CN106176143A - A kind of healthy plint of multi-pose lower limb - Google Patents

Abstract

The invention discloses a multi-position lower limb health training chair, which includes a seat and a lower limb health training device; the lower limb health training device includes a thigh movement mechanism, a calf movement mechanism and a foot movement mechanism connected in series in sequence, and the thigh movement mechanism And the structure of the foot movement mechanism is the same, both are three-degree-of-freedom parallel mechanisms; thigh support and fixing parts are connected between the thigh movement mechanism and the calf movement mechanism, and the calf movement mechanism is provided with calf support and fixing parts , the front end of the foot movement mechanism is connected with a pedal and a fixed component. The invention can make the user sit on the seat, and the lower limbs are bound to the fixing parts and the lower limb health training device through various supports, and then the lower limb health training device can be comfortably carried by the lower limb health training device to carry out lower limb exercise. The invention has a wide range of applications and can realize rehabilitation training and exercise of the lower limbs in three-dimensional space movement.

Description

A multi-posture lower limb health training chair

technical field

The invention relates to the fields of rehabilitation medicine and sports fitness equipment, in particular to a multi-posture lower limb health training chair.

Background technique

The increasing degree of aging society, stroke, spinal cord injury and other reasons lead to the reduction of limb function and movement, or even complete loss, which seriously affects the quality of life. Rehabilitation treatment is an effective way to restore motor function. The traditional one-on-one rehabilitation treatment method between physical therapists and patients has the disadvantages of high labor intensity and high treatment costs. Therefore, rehabilitation training equipment is an effective way to solve this contradiction.

Since the middle of the last century, many achievements have been made in rehabilitation training equipment, such as single-degree-of-freedom, exoskeleton, suspension and so on. But they have the following deficiencies: complex operation, single form of movement, difficulty in simulating three-dimensional human body movement, and inability to adapt to various postures of exercise, etc. It has certain practical significance to develop a rehabilitation training device that can realize three-dimensional movement of lower limbs in multiple postures of human body.

Contents of the invention

The technical problem to be solved by the present invention is to provide a multi-position lower limb health training chair with simple and compact structure, adaptable to various postures, wide application range, and applicable to lower limb rehabilitation and fitness training.

In order to solve the above technical problems, the present invention adopts the following technical solutions: a multi-position lower limb health training chair, including a seat and a lower limb health training device;

The lower limb health training device includes a thigh motion mechanism, a calf motion mechanism, and a foot motion mechanism connected in series in sequence. The thigh motion mechanism and the foot motion mechanism have the same structure, and they are all three-degree-of-freedom parallel mechanisms;

A thigh supporting and fixing part is connected between the thigh moving mechanism and the lower leg moving mechanism, the lower leg supporting and fixing part is provided on the lower leg moving mechanism, and the front end of the foot moving mechanism is connected with a pedal and a fixing part.

Further, the seat includes a support frame, a cushion structure, and a telescopic rod connected between the support frame and the cushion structure for driving the cushion structure up and down, and the lower limb health training device is arranged on the cushion structure.

Further, the cushion structure includes a cushion body, and the cushion body is glyph.

Further, the seat includes a backrest, and the backrest is hinged on the rear side of the cushion structure.

Further, the front side of the cushion structure is provided with two armrest brackets arranged at intervals, and an armrest bar is erected on the two armrest brackets.

Further, the cushion structure includes two armrests respectively fixed on the left and right sides of the cushion body, the two armrest brackets are respectively arranged at the front ends of the two armrests, and one of the armrest brackets is rotatably mounted on the front end of the corresponding armrest, One end of the handrail is hinged on one of the handrail supports, and the other end of the handrail is detachably fixed on the other handrail support.

Further, the bottom of the cushion structure is provided with a connecting piece, and the connecting piece is provided with a rotating shaft, and the lower limb health trainer is fixed on the rotating shaft.

Further, it also includes a driving structure for controlling the rotation of the rotating shaft, the driving structure includes a driving gear, a motor for driving the driving gear to rotate, and a driven gear fixed on the rotating shaft, the driving gear and the driven gear are mutually engage.

Further, the three-degree-of-freedom parallel mechanism includes a front end plate, a rear end plate, and three linear push rods connected between the front end plate and the rear end plate, one end of each linear push rod is hinged to the rear end plate through a ball hinge, and the other One end is hinged with the boss on the front plate surface through a flat hinge, and three linear push rods are distributed ^at intervals of 120° in the circumferential direction.

