TWM593853U - Active gait rehabilitation machine - Google Patents

Abstract

An active gait rehabilitation machine includes a frame, a front bearing module, a rear bearing module, at least one torso bearing module and two lower limb positioning devices, the position of the sagittal plane of the human body is from the front bearing The positioning is adjusted by the module and the rear bearing module. The position of the crown of the human body is adjusted and positioned by the module of the torso. The positioning devices of the lower limbs are used for positioning the lower limbs of the human body and the transverse plane of the human body. With the overall configuration, the human body can be positioned along the sagittal plane, the coronal plane, and the transverse plane, and the human body can be in the normal human walking posture during rehabilitation, which can achieve better rehabilitation effects.

Description

Active gait rehabilitation machine

The present invention relates to a rehabilitation machine, especially an active gait rehabilitation machine.

: Existing gait rehabilitation machine (Chinese Patent Application Publication No. CN102727363A patent case), including a bracket, a rear support for the back of the human body, a thigh support pivotally connected to the bracket and corresponding to the human thigh, A lower leg support member pivotally connected to the upper leg support member and corresponding to the lower leg of the human body, a knee support member provided on the upper leg support member or lower leg support member, and an actuator mounted on the bracket and capable of driving the lower leg support member to move . This gait rehabilitation machine does not have a structure that fixes the human torso, and has no support for the patients with poor torso control, so that the patient is placed in a non-normal walking posture during training. In addition, when the patient is actively training, the patient's knee due to the knee support is uncomfortable due to the active output, and the knee is hindered during the output.

There is another sitting walking rehabilitation machine (Chinese Patent Application Publication No. CN107708641A patent case), which is mainly provided with a saddle on a weight supporting portion, and the patient sits under the crotch on the saddle. When the patient actively contributes, the weight measurement is less accurate. And the patient only uses a chest support to support the chest. When the patient's torso is not well controlled, it may deviate, and the patient cannot be fixed in the correct walking position.

There is yet another rehabilitation machine (US20190151710A1 patent case), which uses two support parts to support the patient's armpit position, but the patient's leg is not provided with a bearing positioning design. When the patient takes the initiative to output, the leg does not On the bearing surface, the patient applies force only on the pedal during gait, rather than the direction of movement resistance of the calf extensor muscles, resulting in less resistance when outputting force. In addition, when the patient is walking, the position of the human torso and hip joints is not limited, and it is easy to produce wrong posture. Furthermore, the torso bears in the arm underarm position, which will cause discomfort when resisting, and the position of the coronal plane of the torso of the human body cannot adjust to the patient during exercise.

Therefore, the purpose of the present invention is to provide an active gait rehabilitation machine that can be in the correct walking posture when the patient takes the initiative.

Therefore, the new type of active gait rehabilitation machine is suitable for human body rehabilitation, and includes a frame, a front bearing module, a rear bearing module, at least one torso bearing module and two lower limb positioning Device. The front bearing module is adjustably installed on the rack, the rear bearing module is adjustably installed on the rack, and is located on the rear side of the front bearing module, a sagittal plane position of the human body is determined by the front The bearing module and the rear bearing module are adjusted and positioned. The torso bearing module is installed on the rack and is located on one side of the front bearing module and the rear bearing module. The torso is adjusted and positioned by the module, the lower limb positioning devices are installed on the frame and are used for positioning the lower limbs of the human body, and a horizontal plane position of the human body is generated by the positioning positions of the lower limb positioning devices.

The effect of the present invention lies in that the position of the sagittal plane of the human body can be adjusted and positioned by the cooperation of the front bearing module and the rear bearing module, and the position of the coronal plane of the human body can be adjusted and positioned by the trunk bearing module. Waiting for the lower limb positioning device can position the lower limbs and the transverse plane of the human body, so that the human body can be in a normal human walking posture during rehabilitation, and a better rehabilitation effect can be achieved.

1 to 3, one embodiment of the new active gait rehabilitation machine includes a frame 10, a front bearing module 20, a rear bearing module 30, and a second torso bearing module 40 2. Two lower limb positioning devices 50, two driving units 60 and a control unit 70.

