CN109700628A - A kind of lower limb rehabilitation training device based on rehabilitation assessment - Google Patents

Abstract

The invention relates to a lower limb rehabilitation training device based on rehabilitation evaluation. The device comprises a sensing unit and a rehabilitation evaluation unit arranged on a frame. The sensing unit can collect the physiological information, lower limb movement frequency, foot movement trajectory and Exercise time, the rehabilitation evaluation unit evaluates the physical condition and rehabilitation situation of the training object based on the physiological information and exercise information of the training object collected by the sensing unit, and adjusts the exercise frequency and exercise time of the training object in real time according to the physical condition, wherein: the rehabilitation evaluation unit It includes a data processing unit, an evaluation unit, and a control unit. The data processing unit screens the motion data collected by the sensing unit for valid data and sends the valid data to the evaluation unit. The evaluation unit evaluates the physiology and rehabilitation of the training object based on the valid data. , the control unit can adjust the exercise frequency and exercise time of the training object based on the evaluation result of the evaluation unit.

Description

A lower limb rehabilitation training device based on rehabilitation assessment

The present invention is a divisional application whose application number is 201611026826.0, the application date is November 17, 2016, the application type is invention, and the application name is an intelligent rehabilitation medical device.

technical field

The invention relates to the field of rehabilitation medicine, in particular to a lower limb rehabilitation training device based on rehabilitation evaluation.

Background technique

The application of rehabilitation medical devices is the most effective means to help the disabled, including the disabled, the elderly, and the injured, to return to society. Rehabilitation medical equipment is a bridge for the disabled to return to society, and is of great significance to promoting social stability and harmony. Practice has proved that rehabilitation medical equipment is conducive to improving the efficacy of rehabilitation and shortening the time of rehabilitation.

There are various types of rehabilitation medical devices on the market today, specifically for the shoulders, neck, legs and other parts. Some imported rehabilitation medical devices are expensive and difficult for ordinary families to accept. In recent years, a number of rehabilitation medical device research units have emerged in China, and a large number of domestic rehabilitation medical device enterprises have emerged. With the competition in the market, the price of rehabilitation medical equipment is more affordable and accepted by a wider population.

The development of rehabilitation medical equipment has the following processes: determination of beneficiaries, data collection, institutional system design, product improvement and molding. The target population of this product is patients with lower extremity walking disorders. In terms of data collection, a more advanced image-based information processing method is adopted. Label the key parts of the lower limbs of the human body, extract the coordinates of the points of the key parts from the video image, and then obtain the gait curve of the human body during normal movement, which lays the foundation for the mechanism design. In terms of mechanism system design, on the basis of the existing key point coordinate features, the selected mechanism type, namely chain drive, lever mechanism, cam mechanism, etc., is determined. The mechanical design theory algorithm is used to further determine the size of each mechanism, and then the shaft assembly and process processing are considered, and the shaft sleeve, rolling bearing, end cover, etc. are reasonably selected. In terms of product improvement and molding, the installation position of the mechanism is reasonably arranged, the processing technology and the behavior of the human body are considered, and local adjustments are made. For example, the left and right placement of the cam groove and the pedal, the setting of the seat height range, the adjustment of the armrest height, etc.

SUMMARY OF THE INVENTION

In view of the deficiencies of the prior art, the present invention provides an intelligent rehabilitation medical device, the device includes a drive unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit arranged on a frame, and is characterized in that:

The linkage unit includes a linkage mechanism and a slide rail mechanism linked therewith, the slide rail mechanism slides along a curved track under the drive of the drive unit, and the linkage mechanism cooperates with the slide rail mechanism to move to a corresponding position. position, so that the slide rail mechanism assists the moving object in lower limb rehabilitation training,

The rehabilitation evaluation unit evaluates the physical condition and rehabilitation situation of the training object based on the physiological information and motion information of the training object collected by the sensing unit, and adjusts the exercise frequency of the training object in real time according to the physical condition and exercise time.

According to a preferred embodiment, the sliding rail mechanism includes a sliding block, a guide rod, a connecting block and a curved track, and the sliding block connecting block is connected with the driving unit through a secondary chain transmission mechanism and is driven by the driving unit. The sliding block and the connecting block are provided with at least two guide rods for guiding the sliding block to move along the curved track.