Further, the calf movement mechanism includes a connection block, a support rod and a push telescopic rod, one end of the support rod and the push telescopic rod are respectively hinged on the connection block, and the other end of the push telescopic rod is hinged at the middle of the support rod .

The beneficial effects of the present invention are reflected in:

The invention can make the user sit on the seat, and the lower limbs are bound to the fixing parts and the lower limb health training device through various supports, and then the lower limb health training device can be comfortably carried by the lower limb health training device to carry out lower limb exercise.

The invention has a wide range of applications, and can realize limb rehabilitation training and exercise under various postures such as sitting posture, lying posture, and standing posture.

The present invention has various rehabilitation training modes and can realize synchronous/asynchronous training.

The invention has a compact and flexible structure, can be retracted freely, can be folded and contracted when not in use, and occupies little space.

The present invention has adjustability, and the three parts of the thigh, calf and foot can be combined in series or disassembled to carry out rehabilitation training on the joints of the plinth, knee and ankle respectively.

The invention realizes exercise training with different trajectories and different amplitudes, so that it can not only adapt to the same trainer's exercise in different rehabilitation periods and training states, but also meet the needs of trainers of different heights for rehabilitation and fitness exercises.

During active training, active training can be realized by adjusting the control current and resistance link of the motor itself. It can not only be used as a rehabilitation exerciser to rehabilitate limbs, but also can be used as a fitness equipment to enhance physical fitness.

Description of drawings

Fig. 1 is a schematic structural diagram of an embodiment of the present invention.

Fig. 2 is a structural schematic diagram of the lower limb health training device and its connection method in an embodiment of the present invention.

Fig. 3 is a top view of an embodiment of the present invention.

The marks of each part in the accompanying drawings are: 001 front end plate, 002 rear end plate, 003 linear push rod, 10 thigh movement mechanism, 20 calf movement mechanism, 30 foot movement mechanism, 40 thigh support and fixed parts, 50 calf support and Fixed parts, 60 pedals and fixed parts, 201 connection block, 202 support rod, 203 push telescopic rod, 401 first support rod, 402 thigh tray, 403 thigh strap, 501 calf tray, 502 calf strap, 601 pedal , 602 foot straps, 70 seats, 701 support frames, 702 telescopic rods, 703 cushion bodies, 704 armrests, 705 backrests, 706 armrest brackets, 707 armrest bars, 80 connectors, 801 connecting plates, 802 connecting rods, 803 connecting block, 804 rotating shaft, 901 driving gear, 902 driven gear.

detailed description

The present invention will be further described below in conjunction with accompanying drawing:

See Figure 1, Figure 2 and Figure 3.

A multi-posture lower limb health training chair according to an embodiment of the present invention includes a seat 70 and a lower limb health training device;

The lower limb health training device includes a thigh motion mechanism 10, a calf motion mechanism 20, and a foot motion mechanism 30 connected in series in sequence. The thigh motion mechanism 10 and the foot motion mechanism 30 have the same structure, and they are all three-degree-of-freedom parallel mechanisms;

A thigh supporting and fixing part 40 is connected between the thigh moving mechanism 10 and the calf moving mechanism 20, the calf moving mechanism 20 is provided with a calf supporting and fixing part 50, and the front end of the foot moving mechanism 30 is connected with Pedal and fixed part 60.

When in use, the user sits on the seat 70, the lower limbs are bound to the fixed parts and the lower limb health training device through various supports, and then can be comfortably carried by the lower limb health training device to carry out lower limb exercise.

In this embodiment, the seat 70 includes a support frame 701, a cushion structure, and a telescopic rod 702 connected between the support frame 701 and the cushion structure to drive the cushion structure up and down, and the lower limb health training device is arranged on the cushion structure superior. The cushion structure is adjusted to a suitable height through the telescopic rod 702 to meet the needs of different groups of people. More importantly, the mode of exercising in a sitting and standing posture can be realized by lifting the cushion structure; during specific implementation, the telescopic rod 702 can It is an electric linear actuator, a hydraulic actuator or even a turbine worm pair, as long as it can be stretched and the length can be adjusted.

