation training machine has the advantages of simple structure, small volume and convenient overall arrangement.

The length of the crank (the first crank and the second crank), the connecting rod (the first connecting rod and the second connecting rod) and the supporting frame of the rehabilitation training machine is adjustable, so that the rehabilitation training machine can better meet the exercise training requirements of different people and ensure the training effect.

The rehabilitation training machine provided by the utility model has multiple working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training.

The upper and lower limb movement training mechanism of the rehabilitation training machine can directly transform the prior rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function.

The rehabilitation training machine can meet the requirement that the maximum included angle between the supporting plane of the first connecting rod or the first supporting auxiliary tool and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the two first connecting rods on the two sides is greater than or equal to 32 degrees, so that the sufficient inclination angle of the first supporting auxiliary tool (a pedal or a supporting plate) is ensured, and the requirement of ankle joint training is met.

Drawings

Fig. 1 is a schematic perspective view of an embodiment of a rehabilitation training machine according to a first embodiment of the present invention.

Fig. 2 is a schematic perspective view of another embodiment of a rehabilitation training machine according to a first embodiment of the present invention.

Fig. 3 is a schematic perspective view of a rehabilitation training machine according to a third embodiment of the present invention.

Fig. 4 is a schematic perspective view of a rehabilitation training machine according to a second embodiment of the present invention.

Fig. 5 is a schematic perspective view of a rehabilitation training machine according to a third embodiment of the present invention.

Fig. 6 is a schematic perspective view of a rehabilitation training machine according to a fourth embodiment of the present invention.

Fig. 7 is a schematic perspective view of a rehabilitation training machine according to a fifth embodiment of the present invention.

FIG. 8 is a schematic view of the handle fixed to the second connecting rod at the same position as the second crank forming a revolute pair.

Fig. 9 is a schematic perspective view of a rehabilitation training machine according to a sixth embodiment of the present invention.

Description of the element reference

A base 1; a lower limb training mechanism 2; the first support member 21; a foot pedal 22; a first rotating shaft 23; a first crank 24; a first link 25; a first slide 26; a first slide rail 27; a first rotating member 28; a support frame 3; a first support rod section 31; a second strut section 32; a horizontal pole segment 33; a handrail 4; an upper limb training mechanism 5; the second support member 51; a handle 52; the second revolving shaft 53; a second crank 54; a second link 55; a second slide 56; a second slide rail 57; a slide rail support member 58; and a man-machine interaction device 6.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The utility model is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than being drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of each component in actual implementation may be changed arbitrarily, and the layout of the components may be more complicated.

Example one

Referring to fig. 1, the present embodiment describes a rehabilitation training machine, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5, which are disposed on the base 1.

Referring to fig. 1, in the present embodiment, for example, rollers may be installed at the bottom of the base 1, so that the whole rehabilitation training machine can be conveniently moved. Of course, in some embodiments, the base 1 may not be provided with rollers.

Referring to fig. 1, in the present embodiment, the supporting frame 3 is installed at one side of the base 1, and the length of the supporting frame 3 is adjustable. The support frame 3 comprises a first support rod section 31, a second support rod section 32 and a horizontal rod section 33, the lower end of the first support rod section 31 is fixedly connected with the base 1, the lower end of the second support rod section 32 is inserted into the upper end of the first support rod section 31 and is locked by a locking knob (not marked in the figure), the horizontal rod section 33 is installed at the upper end of the second support rod section 32, the horizontal rod section 33 is horizontally arranged, wherein the horizontal rod section 33 is connected with the second support rod section 32 in a fixed connection or a rotating manner. Specifically, the length of the support frame 3 can be controlled by adjusting the length of the support frame 3 by loosening the locking knob and adjusting the length of the second support rod segment 32 inserted into the first support rod segment 31, and the support frame is locked by the locking knob (not shown in the figure) after being adjusted to a proper length. It is understood that in other embodiments, the first support rod segment 31 and the second support rod segment 32 of the support frame 3 may also be adjusted in relative position by a screw nut transmission mechanism or other existing adjusting mechanisms, so as to achieve the purpose of adjusting the length of the support frame 3.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 is designed as a slider-crank, and includes a first supporting member 21, a first rotating shaft 23, a first supporting auxiliary device, a first crank 24, a first connecting rod 25, and a first sliding or rotating member, wherein the first sliding or rotating member is a first sliding member 26 (e.g., a slider), and the first supporting auxiliary device is a pedal 22 (or a supporting plate). A first support member 21 provided on the base 1; the first revolving shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotating shaft 23; the first crank 24 is rotatably connected with the first pedal 22; the pedal 22 is fixedly installed on the first connecting rod 25, and one end of the first connecting rod 25 is rotatably connected with the first sliding part 26; the first slide 26 forms a sliding pair with the base 1.

