CN102784044B - Walking recovery machine - Google Patents

Abstract

The invention discloses a walking rehabilitation machine, which is characterized in that it comprises: a body bracket for supporting, and two groups of rehabilitation units installed on the bracket respectively corresponding to both legs for realizing the function of walking rehabilitation; the rehabilitation unit includes: The transmission mechanism used to realize the linkage of hands and feet, and the walking mechanism used to provide support for the feet and simulate the walking trajectory; through the ingenious design of the two sets of rehabilitation units, it can effectively simulate the movement posture of the human foot during walking, so that the patient can rely on the strength of the hand To assist training, and equipped with a drive motor to enable patients to perform a certain degree of passive training to speed up recovery; the strain gauge in the handle can effectively adjust the intensity of passive training according to the patient's condition.

Description

A walking rehabilitation machine

technical field

The invention relates to a machine for assisting patients in rehabilitation and recovery of body functions, in particular to a walking rehabilitation machine for assisting patients in rehabilitation of lower limbs.

Background technique

In recent years, due to the frequent occurrence of traffic accidents and other accidents that cause physical injury, many patients' lower limb functions are often damaged due to trauma. In addition to normal medical measures, patients need to undergo training for a long time after recovery to fully recover. restore the original function.

In order to assist the treatment and enable patients to recover as soon as possible, there have been rehabilitation instruments that specifically assist patients in simulating normal movements and protect them to a certain extent. With the development of technology, more and more rehabilitation machines have been developed to assist people in rehabilitation training. But with regard to existing product, still do not have a kind of function complete now, and can be suitable for the rehabilitation instrument aimed at lower limb rehabilitation training of different patients.

Contents of the invention

In order to solve the deficiencies of the prior art, the object of the present invention is to provide a walking rehabilitation machine with complete functions, which can be adapted to the specific conditions of different patients, and effectively assists the rehabilitation of lower limbs by simulating walking. the

In order to achieve the above object, the present invention adopts the following technical solutions:

A walking rehabilitation machine, characterized in that it comprises: a body support for supporting, and two groups of rehabilitation units installed on the body support respectively corresponding to both legs for realizing the walking rehabilitation function; the rehabilitation unit includes: The transmission mechanism of hand and foot linkage is used to provide support for the feet and simulate the walking mechanism of the walking track; the above-mentioned link transmission sub-mechanism includes: a curved rod that is rotatably connected to the above-mentioned body support at one end, and a connecting rod that is rotatably connected to the other end of the above-mentioned curved rod. Rod, the crank disk connected to the other end of the above-mentioned connecting rod in rotation, the above-mentioned connecting rod is connected in rotation with the edge of the crank disk, the above-mentioned crank disk and the above-mentioned body support form a rotation connection with the axis of the crank disk as the axis, and the above-mentioned curved One end of the rod connected to the body bracket in rotation is fixed with a handle for holding by hand; the above-mentioned walking mechanism includes: a pedal assembly that is rotatably connected with the above-mentioned connecting rod; Slides and guides that control the trajectory of motion.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned body support includes: a base for contacting the ground, a vertical column fixed on one side of the above-mentioned base, and one end of the above-mentioned curved rod is rotatably connected to the top of the above-mentioned column , the above-mentioned bent rods are located on both sides of the above-mentioned column.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned base includes: a chassis frame and a plurality of placement plates, and the above-mentioned chassis frame includes: a front side beam for fixing the above-mentioned column and a rear side beam with casters, which are arranged on the above-mentioned A longitudinal beam used to connect the front side beam and the rear side beam; the above-mentioned placement plate is fixedly connected with the above-mentioned longitudinal beam.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned slide rail assembly and guide rail assembly are fixed on the above-mentioned placing plate, and the above-mentioned crank disk is arranged above the above-mentioned placing plate and forms a rotational connection with it.