In this embodiment, the cushion structure includes a cushion body 703 and two armrests 704 respectively fixed on the left and right sides of the cushion body 703 . The telescopic rod 702 is connected between the front side of each armrest 704 and the support frame 701 , and two telescopic rods 702 are connected between the rear side of the cushion body 703 and the support frame 701 . In this way, there are four telescopic rods 702 in total, the structure is simple, and the stability and safety of the device can be guaranteed.

In this embodiment, the seat 70 includes a backrest 705 hinged on the rear side of the cushion body 703 , and the backrest 705 is turned over to be suitable for the human body to lean on, and can also be turned over to be suitable for the human body to lie flat. This design can realize exercise in various postures such as sitting posture and lying posture. There are various training postures for users to choose, various modes, wide application range, and increased comfort. During specific implementation, the existing flipped backrest structure can be used to switch the state. For example, the motor arranged on the seat cushion body 703 drives the hinge shaft to rotate, which has a high degree of automation.

In this embodiment, the bottom of the cushion body 703 is provided with a connecting piece 80 , and the connecting piece 80 is provided with a rotating shaft 804 , and the lower limb health training device is fixed on the rotating shaft 804 . With this structure, the angle of the lower limb health training device can be adjusted by rotating the second rotating shaft 802, so as to cooperate with the user to exercise in a sitting, lying, or standing position. The second rotating shaft 802 is generally arranged horizontally and horizontally, which is in line with the movement law of human lower limbs .

Of course, the present invention can not only exercise in sitting, lying, and standing positions, but also can exercise in transitional positions between these positions, and has a wide range of applications.

In this embodiment, it also includes a driving structure for controlling the rotation of the rotating shaft 804, the driving structure includes a driving gear 901, a motor for driving the driving gear 901 to rotate, and a driven gear 902 fixed on the rotating shaft 804. The driving gear 901 and the driven gear 902 mesh with each other, and the motor and the driving gear 901 can be arranged on the connecting member 80 . This driving mode has a simple structure, is convenient to control, and is easy to implement.

Of course, the present invention can also directly rotate the second rotating shaft 802 manually without using the above-mentioned driving structure, and after turning to a suitable angle, lock it by means of pins and other limiting means.

In the specific implementation, a pair of lower limb health training devices are configured in the device to satisfy the exercise of a pair of lower limbs. In order to facilitate production and installation, two connecting parts 80 are provided, and the two ends of the rotating shaft 804 are respectively installed on the two connecting parts through bearings. 80, and the rotating shaft 804 is disconnected in the middle, the disconnected part of the rotating shaft 804 is connected by a coupling, and the driven gear 902 is arranged outside the coupling.

In specific implementation, the connecting piece 80 includes a connecting plate 801, a connecting rod 802 and a connecting block 803. The connecting plate 801 is used to connect with the cushion body 703. The connecting rod 802 is arranged obliquely forward. For fixed connection, the lower end of the connecting rod 802 is fixedly connected with the connecting block 803 , and the rotating shaft 804 is rotatably mounted on the bottom of the connecting block 803 . This structural design is reasonable, and the connecting piece 80 will not hinder the combination and movement of the lower limbs and the lower limbs health training device.

In this embodiment, the cushion body 703 is glyph. With this structure, the human thigh can be combined with the thigh movement mechanism through the vacancy of the cushion body 703, the design is reasonable, and the device structure can be greatly simplified. The font is not to be understood strictly according to the font, as long as there are two notches corresponding to the thighs, they are all considered to be the above-mentioned shape, which belongs to the protection scope of the present invention.

In addition, the above-mentioned cushion body 703 is also convenient for users to train in a standing posture. When training is required in a standing posture, the cushion structure is raised through the telescopic rod 702, and the thighs pass through the vacancy of the cushion body 703 to stand, and pass through The driving structure adjusts the angle of the lower limb health trainer to meet the needs of the standing posture, and then the next step of exercise can be performed.

In this embodiment, the front ends of the two handrails 704 are provided with handrail brackets 706 respectively, and a handrail bar 707 is mounted on the handrail brackets 706 at the front ends of the two handrails 704 . The handrail bar 707 is used to prevent the user from leaning forward to cause potential safety hazards, further protecting the user.