Referring to fig. 1, in a specific example of the present embodiment, the pedal 22, the first crank 24, the first connecting rod 25 and the first sliding member 26 include two parts, which are respectively located at two sides of the first supporting member 21. The two first cranks 24 are respectively and fixedly arranged at two ends of the first rotating shaft 23, each first crank 24 is rotatably connected with the pedals 22 on the same side, each pedal 22 is fixedly arranged on the first connecting rod 25 on the same side, the other end of each first connecting rod 25 is rotatably connected with the first sliding part 26 on the same side, and a moving pair is formed between each first sliding part 26 and the base 1. The maximum included angle between the supporting plane (i.e. the tread) of the pedals 22 and the horizontal direction is more than or equal to 35 degrees, so that the pedals 22 are ensured to have enough inclination angles, and the ankle joint training requirements are met.

Referring to fig. 1, in this embodiment, the first crank 24 is a disc crank, one end of the first rotating shaft 23 is fixedly connected to the center of the disc crank, the pedals 22 and the edge of the disc crank form a rotation pair, the disc crank can save a part of space, and the disc crank can also be used as a part of the first support member 21 to shield other parts inside the first support member 21. It will be appreciated that in other embodiments, the first crank 24 may be a rod crank, one end of which is fixedly connected to one end of the first rotating shaft 23, and the other end of which is rotatably connected to the pedal 22.

Referring to fig. 1, in the present embodiment, the length of the first connecting rod 25 or the size of the first crank 24 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable, and the adjustment of the length of the first connecting rod 25 or the size of the first crank 24 can be used to adjust the inclination angle of the pedal 22 to meet the reasonable ankle joint movement range and angle of different human bodies. For example, the first connecting rod 25 includes two rod bodies connected to each other, the relative positions of the two rod bodies are adjustable and fixed by fastening bolts or locking knobs, the length of the first connecting rod 25 can be adjusted by adjusting the relative positions of the two rod bodies, and the size of the first crank 24 can be adjusted by replacing cranks with different sizes.

It is understood that, in this embodiment, similar to fig. 5, the first crank 24 is rotatably connected to one end of a first connecting rod 25, the other end of the first connecting rod 25 is rotatably connected to the first sliding member 26, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the pedals 22 have a sufficient inclination angle and meet the ankle training requirement, it is necessary to satisfy any one of the two constraints that the maximum angle between the support plane of the first link 25 or the pedals 22 and the horizontal direction is greater than or equal to 35 ° or that the maximum angle between the two first links 25 on both sides is greater than or equal to 32 °.