The aforementioned walking rehabilitation machine is characterized in that the middle section of the connecting rod is fixedly connected with a position-adjustable knee joint ejector mechanism for assisting the knee joint to bend the knee.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned knee joint ejector mechanism includes: a support rod for forming a position-adjustable fixed connection with the connecting rod, and a sliding rod for forming a position-adjustable fixed connection with the above-mentioned support rod, A special-shaped rod that is rotationally connected with the above-mentioned sliding rod, a nylon handle set at the end of the above-mentioned special-shaped rod, and a first coil spring connected to the above-mentioned special-shaped rod and the sliding rod at both ends; a waist-shaped hole is provided in the middle section of the above-mentioned connecting rod , the above-mentioned support rod is provided with a fixed groove for cooperating with the above-mentioned connecting rod, and the above-mentioned support rod is fixed by locking the above-mentioned connecting rod through bolts and nuts; the upper half of the above-mentioned support rod is provided with a groove for accommodating the sliding of the above-mentioned sliding rod, And a waist-shaped hole is provided at the groove, and the above-mentioned sliding rod is locked and fixed with the above-mentioned support rod through bolts and nuts.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned foot pedal assembly includes: a front pedal for accommodating the toes and a rear pedal for accommodating the soles of the feet, and the rear pedal is rotatably connected to the above-mentioned slide rail member. The slider connected by sliding, the guide wheel set connected with the above-mentioned front pedal and used to cooperate with the above-mentioned guide rail, the second coil spring connected with the above-mentioned front pedal and the rear pedal at both ends, the above-mentioned rear pedal and the above-mentioned connecting rod Constitute a rotational connection; the above-mentioned front pedal and the rear pedal form a rotational connection, and the above-mentioned guide wheel set includes: a wheel frame for fixed connection with the above-mentioned front pedal, and a roller that is rotatably connected with the above-mentioned wheel frame and used to contact and cooperate with the above-mentioned guide rail.

The aforementioned walking rehabilitation machine is characterized in that it also includes: a slide rail bracket set fixedly connected with the above-mentioned body bracket for fixing and adjusting the position of the above-mentioned slide rail components, and the above-mentioned slide rail bracket set includes two sliding rails with different heights. Rail bracket, the above-mentioned slide rail bracket includes: a bracket base that can adjust the horizontal position on the body bracket, a fixed supporting plate hinged with the above-mentioned bracket base, and two slide rail pieces that belong to different above-mentioned rehabilitation units. Fixed on the above-mentioned fixed pallet.

The aforementioned walking rehabilitation machine is characterized in that an adjustment block for adjusting the height of the guide rail is provided between the guide rail and the body support.

The aforementioned walking rehabilitation machine is characterized in that the rehabilitation unit further includes a drive motor fixed on the frame of the body for driving the crank disc to rotate with its axis as the rotation center.

The aforementioned walking rehabilitation machine is characterized in that it further includes: a main control device fixed on the above-mentioned body support for controlling the above-mentioned drive motor, displaying the operation status of the whole machine and providing an operation interface.

The aforementioned walking rehabilitation machine is characterized in that the handle is provided with a strain gauge assembly for sensing the grip force and converting the change of the grip force into an electrical signal to feed back to the main control device.

The aforementioned walking rehabilitation machine is characterized in that the above-mentioned handle includes: a handle joint for connecting with the above-mentioned curved rod and a handle sleeve sleeved on the outside of the handle joint, the above-mentioned handle joint is formed with a placement groove, and the above-mentioned strain gauge assembly Fixed in the above placement slot.

The advantage of the present invention is that: through the ingenious design of the two groups of rehabilitation units, the movement posture of the human foot during walking can be effectively simulated, so that the patient can use hand strength to assist in training, and the driving motor provided can enable the patient to perform certain exercises. The degree of passive training can speed up recovery; the strain gauge in the handle can effectively adjust the intensity of passive training according to the patient's condition. the

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of a preferred embodiment of walking rehabilitation machine of the present invention;

Fig. 2 is a schematic perspective view of another perspective of the embodiment shown in Fig. 1;

Fig. 3 is a three-dimensional schematic diagram of the knee joint ejector mechanism in the embodiment shown in Fig. 1;

Fig. 4 is a side view structural representation of the knee joint ejector mechanism in the embodiment shown in Fig. 1;

Fig. 5 is a schematic structural view of the rail member in the embodiment shown in Fig. 1;

Fig. 6 is the schematic diagram of the structure at the slide rail part in the embodiment shown in Fig. 1;

Fig. 7 is a schematic cross-sectional structural view of the handle in the embodiment shown in Fig. 1;