In this embodiment, one of the handrail brackets 706 is rotatably mounted on the front end of the corresponding handrail 704, one end of the handrail bar 707 is hinged on the one of the handrail brackets 706, and the other end of the handrail bar 707 is detachably fixed on the other side by a pin. On the arm support 706, in this way, the arm support 706 is not easy to lose, and can be opened and closed very quickly, which is convenient for users to enter and sit on the cushion body, greatly improving the practicability of the device.

In the above structure, the three-degree-of-freedom parallel mechanism includes a front end plate 001, a rear end plate 002, and three linear push rods 003 connected between the front end plate and the rear end plate. One end of each linear push rod is connected to the rear end plate 002 through a ball hinge. Hinged, the other end is hinged with the boss on the front plate surface through a flat hinge; and three linear push rods are distributed ^at intervals of 120° in the circumferential direction. The thigh movement mechanism 10 and the foot movement mechanism 30 are three-degree-of-freedom parallel mechanisms, that is to say, each movement mechanism has a front end plate and a rear end plate.

The lower limb health training device is fixed on the rotating shaft 804 with the rear end plate in the thigh exercise mechanism 10 .

The thigh supporting and fixing part 40 comprises: the first support bar 401 that is fixedly connected with the front end plate of the thigh movement mechanism 10, the thigh tray 402 that is fixedly connected with the first support bar, the thigh strap 403 that is located on the thigh tray 402; The bottom surface of the tray 402 is connected with the calf movement mechanism 20 through the connecting piece.

Each linear push rod is driven by its own motor, and the length of the linear push rod can be adjusted. The translation of the front end plate of the thigh movement mechanism 10 can be realized by extending or shortening the three linear motors at the same time, wherein two linear push rods extend simultaneously. Lengthen or shorten just can realize that thigh movement mechanism 10 front end boards rotate around the 3rd linear push rod top. In the same way, the expansion and contraction of any two linear push rods can realize the rotation of the front plate of the thigh movement mechanism 10 around the top of the third linear push rod, so as to realize all-round exercise.

The action principle of the foot movement mechanism 30 is the same, and respectively realizes the training of different movement trajectories of the calf and the foot. Moreover, the action of the upper-level mechanism will drive the action of the lower-level mechanism. For example, the action of the thigh movement mechanism will drive the actions of the calf movement mechanism and the foot movement mechanism, and so on.

In the specific structural setting, the above-mentioned calf motion mechanism is not a three-degree-of-freedom parallel mechanism, which includes: a connecting block 201, a support rod 202 and a push telescopic rod 203, the connecting block 201 is fixed on the thigh tray, and the support rod 202 and the push telescopic rod The upper ends of 203 are hinged on the connecting block 201 respectively, the lower end of the support rod 202 is fixedly connected with the rear end plate of the foot movement mechanism 30, and the lower end of the push telescopic rod 203 is hinged at the middle part of the support rod 202;

The above-mentioned calf support and fixing part 50 includes: a calf tray 501 fixedly connected with the connecting rod 201, and a calf strap 502 arranged on the calf tray; the pedal and fixing part 60 includes: A pedal 601 and a foot strap 602 arranged on the pedal 601 .

For the convenience of molding and installation, the calf tray 501 is fixed on the support rod 202 through a fixed block, and the lower end of the telescopic rod 203 is pushed to be hinged on the fixed block.

When performing training, put the calf on the calf movement mechanism 20, and fix it through the calf support and the fixed part 21, stretch and push the telescopic rod 203, which can drive the support rod 202 to reciprocate up and down, thereby driving the calf to lift and fall, and get exercise .

In this embodiment, the thigh tray 111 and the calf tray 211 are generally in the shape of a U-shaped block, respectively enclosed by corresponding straps to form a limited space, thereby constraining the thigh or calf.

In motion, wherein, the first support rod 401 transmits the movement of the front end plate of the thigh movement mechanism 10 to the thigh part to drive the thigh movement, train the leg muscles and hip joints, the thigh tray 402 and the thigh strap 403 fix the thigh, Follow the thigh tray 402 action.

The support rod 201 and the telescopic rod 202 are pushed to transmit the stretching motion to the lower leg to drive the lower leg to move, exercise the lower leg to lift and lower, and train the calf muscle and knee joint. Tray 501 moves. In specific settings, the telescopic rod can be an electric push rod, a hydraulic push rod or even a worm gear pair, as long as it can be stretched.