Referring to fig. 1, in an alternative example of the present embodiment, the lower limb training mechanism 2 further includes a first slide rail 27 matched with the first sliding member 26, the first slide rail 27 is mounted on the base 1, and the first sliding member 26 and the first slide rail 27 form a sliding pair.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 further includes a first driving member (not shown) disposed in the first supporting member 21, and the first driving member is connected to the first rotating shaft 23. The first drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the lower limb training mechanism 2 further comprises a first resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel, disposed within the first support element 21. The friction assembly includes a friction plate and a friction plate seat which are matched with each other, the friction plate is installed on the first rotating shaft 23, the friction plate seat is installed at one end of the first supporting part 21 close to the first rotating shaft 23, and the magnitude of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or unscrewed through a man-machine interaction device 6 which will be described later. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is arranged on the first rotating shaft 23, the permanent magnet assembly is arranged at one end, close to the first rotating shaft 23, of the first supporting part 21, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the first support element 21 may also comprise only a first resistance element (not shown), without the provision of a first drive element, the operation of which is adjusted manually or controlled by the human-computer interaction device 6.

It will be appreciated that the first drive member may be employed directly as the first resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the first resistance member. Taking a driving device adopting a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when being in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of the induced current.

It should be noted that, in the present embodiment, similar to the one shown in fig. 4, the first sliding member 26 may also be directly replaced by a first rotating member 28 (e.g., a roller); one end of the first link 25 is rotatably connected to the first rotating member 28, and the first rotating member 28 and the base 1 form a high pair, or the first rotating member 28 and the first slide rail 27 form a high pair.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 adopts a slider-crank type design, and includes a second supporting member 51, a second supporting aid, a second revolving shaft 53, a second crank 54, a second connecting rod 55, a second sliding or rotating part and a second sliding rail 57, the second sliding or rotating part is a second sliding part 56, and the second supporting aid is a handle 52. The second support part 51 is mounted at one end of the horizontal rod section 33 of the support frame 3, the second slide rail 57 is mounted on the second support part 51, the second revolving shaft 53 is rotatably mounted on the second support part 51, the second crank 54 is fixedly connected with the end of the second revolving shaft 53, the second crank 54 is rotatably connected with one end of the second connecting rod 55, the other end of the second connecting rod 55 is rotatably connected with the second sliding part 56, the second sliding part 56 and the second slide rail 57 form a moving pair, and the handle 52 is mounted on the second connecting rod 55. Certainly, the second supporting auxiliary tool can also adopt a supporting plate, when the hand-holding auxiliary tool is used, the hand is horizontally placed on the supporting plate, and a limiting object like a binding band is used for fixing the hand, so that the hand moves along with the supporting plate.

As shown in fig. 8, the handle 52 of the upper limb exercise training mechanism 5 may be fixed to the second link 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the handle 52 is generally circularly revolved about the second revolving shaft 53, but still positioned on the second link 55, so that it can be kept swung about the center of rotation of the revolute pair of the second link 55 and the second crank 54, and thus can have an appropriate wrist joint movement angle.

Referring to fig. 1, in a specific example of the present embodiment, the handle 52, the second crank 54, the second connecting rod 55, the second sliding rail 57 and the second sliding member 56 all include two and are respectively located at two sides of the second supporting member 51. The two second sliding rails 57 are mounted on two sides of the second supporting member 51, the two second cranks 54 are respectively mounted and fixed on two ends of the second revolving shaft 53, each second crank 54 is rotatably connected with one end of the second connecting rod 55 on the same side, the other end of each second connecting rod 55 is rotatably connected with the second sliding member 56 on the same side, each handle 52 is fixedly mounted on the second connecting rod 55 on the same side, and a sliding pair is formed between each second sliding member 56 and the second sliding rail 57 on the same side.

Referring to fig. 1, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to one end of the second connecting rod 55, which is not connected to the second sliding member 56. Of course, in other embodiments, a disc crank may be used as the second crank 54.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a slide rail supporting component 58, and the second slide rail 57 is mounted on the second supporting component 51 through the slide rail supporting component 58. The middle part of the slide rail supporting part 58 is connected with the second supporting part 51 and locked by a locking knob, and the second slide rail 57 is installed and fixed on one side of the slide rail supporting part 58. The inclination angle of the slide rail supporting part 58 can be adjusted as required and locked by a locking knob, that is, the inclination angle of the second slide rail 57 can be adjusted. Of course, in some embodiments, the slide rail supporting member 58 may not be provided, and the second slide rail 57 is directly mounted on the second supporting member 51.