Fig. 8 is a schematic perspective view of some components of the pedal assembly in the embodiment shown in Fig. 1 . Meanings of reference signs in the figure:

101-curved rod, 102-connecting rod, 103-crank disc, 104-handle;

201-rail parts, 202-rail parts;

301-column, 302-placement board, 303-front side beam, 304-rear side beam, 305-casters, 306-longitudinal beam;

401-support rod, 402-sliding rod, 403-special-shaped rod, 404-nylon handle, 405-the first coil spring;

501-front pedal, 502-rear pedal, 503-slider, 504-guiding wheel group, 505-second coil spring, 506-wheel frame, 507-roller;

601-bracket seat, 602-fixed supporting plate;

701-adjust pad;

801-drive motor, 802-main control device, 803-installation platform;

901-strain gauge assembly, 902-handle joint, 903-handle sleeve.

Detailed ways

The present invention will be specifically introduced below in conjunction with the accompanying drawings and specific embodiments.

Referring to Figures 1 to 8, the walking rehabilitation machine of the present invention mainly includes: a body support and two rehabilitation units installed on the body support for realizing the walking rehabilitation function.

Among them, the body bracket mainly plays a supporting role and is used to install various parts that make up the rehabilitation. In addition, in order to target the symmetrical lower limbs of a person, two groups of rehabilitation units are symmetrically arranged.

With reference to Fig. 1 and shown in Fig. 2, as a kind of preferred scheme, body support of the present invention comprises: be used for the base that contacts with bottom surface, be fixed on the vertical column 301 of one side of base. The base mainly provides the installation space in the horizontal direction of the rehabilitation unit, and the column 301 is mainly used to realize the arrangement of components in the vertical direction.

There are various ways to implement the base. In the embodiment shown in FIGS. The corresponding parts that need to be fixed are installed on the placement plate 302. The advantage of this is that the size and position of the placement plate 302 can be set according to specific conditions, which is convenient for adjusting the position and reducing the weight of the whole machine. The chassis frame specifically includes: a front side beam 303 for fixing the column 301 , a rear side beam 304 provided with casters 305 , and a longitudinal beam 306 arranged between the front side beam 303 and the rear side beam 304 for connecting them. The two ends of the rear side beam 304 are provided with casters 305, so that the walking rehabilitation machine of the present invention can be moved conveniently when needed. The placement plate 302 is bolted between two longitudinal beams 306 .

The rehabilitation unit of the present invention is the main part for realizing rehabilitation training, which mainly includes: a transmission mechanism for realizing the linkage of hands and feet, and a walking mechanism for providing support to the feet and simulating the walking track.

1 and 2, the transmission mechanism includes: a curved rod 101, a connecting rod 102, and a crank disc 103, wherein one end of the curved rod 101 forms a rotational connection with the column 301, and the other end forms a rotational connection with one end of the connecting rod 102. connection, the other end of the connecting rod 102 forms a rotational connection with the outer edge of the crank disc 103, and the center of the crank disc 103 forms a connection with the output shaft of the drive motor 801 to realize transmission, and the crank disc 103 can be driven by the drive motor 801 to realize Rotation is equivalent to that the crank disc 103 is rotationally connected with respect to the body of the drive motor 801, and the body of the drive motor 801 is fixedly connected with the placement plate 302, so the crank disc 103 is rotationally connected with respect to the body support.

Since the column 301 is also a part of the body support, the bent rod 101, the connecting rod 102, the crank disc 103, and the body support constitute a four-bar linkage mechanism. When the drive motor 801 drives the crank disc 103 to rotate, the connecting rod 102 is driven, and then The bending rod 101 is driven to swing relative to the column 301, and vice versa.