The foot strap 602 fixes the human foot on the pedal 601, and the movement is driven by the foot movement mechanism to realize actions such as turning the sole of the foot left and right, lifting up and down, and training the muscles of the foot and the ankle joint.

In this embodiment, the movement mechanisms at all levels of the lower limb health training device are mutually linked, and the action of the upper-level mechanism will drive the action of the lower-level mechanism. For example, the action of the thigh movement mechanism 10 will drive the movement of the calf movement mechanism 20 and the feet. The action of mechanism 30, and so on. Of course, the above-mentioned exercise mechanisms at all levels can also be independent of each other, and the purpose of effective exercise can also be achieved.

It should be understood that the examples and implementations described herein are for illustration only, and those skilled in the art can make various modifications or changes based on them, all of which belong to the protection scope of the present invention without departing from the spirit of the present invention.

Claims (10)

1. A multi-posture lower limb health training chair, characterized in that: comprising a seat (70) and a lower limb health training device; The lower limb health training device comprises a thigh motion mechanism (10), a calf motion mechanism (20) and a foot motion mechanism (30) connected in series in sequence, and the structure of the thigh motion mechanism (10) and the foot motion mechanism (30) Same, both are three-degree-of-freedom parallel mechanisms; A thigh supporting and fixing part (40) is connected between the thigh moving mechanism (10) and the lower leg moving mechanism (20), and the lower leg supporting and fixing part (50) is provided on the lower leg moving mechanism (20). The front end of the foot movement mechanism (30) is connected with a pedal and a fixing part (60). 2. The multi-posture lower limb health training chair according to claim 1, characterized in that: the seat (70) comprises a support frame (701), a cushion structure and a seat connected between the support frame (701) and the cushion structure. A telescopic rod (702) used to drive the cushion structure up and down, and the lower limb health trainer is arranged on the cushion structure. 3. The multi-position lower limb health training chair according to claim 2, characterized in that: the cushion structure includes a cushion body (703), and the cushion body (703) is in the shape of "Ш". 4. The multi-position lower limb health training chair according to claim 2 or 3, characterized in that: the seat (70) includes a backrest (705), and the backrest (705) is hinged at the rear side of the cushion structure. 5. The multi-posture lower limb health training chair according to claim 2 or 3, characterized in that: the front side of the cushion structure is provided with two armrest brackets (706) arranged at intervals, and an armrest bar (707) erects On both pole brackets (706). 6. The multi-posture lower limb health training chair as claimed in claim 5, characterized in that: the cushion structure includes two armrests (704) respectively fixed on the left and right sides of the cushion body (703), two armrest brackets (706) are respectively arranged at the front ends of the two handrails (704), and one of the handrail brackets (706) is rotatably mounted on the front ends of the corresponding handrails (704), and one end of the handrail rod (707) is hinged to one of the handrail brackets (706), the other end of handrail rod (707) is detachably fixed on another handrail support (706). 7. The multi-position lower limb health training chair according to claim 2 or 3, characterized in that: the bottom of the cushion structure is provided with a connecting piece (80), and the connecting piece (80) is provided with a rotating shaft (804) , the lower limb fitness trainer is fixed on the rotating shaft (804). 8. The multi-position lower limb health training chair according to claim 7, characterized in that: it also includes a driving structure for controlling the rotation of the rotating shaft (804), and the driving structure includes a driving gear (901) for driving the driving gear (901) a rotating motor, and a driven gear (902) fixed on the rotating shaft (804), the driving gear (901) and the driven gear (902) meshing with each other. 9. The multi-posture lower limb health training chair according to claim 1 or 2, characterized in that: the three-degree-of-freedom parallel mechanism includes a front end plate (001), a rear end plate (002) and a front end plate (001) connected to Three linear push rods (003) between the rear end plate (002), one end of each linear push rod (003) is hinged to the rear end plate (002) through a ball hinge, and the other end is connected to the front end plate (001) through a flat hinge The bosses on the board are hinged; three linear push rods (003) are distributed at intervals of 120° in the circumferential direction. 10. The multi-position lower limb health training chair according to claim 1 or 2, characterized in that: the calf movement mechanism (20) includes a connecting block (201), a support rod (202) and a push telescopic rod (203), One end of the support rod (202) and the push telescopic rod (203) are respectively hinged on the connecting block (201), and the other end of the push telescopic rod (203) is hinged at the middle part of the support rod (202).