In this embodiment, the length of the second connecting rod 55 or the gauge of the second crank 54 (defined as the length of a rod crank or the diameter of a disc crank) is adjustable.

In this embodiment, the slide rail supporting component 58 may also be disposed according to the position shown in fig. 2 or fig. 3, one end of the slide rail supporting component 58 is connected to the second supporting component 51 and locked by a locking knob, the second slide rail 57 is installed and fixed on one side of the slide rail supporting component 58, and the inclination angle of the second slide rail 57 is adjustable. Fig. 2 shows a state where the second slide rail 57 may be located at a lower side of the second support part 51, and fig. 3 shows a state where the second slide rail 57 may be located at an upper side of the second support part 51.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a second driving component disposed in the second supporting component 51, and the second driving component is connected to the second rotating shaft 53. The second drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the upper limb training mechanism 5 further comprises a second resistance element disposed within the second support element 51, the second resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel. The friction assembly comprises a friction plate and a friction plate seat which are matched with each other, the friction plate is arranged on the second revolving shaft 53, the friction plate seat is arranged at one end, close to the second revolving shaft 53, of the second supporting part 51, and the size of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or loosened through the man-machine interaction device 6. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is installed on the second rotating shaft 53, the permanent magnet assembly is installed at one end, close to the second rotating shaft 53, of the second supporting part 51, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the second support element 51 may of course comprise only the second resistance element, without the provision of the second drive element, by adjusting the operation of the second resistance element manually, or by controlling the operation of the second resistance element via the human-computer interaction means 6.

It will be appreciated that the second drive member may be employed directly as the second resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the second resistance member. By taking a motor or a driving device formed by combining the motor and a speed reducer as an example, the resistance can be generated when the motor is in a power generation mode, and the resistance torque can be controlled by controlling the magnitude of induced current.

It should be noted that, in the present embodiment, the second rotating member (as the rotating member) may be directly used instead of the second sliding member 56; one end of the second connecting rod 55 is rotatably connected to the second rotating member, and the second rotating member and the second slide rail 57 form a high pair.

In this embodiment, the lower limb training organ 2 and the upper limb training organ 5 may further comprise limb restraint members (not shown) for restraining the limb.

Referring to fig. 1, in the present embodiment, the rehabilitation training machine further includes an armrest 4, the armrest 4 is mounted on the top of the support frame 3, and the armrest 4 is used for being held by a user. As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3.

Referring to fig. 1, in this embodiment, the rehabilitation training machine further includes a human-computer interaction device 6, where the human-body interaction device is an intelligent control center for controlling the rehabilitation training machine. The human-computer interaction device 6 can be arranged on the top of the support frame 3 (of course, it can be arranged in other suitable positions). As an example, the human-computer interaction device 6 is arranged on a horizontal rod section 33 of the support frame 3. By way of example, the human-computer interaction device 6 may be a remote controller or a touch screen.

The rehabilitation training machine of the embodiment can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. When the upper limb and the lower limb are cooperatively exercised, the posture of the human body is a sitting posture, the lower limb meets the motion of the ankle pump, and the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain exercising angle.

The rehabilitation training machine of the present embodiment can include three training modes, which are a passive training mode, an assisted training mode and an active training mode, and the foot training is taken as an example for description.

In passive training, the power source is all from the first driving component, the foot is located on the pedal 22, the first driving component drives the first crank 24 to rotate, the pedal 22 is driven to move, and the pedal 22 drives the ankle to swing back and forth.

During assisted training, between passive training and active training, a power source part comes from a first driving part, and a part comes from feet of a human body, the man-machine interaction device 6 is operated to control the first driving part to be converted into an assisted training mode, and an intelligent sensing system (comprising a sensor and a control circuit) is started to complete assisted training in cooperation with ankles of the human body.