The frame 10 includes a bottom frame member 11, a pair of support frame members 12 respectively connected to the bottom frame member 11, and a pair of guide members 13 respectively connected to the support frame members 12, the bottom frame member 11 has A front side portion 111, a rear side portion 112 opposite to the front side portion 111 along a first axis X, a left side portion 113, and a right side portion 114 opposite to the left side portion 113 along a second axis Y. The support frame members 12 are respectively disposed on the left side portion 113 and the right side portion 114, and the guide members 13 are respectively connected to the support frame members 12 and have a straight rod shape extending along the first axis X.

With reference to FIG. 5, the front bearing module 20 is mounted on the frame 10 and corresponds to the front side 111, and has a positioning frame 21 connected to the supporting frame members 12, and a positioning frame 21 mounted on the positioning frame 21 The backboard 22, an armrest bracket 23 connected to the backboard 22, a front support 24 that can be adjustably mounted on the armrest bracket 23 along the first axis X, and one along a perpendicular to the first axis X and the third axis Z of the second axis Y are adjustably installed on the front adjusting member 25 of the front support member 24, a front positioning member 26 installed on the front adjusting member 25, and a front adjusting member installed on the front adjusting member 25 25 and a front restraint member 27 located below the front positioning member 26, and a front cushion 28 mounted on the backboard 22 and located below the front positioning member 26. The armrest bracket 23 has an inverted U-shaped handle portion 231, a sleeve 232 connected to the handle portion 231 and extending along the first axis X, and a locking button 233 screwed to the sleeve 232, The front support 24 has a cross bar 241 passing through the sleeve 232, and a vertical plate 242 intersectingly connected to the cross bar 241. The vertical plate 242 has a length extending along the third axis Z Groove 243, the front adjusting member 25 has an adjusting plate 251 abutting against the vertical plate 242, and two locking members 252 passing through the long groove 243 and screwing to the adjusting plate 251, the front binding member 27 has Two straps 271, male and female adhesive buckles (not shown) may be provided at the end of these straps 271.

The rear bearing module 30 is installed on the frame 10 and corresponds to the rear side portion 112 and is located on the rear side of the front bearing module 20. The rear bearing module 30 has an adjustable sleeve The rear positioning member 31 of one of the guide members 13, a span bar 32 pivotally connected to the rear positioning member 31, and a rear cushion 33 mounted on the span bar 32. The cross bar 32 has a pivot end 321 pivotally connected to the rear positioning member 31, a movable end 322 opposite to the pivot end 321, and a movable end 322 disposed inside the movable end 322 and buckled to another guide The locking slot 323 of the component 13 and the two screw locks on the movable end 322 can fix the movable end 322 to the knob 324 of the corresponding guide 13 of the lock.

The torso support modules 40 are installed on the frame 10 and correspond to the left side 113 and the right side 114, respectively. The torso support modules 40 each have two side positions mounted on the support frame members 12 The member 41 and a side binding member 42 detachably inserted into the side positioning members 41. The side restraint 42 is U-shaped and is a strap with adjustable winding range.

With reference to FIGS. 4 and 6, the lower limb positioning devices 50 are installed on the frame 10 and each include a thigh support module 51 pivotally connected to the support frame members 12 and a thigh support module pivotally connected to the thigh support module The lower leg support module 51 of 51, and a pedal module 53 mounted on the lower leg support module 52. The lower leg supporting module 52 has a blocking rod 521 adjacent to the thigh supporting module 51 and extending along the second axis Y, a fixing plate 522 adjustably mounted on the blocking rod 521, and a mounting plate The fixing plate 522 is arranged in a V-shaped cushion pad 523 and a binding group 524 installed on the fixing plate 522. The pedal module 53 has a swing arm 531 connected to the lower leg bearing module 52, a bottom plate 532 intersectingly connected to the swing arm 531, a pedal 533 provided above the bottom plate 532, and most of the bottom plate 532 The force sensor 534 between the pedal 533 and the sole positioning member 535 made of webbing must be located on the bottom plate 532, and the ankle positioning member 536 must be made of webbing and must be located on the bottom plate 532.