Referring to Figures 1 to 8, the walking mechanism includes: a foot pedal assembly that is rotatably connected to the connecting rod 102, and a slide rail that is fixedly connected to the above-mentioned body bracket and is used to form a sliding fit with the above-mentioned pedal assembly to control the movement track. 201 and rail member 202. The pedal assembly includes: a front pedal 501 for accommodating the toes and a rear pedal 502 for accommodating the sole of the foot, a slider 503 which is rotatably connected with the rear pedal 502 and is used to form a sliding connection with the slide rail 201, and a sliding block 503 connected with the front pedal 501 The connected guide wheel set 504 for cooperating with the rail member 202, the second coil spring 505 connected with the front pedal 501 and the rear pedal 502 at both ends, and the rear pedal 502 forms a rotational connection with the connecting rod 102; the front pedal 501 It forms a rotational connection with the rear pedal 502, and the guide wheel set 504 includes: a wheel frame 506 fixedly connected with the front pedal 501, and a roller 507 rotatably connected with the wheel frame 506 for contacting with the guide rail. In fact, the connecting rod 102 is rotatably connected to the entire pedal assembly by being rotatably connected to the rear pedal 502 . When the connecting rod 102 moves, it can drive the rear pedal 502 to move, and then drive the entire pedal assembly. However, due to the rotational connection, the spatial posture of the front pedal 501 and the rear pedal 502 can be changed during the moving process. In order to control their posture changing process during the moving process so that they conform to the actual situation of people's daily walking, there is a The slide rail part 201 and the guide rail part 202 are used to realize their attitude control. Wherein, the front pedal 501 is realized by the cooperation of the guide wheel set 504 and the guide rail member 202. When the guide wheel set 504 contacts the guide rail member 202, the front pedal 501 can be rotated relative to the rear pedal 502. Relatively bent, to reach the purpose of exercising the metatarsophalangeal joint, when the front pedal 501 is away from the guide rail 202 until the guide wheel group 504 exits the guide rail 202, under the effect of the second coil spring 505, the front pedal 501 resets, so that the front pedal 501 and Rear pedal 502 constitutes a complete plane, to simulate the situation that the toes and the sole of the foot are relaxed when the foot is hanging in the air when walking; slide block 503 forms sliding connection with slide rail, and forms rotational connection with rear pedal 502, so that guide rail part 202 and The connecting rod 102 jointly determines the motion of the rear pedal 502, making it more in line with the walking gait of a person. Preferably, the rail member 202 is a rail with an "I" shape in section.

Referring to Fig. 5 and Fig. 6, it should be noted that, in order to make the walking rehabilitation machine of the present invention adaptable to patients of different statures, the height of the guide rail 202 and the height and position of the slide rail 201 can be adjusted according to the specific Conditions are adjusted, as preferably, be provided with between guide rail member 202 and the body bracket and be used for adjusting the adjustment spacer 701 of guide rail member 202 height; Be used for fixing and adjusting the slide rail support of slide rail member 201 position that is fixedly connected with placement plate 302 The set includes two slide rail brackets with different heights. The slide rail bracket includes: a bracket base 601 that can adjust the horizontal position on the body bracket, a fixed support plate 602 hinged with the bracket base 601, and two slide rails belonging to different rehabilitation units. The pieces 201 are parallel to each other and both ends are fixed on the fixing pallet 602 . Adjusting the distance between the two bracket seats 601 on the placement plate 302 can realize the adjustment of the slide rail member 201 . The bracket seat 601 can be directly fixed on the longitudinal beam 306 , or can be arranged on the placement plate 302 .

In order to adapt to feet of different sizes, the structure corresponding to the heel portion of the rear pedal 502 can be designed as a structure that can be adjusted in size, for example, by using movable parts with waist-shaped holes and locking screws.

Referring to Fig. 3 and Fig. 4, in order to help the patient bend the knee when walking, to prevent the patient from contusing the knee joint during training, the middle section of the connecting rod 102 is fixedly connected with a position-adjustable knee joint ejector mechanism for assisting the knee joint to bend the knee .

The knee joint ejector mechanism includes: a support rod 401 for forming a position-adjustable fixed connection with the connecting rod 102, a sliding rod 402 for forming a position-adjustable fixed connection with the support rod 401, and a special-shaped rod for forming a rotational connection with the sliding rod 402 403, the nylon handle 404 that is arranged on special-shaped rod 403 ends, the first helical spring 405 that two ends are connected with special-shaped rod 403 and slide bar 402 respectively; Cooperate with the connecting rod 102 to fix the groove, and the supporting rod 401 is fixed by locking the connecting rod 102 with bolts and nuts; There is a waist-shaped hole, and the sliding rod 402 is fixed by locking the support rod 401 through bolts and nuts.