During active training, human feet are used as power sources to drive the pedals 22 to move, the man-machine interaction device 6 can control the training resistance, the resistance with different sizes can exercise the muscle movement of the lower limbs of the human body in different degrees, and the control capability of brain nerves to the muscle movement is gradually remodeled layer by layer.

It should be noted that, the hand training can also adopt a similar active training mode, a power-assisted training mode and an active training mode, and the control principle is similar to that in the foot training, so the description is not repeated.

The rehabilitation training machine of this embodiment adopts the design of crank slider mechanism, can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist joint produce certain movable angle, form the ankle pump motion, possess good ankle joint or wrist joint training effect. The second support aid of the upper limb movement training mechanism of the rehabilitation training machine of the present invention can be fixed on the second connecting rod 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the second support aid performs a circular revolution movement with respect to the second revolving shaft 53 as a whole, but still keeps swinging with respect to the rotation center of the revolute pair of the second connecting rod 55 and the second crank 54 because it is still located on the second connecting rod 55, so that it has a proper wrist joint movement angle. The rehabilitation training machine of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54), the connecting rod (the first connecting rod 25 and the second connecting rod 55) and the supporting frame 3 of the rehabilitation training machine of the embodiment can be adjusted, so that the training effect can be better met for the exercise training requirements of different people. The rehabilitation training machine of the embodiment is provided with a plurality of working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. The upper and lower limb movement training mechanism of the rehabilitation training machine of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training machine has the ankle joint or wrist joint training function. The rehabilitation training machine of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first connecting rod 25 or the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the two first connecting rods 25 on the two sides is greater than or equal to 32 degrees, so that the sufficient inclination angle of the first supporting assistive device is ensured, and the requirement of ankle joint training is met.

It should be noted that the first slide rail 27, the first sliding member 26 and the first connecting rod 25 of the present embodiment can be used as a training component product, and can be used as a training component of a lower limb training mechanism of a rehabilitation training machine in a sitting position or a lying position. Of course, the first slide rail 27, the first sliding member 26, the first connecting rod 25 and the first support aid of the present embodiment can also be used as a training component product for a lower limb training mechanism of a rehabilitation training machine for sitting or lying positions.

It should be noted that the second slide rail 57, the second slider 56, the second link 55 and the slide rail support member 58 of the present embodiment can be used as a training component product as a training component of an upper limb training mechanism of a rehabilitation training machine for sitting posture or lying posture. Of course, the second slide rail 57, the second sliding member 56, the second connecting rod 55, the slide rail supporting member 58 and the second supporting aid of the present embodiment may also be used as a training component product for an upper limb training mechanism of a rehabilitation training machine for sitting or lying posture.

Example two

As shown in fig. 4, the present embodiment describes another rehabilitation training machine, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5 disposed on the base 1. Compared with the rehabilitation training machine of the first embodiment, the structure is basically the same except that the upper limb training mechanism 5 is different and the first rotating member 28 is used to replace the first sliding member 26 of the lower limb training mechanism 2, so the description is not repeated.

In this embodiment, the upper limb training mechanism 5 includes a second support member 51, a second support aid, a second pivot shaft 53, and a second crank 54, and the second support aid is a handle 52 (a support plate may be used instead of the support plate). The second supporting member 51 is mounted at one end of the horizontal rod section 33 of the supporting frame 3, the second rotating shaft 53 is rotatably mounted on the second supporting member 51, the second crank 54 is fixedly connected with the end of the second rotating shaft 53, and the handle 52 is rotatably connected with the second crank 54.

Referring to fig. 4, in a specific example of the present embodiment, the handle 52 and the second crank 54 include two handles, which are respectively located on two sides of the second supporting member 51. The two second cranks 54 are respectively fixed on two ends of the second revolving shaft 53, and each handle 52 is fixedly arranged on the second crank 54 on the same side.