The driving units 60 are installed on the bottom frame 11 of the frame 10. The driving units 60 can drive the lower leg supporting module 52 and the pedal module 53 along the first axis X and the third axis Z reciprocates. Each of the driving units 60 has a traverse drive member 61 mounted on the bottom frame member 11 and disposed on the left side 113 and the right side 114 respectively, and a traverse drive member 61 driven by the traverse drive member 61 can be along the first axis X is a base 62 that slides relative to the bottom frame 11, a lifting drive 63 mounted on the base 62, and a drive driven by the lifting drive 62 can slide relative to the base 62 along the third axis Z 64, a pair of first linear guides 65 disposed between the bottom frame 11 and the base 62, a pair of second linear guides 66 disposed between the base 62 and the slide 64 The swing arm 531 of the pedal module 53 is pivotally connected to the sliding base 64. Both the traverse drive 61 and the lift drive 63 are driven by a motor and a lead screw.

The control unit 70 is installed in the frame 10 and electrically connected to the driving units 60, and can control the traverse driving members 61 and the lifting driving members 62 to start in sequence according to a set procedure.

In order to further understand the effect of the cooperation of the various components of the new model, the use of technical means, and the expected effect, the following will be explained, I believe that I can have a more in-depth and specific understanding of the new model.

When in use, first pivot the spanning bar 32 of the rear bearing module 30 relative to the rear positioning member 31 (see imaginary line in FIG. 1), and disengage the clamping slot 323 from the corresponding guide member 13, ie The patient can be straddled between the supporting frame members 12, and when the foot of the patient steps on the pedal 533 of the pedal module 53, the force sensor 534 can be used to measure the patient's The weight, and the use of the support of the pedal modules 53, enables a horizontal plane P3 of the human body to be positioned relative to the active gait rehabilitation machine.

The front binding member 27 of the front bearing module 20 is used to bind to the human torso, and the front positioning member 26 is pressed against the human chest. The front cushion 28 can be pressed against the chest. Then, use the Wait for the side restraints 42 of the torso bearing module 40 to wrap around the side of the chest of the human body, so that a coronal plane P2 of the human body is fixed, and finally, the cross bar 32 of the rear bearing module 30 is positioned relative to the rear The member 31 pivots, and the locking groove 323 is snapped into the corresponding guide member 13, and the displacement of the cross rod 323 along the first axis X is adjusted and the rear cushion 33 is pressed against the patient's buttocks, and When the knob 324 is locked, the front bearing module 20 can be used to cooperate with the rear bearing module 30 to fix a sagittal plane P1 of the human body. Moreover, by utilizing the adjustable characteristics of the side restraints 42 of the torso bearing module 40, the patient can make up for the lack of torso strength or high-tension action when the patient actively outputs the force.

When the data is established through the control unit 70 and the driving units 60 are activated, the traverse driving member 61 and the lifting driving member 63 can be simultaneously controlled so that the base 62 moves along the first axis X and cooperates The sliding seat 64 moves up and down, which can drive the calf support module 52 to generate a gait movement track, and can adjust the posture of the patient's lower limb movement.

Therefore, the active gait rehabilitation machine of the present invention can utilize the cooperation of the front bearing module 20 and the rear bearing module 30 to adjust the position of the sagittal plane P1 of the human body, and use the torso bearing module 40 The position of the coronal plane P2 of the human body can be adjusted and positioned. By using the lower limb positioning device 50, the lower limb and the transverse plane P3 of the human body can be positioned to adjust the posture of the patient's lower limb movement, and cooperate with the control unit 70 and these drives Unit 60 generates a gait motion trajectory so that the human body can be in a normal human walking posture during rehabilitation, and a better rehabilitation effect can be achieved.

In addition, the overall configuration allows the patient to be placed in a normal walking posture during training, and even during active training, even if the patient actively contributes, the calf is supported by the blocking rod 521 of the module 52 and the binding group 524 The positioning of the sagittal plane P1 of the human body, and the use of these cushion pads 523 to provide a cushioning effect, can make the knee more comfortable and unhindered when outputting force.