The nylon handle 404 can help the patient bend the knee when walking by contacting the back side of the knee, and the first coil spring 405 connected between the special-shaped rod 403 and the sliding rod 420 can effectively buffer the impact force of the nylon handle 404 on the knee, and can also make the special-shaped The lever 403 resets. The sliding design of the support rod 401 and the sliding rod 402 can make it suitable for patients of different heights, and the support rod 401 is provided with a fixing groove so that it can be well formed and fixed with the connecting rod 102 .

The main function of the transmission mechanism is not only to realize the linkage of the patient's hands and feet, but also to assist the patient to perform passive rehabilitation training through external power. In order to assist the patient to perform passive rehabilitation training through external power, the rehabilitation unit further includes a drive motor 801 fixed on the body support for driving the crank disc 103 to rotate around its axis as the rotation center. In this way, when passive training is required, the purpose of the crank disc 103 driving the connecting rod 102 and thus the pedal assembly can be realized by driving the motor 801 . In order to realize the control of the driving motor 801, the walking rehabilitation machine of the present invention also includes: a main control device 802 fixed on the body support for controlling the driving motor 801, displaying the operation status of the whole machine and providing an operation interface; A strain gauge assembly 901 is provided for sensing the gripping force and converting the change of the gripping force into an electrical signal to feed back to the main control device 802 .

Referring to Fig. 7, in order to set the strain gauge assembly 901, the handle 104 includes: a handle joint 902 for connecting with the bent rod 101 and a handle sleeve 903 sleeved on the outside of the handle joint 902, the handle joint 902 is formed with a placement groove, The strain gauge assembly 901 is fixed in the placement groove.

The advantage of the strain gauge assembly 901 is that it can feed back to the main control device 802 whether the patient is struggling or not during training, and then adjust the corresponding driving motor 801 .

In order to better set and install the main control device 802 , there is an installation platform 803 on the top of the column 301 , which is specially used for installing the main control device 802 . Specifically, the main control device 802 includes a casing, an internal circuit board, a screen, an operation interface, etc., through which the user can select a working mode, control on-off, and the like.

The basic principles, main features and advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the embodiments do not limit the present invention in any form, and all technical solutions obtained by means of equivalent replacement or equivalent transformation fall within the protection scope of the present invention. the

Claims (1)

1. a walking rehabilitation machine, is characterized in that, comprising: for the body rack that supports, be arranged on above-mentioned body rack corresponding both legs respectively for realizing two groups of rehabilitation unit of walking rehabilitation function; Above-mentioned rehabilitation unit comprises: for realizing hand-foot linked drive mechanism, for foot being provided support and simulated the walking mechanism of walking track; Above-mentioned drive mechanism comprises: the knee that one end and above-mentioned body rack are rotationally connected, the connecting rod being rotationally connected with the other end of above-mentioned knee, the crank disk being rotationally connected with the other end of above-mentioned connecting rod, the edge of above-mentioned connecting rod and crank disk is rotationally connected, above-mentioned crank disk and above-mentioned body rack form take being rotationally connected that crank disk axis is axle, and one end that above-mentioned knee and body rack are rotationally connected is fixed with the handle for staff gripping; Above-mentioned walking mechanism comprises: the pedal assembly being rotationally connected with above-mentioned connecting rod, be fixedly connected with above-mentioned body rack for coordinating slide rail part and the rail guide piece with controlled motion track with above-mentioned pedal module composition; The stage casing of above-mentioned connecting rod is fixedly connected with the adjustable knee joint post rod mechanism of going down on one's knees for auxiliary knee joint in position; Above-mentioned knee joint post rod mechanism comprises: for forming the adjustable support bar being fixedly connected with in position with connecting rod, form the adjustable sliding bar being fixedly connected with in position with above-mentioned support bar, form with above-mentioned sliding bar the special-shaped bar being rotationally connected, be arranged on the nylon handle of above-mentioned special-shaped boom end, the first helical spring that two ends are connected with sliding bar with above-mentioned special-shaped bar respectively; Above-mentioned connecting rod stage casing is provided with one section of waist-shaped hole, and above-mentioned support bar is provided with above-mentioned connecting rod and is fixed groove, and above-mentioned support bar consists of fixing bolt, nut and above-mentioned connecting bar locking; The above-mentioned support bar first half is provided with and holds the groove that above-mentioned sliding bar slides therein, and is provided with waist-shaped hole at groove, and above-mentioned sliding bar forms fixing by bolt, nut and the locking of above-mentioned support bar.