Referring to fig. 4, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to the handle 52. Of course, the second crank 54 may be a disc crank.

The rehabilitation training machine of the embodiment can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. When the upper and lower limbs are cooperatively exercised, the human body is in a sitting posture, the lower limbs meet the motion of the ankle pump, and the upper limbs do ordinary circular motion.

It should be noted that the first slide rail 27, the first rotating member 28 and the first connecting rod 25 of the present embodiment can be used as a training component product, and can be used as a training component of a lower limb training mechanism of a rehabilitation training machine for sitting posture or lying posture. Of course, the first slide rail 27, the first rotating member 28, the first connecting rod 25 and the first supporting aid of the present embodiment can also be used as a training component product for a lower limb training mechanism of a rehabilitation training machine for sitting posture or lying posture.

EXAMPLE III

As shown in fig. 5, the present embodiment describes a third rehabilitation training machine, which includes a base 1, and a support frame 3 and a lower limb training mechanism 2 disposed on the base 1. Compared with the first embodiment, the connection relationship between the first crank 24, the first connecting rod 25 and the pedals 22 in the upper limb training mechanism 5 and the lower limb training mechanism 2 is not different, and the other structures are basically the same, so the description is not repeated.

As shown in fig. 6, in the present embodiment, the first crank 24 is rotatably connected to one end of a first connecting rod 25, the other end of the first connecting rod 25 is rotatably connected to the first sliding member 26, and the pedal 22 is fixedly mounted on the first connecting rod 25.

The rehabilitation training machine of this embodiment can only carry out the low limbs training, and during the training, the human gesture is the position of sitting, and the low limbs is rotary motion along with pedal 22 to satisfy the ankle pump motion, possess good ankle joint training effect.

It can be understood that the lower limb training mechanism 2 of the rehabilitation training machine of the present embodiment may also adopt the lower limb training mechanism 2 shown in fig. 4, which is described in detail in the second embodiment and is not described herein again.

Example four

As shown in fig. 6, a fourth rehabilitation training machine is described in this embodiment, and the rehabilitation training machine includes a base 1, and a support frame 3 and a lower limb training mechanism 2 disposed on the base 1. Compared with the first embodiment, the upper limb training mechanism 5 is not arranged, and other structures are basically the same, so that the description is not repeated.

EXAMPLE five

As shown in fig. 7, the fifth rehabilitation training machine according to the present embodiment includes a base 1, and a support frame 3 and an upper limb training mechanism 5 disposed on the base 1. Compared with the first embodiment, the other structures are basically the same except for the difference of the shapes of the lower limb training mechanism 2 and the base 1, and the description is not repeated.

The rehabilitation training machine of the embodiment can only perform upper limb training, and during training, the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain training movement angle, so that a good wrist joint training effect is achieved.

EXAMPLE six

As shown in fig. 9, a sixth rehabilitation training machine is described in this embodiment, which is different from the first embodiment, in that the pedal 22 (first support assistive device) is directly and fixedly mounted on the first sliding member 26, at this time, the first crank 24 is rotatably connected to one end of the first connecting rod 25, and the pedal 22 can synchronously slide along the first sliding rail 27 or the base 1 along with the first sliding member 26, so as to achieve the ankle training. Other structures are substantially the same as those in the first embodiment, and thus are not described again.

Of course, in some embodiments, the first rotating member 28 can be used instead of the first sliding member 26, and the pedal 22 (the first support aid) can also be directly fixedly or rotatably mounted on the first rotating member 28; when the pedals 22 are fixedly mounted on the first rotating member 28, the first rotating member 28 can slide on the first slide rail 27 or the base 1 in a point contact or line contact manner; when the pedals 22 are rotatably mounted on the first rotating member 28, the first rotating member 28 can slide and roll on the first sliding rail 27 or the base 1 in a point contact or line contact manner.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the utility model. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the utility model described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.