Furthermore, the use of the pedal modules 53 is provided with the force sensors 534. When the patient is already in the walking posture of a normal person, the weight value of the patient can be accurately measured, and accurate data can be established. Moreover, the foot positioning member 535 made of webbing and the ankle positioning members 536 have better positioning effect on the leg when the patient actively exerts force, and the patient exerts smoother force during gait.

To sum up, the new type of active gait rehabilitation machine can make the position of the sagittal plane P1, coronal plane P2, and transverse plane P3 of the body trunk of the human body adjustable during the active exercise. When the human body can be in the walking posture of a normal person, it can indeed achieve the purpose of new cost.

However, the above are only examples of the new model. When the scope of the new model cannot be limited by this, all simple equivalent changes and modifications made according to the patent application scope and patent specification content of the new model are still classified as Within the scope of this new patent.

10: rack 11: bottom frame 111: front side 112: rear side 113: Left side 114: right side 12: Support frame 13: Guide 20: Front bearing module 21: Positioning frame 22: Backboard 23: armrest bracket 231: Handle 232: casing 233: Lock button 24: front support 241: Crossbar 242: Vertical plate 243: Long slot 25: Front adjuster 251: adjustment plate 252: Locking parts 26: Front positioning piece 27: Front bondage 271: Bandage 28: Front cushion 30: Rear bearing module 31: Rear positioning piece 32: straddle 321: Pivot end 322: Active side 323: Card slot 324: knob 33: Rear cushion 40: Torso bearing module 41: Side locator 42: Side restraints 50: Lower limb positioning device 51: Thigh support module 52: Calf bearing module 521: Bar 522: fixed plate 523: cushion 524: Bondage group 53: pedal module 531: Swing arm 532: bottom plate 533: Pedal 534: Power Sensor 535: Foot positioning piece 536: Ankle positioning piece 60: drive unit 61: Traverse drive 62: Dock 63: Lifting drive 64: Slide 65: The first linear guide 66: Second linear guide 70: control unit X: first axis Y: Second axis Z: third axis P1: Sagittal plane P2: coronal plane P3: horizontal plane

Other features and functions of the present invention will be clearly presented in the embodiments with reference to the drawings, in which: FIG. 1 is a three-dimensional assembly diagram of an embodiment of the new active gait rehabilitation machine; 2 is a schematic cross-sectional view of the embodiment; Figure 3 is a cross-sectional view taken along the line III-Ⅲ in Figure 2; 4 is a cross-sectional view taken along line IV-IV in FIG. 2; 5 is a partially enlarged schematic view of FIG. 2 illustrating a front bearing module, a rear bearing module, and a torso bearing module; and 6 is a partially enlarged schematic view of FIG. 3, illustrating a limb positioning device and a driving unit.

10: rack

11: bottom frame

111: front side

112: rear side

113: Left side

114: right side

12: Support frame

13: Guide

20: Front bearing module

21: Positioning frame

22: Backboard

23: armrest bracket

24: front support

25: Front adjuster

26: Front positioning piece

27: Front bondage

271: Bandage

28: Front cushion

30: Rear bearing module

31: Rear positioning piece

32: straddle

321: Pivot end

322: Active side

323: Card slot

324: knob

33: Rear cushion

40: Torso bearing module

41: Side locator

42: Side restraints

50: Lower limb positioning device

51: Thigh support module

52: Calf bearing module

53: pedal module

60: drive unit

62: Dock

64: Slide

65: The first linear guide

66: Second linear guide

70: control unit

X: first axis

Y: Second axis

Z: third axis

P1: Sagittal plane

P2: coronal plane

P3: horizontal plane

Claims (8)