2. according to a kind of walking rehabilitation machine described in claim 1, it is characterized in that, above-mentioned body rack comprises: for the base contacting with ground, be fixed on the vertical column of above-mentioned base one side, one end of above-mentioned knee is rotatably connected on the top end of above-mentioned column, and above-mentioned knee is positioned at the both sides of above-mentioned column.

3. according to a kind of walking rehabilitation machine described in claim 2, it is characterized in that, above-mentioned base comprises: chassis frame and polylith are placed plate, above-mentioned chassis frame comprises: for all side beam of fixing above-mentioned column be provided with the rear curb girder of castor, be arranged between above-mentioned all side beam and rear curb girder for connecting their longitudinal beam; Above-mentioned placement plate is fixedly connected with above-mentioned longitudinal beam.

4. a kind of walking rehabilitation machine according to described in claim 3, it is characterized in that, above-mentioned slide rail part and rail guide piece are fixed on above-mentioned placement plate, and above-mentioned crank disk is arranged on above-mentioned placement plate top and forms and be rotationally connected with it.

5. according to a kind of walking rehabilitation machine described in claim 1, it is characterized in that, above-mentioned pedal assembly comprises: for holding the front running board of toe and for holding the bumper step of sole, with above-mentioned bumper step be rotationally connected for forming with above-mentioned slide rail part the slide block being slidably connected, the guiding wheels for coordinating with above-mentioned rail guide piece that are connected with above-mentioned front running board, the second helical spring that two ends are connected with bumper step with above-mentioned front running board respectively, above-mentioned bumper step and above-mentioned connecting rod formation are rotationally connected; Above-mentioned front running board and bumper step form and are rotationally connected, and above-mentioned guiding wheels comprise: for the wheel carrier being fixedly connected with above-mentioned front running board, be rotationally connected with above-mentioned wheel carrier for contact the roller of cooperation with above-mentioned guide rail.

6. according to a kind of walking rehabilitation machine described in claim 5, it is characterized in that, also comprise: be fixedly connected with above-mentioned body rack for fixing and adjust the sliding rail rack group of above-mentioned slide rail part position, above-mentioned sliding rail rack group comprises two sliding rail racks that height is different, above-mentioned sliding rail rack comprises: can on body rack, adjust the carrier base of horizontal level, the fixedly supporting plate hinged with above-mentioned carrier base, two slide rail parts that belong to different above-mentioned rehabilitations unit are parallel to each other, and described two slide rail part two ends are all fixed on above-mentioned fixedly supporting plate.

7. a kind of walking rehabilitation machine according to described in claim 6, it is characterized in that, between above-mentioned rail guide piece and above-mentioned body rack, be provided with for adjusting the adjustment cushion block of rail guide piece height.

8. a kind of walking rehabilitation machine according to described in claim 1 to 7 any one, it is characterized in that, above-mentioned rehabilitation unit also comprises and being fixed on above-mentioned body rack for driving above-mentioned crank disk to take the drive motors that its axis rotates as center of rotation.

9. a kind of walking rehabilitation machine according to claim 8, it is characterized in that, also comprise: be fixed on above-mentioned body rack for controlling above-mentioned drive motors, show complete machine ruuning situation and the master control set of operation interface is provided.

10. a kind of walking rehabilitation machine according to described in claim 9, it is characterized in that, in above-mentioned handle, be provided with for respond to curable grip and the variation of curable grip is converted into the foil gauge assembly that the signal of telecommunication feeds back to above-mentioned master control set.

11. a kind of walking rehabilitation machine according to claim 10, it is characterized in that, above-mentioned handle comprises: for the handle joint being connected with above-mentioned knee and the Handle cover that is socketed in handle joint outside, above-mentioned handle joint is formed with placing trough, and above-mentioned foil gauge assembly is fixed in above-mentioned placing trough.