The above description of illustrated embodiments of the utility model, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the utility model to the precise forms disclosed herein. While specific embodiments of, and examples for, the utility model are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the utility model. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the utility model. One skilled in the relevant art will recognize, however, that an embodiment of the utility model can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the utility model.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the utility model will be employed without a corresponding use of other features without departing from the scope and spirit of the utility model as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the utility model not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the utility model will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the utility model is to be determined solely by the appended claims.

Claims

1. The utility model provides a rehabilitation training machine with joint training function which characterized in that includes:

a base;

the supporting frame is arranged on the base;

the first supporting component is arranged on the base;

the first crank is fixedly connected with the first rotating shaft;

the first support assistive device is fixedly arranged on the first connecting rod;

the first sliding or rotating piece and the base form a sliding pair or a high pair.

2. The rehabilitation training machine with joint training function of claim 1, wherein the lower limb training mechanism further comprises a first sliding rail matched with the first sliding or rotating member, the first sliding rail is mounted on the base, and the first sliding or rotating member and the first sliding rail form a sliding pair or a high pair.

3. The rehabilitation training machine with joint training function according to claim 1, further comprising an upper limb training mechanism including a second support member, a second support aid, a second rotation shaft, and a second crank; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, and the second supporting auxiliary tool is rotatably arranged on the second crank.

4. The rehabilitation training machine with joint training function according to claim 1, further comprising an upper limb training mechanism, the upper limb training mechanism including: the second supporting part, the second supporting auxiliary tool, the second rotating shaft, the second crank, the second connecting rod, the second sliding or rotating part and the second sliding rail; the second supporting part is arranged on the supporting frame, the second revolving shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second revolving shaft, the second sliding rail is arranged on the second supporting part, the second sliding or rotating part and the second sliding rail form a sliding pair or a high pair, one end of the second connecting rod is rotatably connected with the second sliding or rotating part, the other end of the second connecting rod is rotatably connected with the second crank, and the second supporting auxiliary tool is arranged on the second connecting rod.

5. The rehabilitation training machine with joint training function according to claim 4, wherein the upper limb training mechanism further includes a slide rail support member, and the second slide rail is mounted on the second support member through the slide rail support member.

6. The rehabilitation training machine with joint training function of claim 4, wherein the tilt angle of the second slide rail is adjustable.

7. The rehabilitation training machine with joint training function according to claim 3 or 4, wherein the upper limb training mechanism further includes a second driving member provided in the second support member, the second driving member being connected to the second swing shaft.

8. The rehabilitation training machine with joint training function of claim 1, further comprising an armrest mounted on the support frame.

9. The rehabilitation training machine with joint training function of claim 1, wherein the lower limb training mechanism further comprises a first driving member disposed within the first support member, the first driving member being connected with the first rotating shaft.

10. The rehabilitation training machine with joint training function according to claim 1, wherein when the first support aid is fixedly mounted on the first link, a maximum included angle between a support plane of the first link or the first support aid and a horizontal direction is greater than or equal to 35 °, or a maximum included angle between the first links located at both sides of the first rotation axis is greater than or equal to 32 °.

11. A training assembly for a rehabilitation training machine, the training assembly comprising:

12. A training assembly for a rehabilitation training machine, the training assembly comprising:

13. A training assembly for a rehabilitation training machine, the training assembly comprising:

one end of the connecting rod is rotationally connected with the sliding or rotating piece, and the other end of the connecting rod is used as a rotating end which forms a rotating pair with a crank of the rehabilitation training machine;

and the supporting auxiliary tool is fixedly connected to the connecting rod.

14. A training assembly for a rehabilitation training machine, the training assembly comprising:

15. The training assembly of any one of claims 11-14, further comprising a rail support member for fixedly mounting the rail on the rehabilitation training machine, wherein the rail is fixedly connected to the rail support member through the mounting portion, or the mounting portion and the rail support member are integrated.

16. Training assembly according to any of the claims 11-14, wherein the support aid comprises a handle, a foot rest or a support plate.