An active gait rehabilitation machine, suitable for human body rehabilitation, and contains: A rack A front bearing module can be adjustably installed in the rack; A rear bearing module is adjustably installed on the rack and is located on the rear side of the front bearing module. A sagittal plane position of the human body is adjusted and positioned by the front bearing module and the rear bearing module; At least one torso bearing module, mounted on the frame, and located on one side of the front bearing module and the rear bearing module, a crown-shaped position of the human body is adjusted and positioned by the torso bearing module; and Two lower limb positioning devices are installed on the frame and are used for positioning the lower limbs of the human body. The position of a transverse plane of the human body is generated by the positioning devices of the lower limbs. The active gait rehabilitation machine according to claim 1, wherein the frame includes a bottom frame member, a pair of support frame members respectively connected to the bottom frame member, and a pair of connection frame members respectively connected to the support frame members Of the guide, the bottom frame member has a front side portion, a rear side portion opposite to the front side portion along a first axis, a left side portion, and a second axis along a perpendicular axis to the first axis To the right side opposite to the left side, the front bearing module corresponds to the front side, and has a front positioning member for the body's front chest to abut against, and an adjustable position adjustable relative to the front positioning member A front restraining member, the front restraining member is bound to the body trunk of the human body, the rear bearing module has a rear positioning member adjustably sleeved on the guide members, and a spanning rod pivotally connected to the rear positioning member, And a rear cushion installed on the strut bar, the number of the torso bearing modules is two, corresponding to the left side portion and the right side portion respectively, the torso bearing module each has two mounted on the supporting frame parts The side positioning member and a side binding member detachably buckled to the side positioning members. The side binding member is a strap with an adjustable winding range. The side binding members are respectively bound to both sides of the human chest. The active gait rehabilitation machine according to claim 2, wherein the front bearing module further has a positioning frame connected to the support frames, an armrest bracket connected to the positioning frame, and a The first axially adjustably mounted front support member of the armrest bracket, and a frontwardly adjustable member that can be adjustably mounted on the armrest bracket along a third axis perpendicular to the first axis and the second axis And a front cushion connected to the positioning frame and located under the front positioning member, the front positioning member is installed at the front adjusting member, and the front binding member is installed at the front adjusting member and located under the front positioning member. The active gait rehabilitation machine according to claim 3, wherein the armrest bracket of the front bearing module has an inverted U-shaped handle portion, a handle portion connected to the handle portion and extending along the first axis Of the casing, and a locking button screwed into the casing, the front support member has a horizontal rod penetrating the casing, and a vertical plate intersecting the horizontal rod, the vertical plate has a In the long slot extending along the third axis, the front adjusting member has an adjusting plate abutting against the vertical plate, and a plurality of locking members that pass through the long slot and are screwed to the adjusting plate. The active gait rehabilitation machine according to claim 1, wherein the lower limb positioning devices each include a thigh support module pivotally connected to the frame, and a lower leg support pivotally connected to the thigh support module Module and a pedal module installed on the lower leg support module, the pedal module has a swing arm connected to the lower leg bearing module, a bottom plate intersectingly connected to the swing arm, and a bottom plate provided on the bottom plate The upper pedal, most of the force sensors arranged between the bottom plate and the pedal, the foot positioning member made of the webbing must be located on the bottom plate, and the ankle positioning member made of the webbing must be located on the bottom plate. The active gait rehabilitation machine according to claim 5, wherein the lower leg positioning modules of the lower limb positioning devices each have a stop lever adjacent to the thigh support module, and an adjustable mount on the stop lever A fixing plate, a buffer pad installed on the fixing plate, and a binding set installed on the fixing plate, and the binding sets are respectively tied to the human knee. The active gait rehabilitation machine according to claim 2, wherein the cross bar of the rear bearing module has a pivot end pivotally connected to the rear positioning member, and a movable end opposite to the pivot end, A locking groove provided on the inner side of the movable end and capable of being snapped on the other guide, and a knob screwed on the movable end and fixing the movable end to the corresponding guide. The active gait rehabilitation machine according to claim 5, further comprising two driving units mounted on the frame, the driving units can drive the lower leg supporting module and the pedal module along a first axis And a third axis perpendicular to the first axis produces reciprocating movement, each of the drive units has a traverse drive member, and a drive driven by the traverse drive member can be relative to the machine along the first axis A base on which the frame slides, a lifting driving member mounted on the base, a sliding seat driven by the lifting driving member to slide relative to the base along the third axis, and a pair of A first linear guide rail between the bases, a pair of second linear guide rails disposed between the base and the slide base, the swing arm of the pedal module is pivotally connected to the slide base.

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