According to a preferred embodiment, the link mechanism includes a rocker and a link, the link is rotatably provided between the rocker and the slider, and the link is a right-angled trapezoid structure The two ends of the hypotenuse in the right-angled trapezoid are provided with pedals that are convenient for the training object to step on, and the slider drives one end of the connecting rod to move along the curved track to make the pedal assist the exercise object to perform lower limb rehabilitation training .

According to a preferred embodiment, a linear bearing is provided at a position where the connecting block contacts at least one of the guide rods, and the guide rod moves relative to the connecting block during the movement of the slider along the curved track. Linear motion.

According to a preferred embodiment, the fixed point of the pedal is connected with both ends of the connecting rod through at least two connecting rods to form a stable triangular structure;

One end of the first connecting rod is jointly connected with the connecting rod and the rocker in a rotatable manner, and the other end is connected with the fixed point of the pedal;

One end of the second connecting rod is jointly connected with the connecting rod and the sliding block in a rotatable manner, and the other end is connected with the fixed point of the pedal;

The length ratio of the first connecting rod, the second connecting rod and the connecting rod is 5.4337:1.6957:4.2743;

The included angle between the first connecting rod and the plane of the pedal is 85 degrees.

According to a preferred embodiment, the linkage units are symmetrically arranged at both ends of the frame and are connected to the drive unit through a two-stage chain transmission mechanism arranged symmetrically, and the drive device in the drive unit passes through a primary chain The transmission mechanism drives the gears at both ends to rotate respectively with the long shafts connected with the secondary chain transmission mechanism, so that the linkage unit is linked according to the driving frequency of the drive unit.

According to a preferred embodiment, a short shaft passing through the baffle plate of the curved track is provided at the center of the curved track, one end of the short shaft is drivingly connected with the secondary chain transmission mechanism, and the other end is connected with the connecting block provided with the connecting block. The connecting block rotates according to the driving frequency under the driving of the secondary chain transmission mechanism.

According to a preferred embodiment, the sensing unit collects the physiological information, lower limb movement frequency, foot movement trajectory and movement time of the training object, and the rehabilitation evaluation unit is based on the training object's physiological information, lower limb movement frequency, The pressure data generated by the foot and pedals assesses the rehabilitation of the training subject,

The rehabilitation evaluation unit adjusts the motion frequency of the pedal by adjusting the driving frequency of the driving unit based on the physiological information of the training object.

According to a preferred embodiment, the sensing unit at least includes a pressure sensor provided on the pedal, a position information sensor and a physiological information sensor provided at the position of the armrest of the rack.

According to a preferred embodiment, the rehabilitation evaluation unit includes a data processing unit, an evaluation unit and a control unit, the data processing unit filters the motion data collected by the sensing unit for valid data and sends the valid data to the evaluation The evaluation unit evaluates the physiological and rehabilitation conditions of the training object based on the valid data, and the control unit adjusts the exercise frequency and exercise time of the training object based on the evaluation result of the evaluation unit.

Beneficial technical effects of the present invention:

(1) The present invention is developed according to the normal human motion data collected from the previous experiments, and has strong adaptability and scientificity. Rehabilitation training for patients according to the normal walking curve of the human body is conducive to improving the efficacy of human rehabilitation and shortening the rehabilitation period.

(2) The present invention has a relatively broad market prospect. Considering the selection of standard parts, the stability of the frame and the processing technology of the shaft, it is simple and reliable. The use of rolling bearings, linear bearings and cam rollers and other parts reduces the wear of parts and improves the mechanical life of the product.

(3) The present invention optimizes the size of the selected mechanism in combination with ergonomics, and considers the adjustment range of the seat height, the setting of the armrest height, etc., so as to ensure the rehabilitation effect and improve the comfort of the human body.

(4) In addition to assisting the disabled person with lower limbs to perform rehabilitation training actions alone, the present invention can also cooperate with other rehabilitation medical equipment to assist patients in performing relevant rehabilitation therapy.

Description of drawings

1 is a schematic diagram of the overall structure of the intelligent medical device of the present invention;

Fig. 2 is the structural representation of the linkage unit of the present invention;

Fig. 3 is the sectional schematic diagram of the slide rail mechanism of the present invention;

Fig. 4 is the structural representation of the slide rail mechanism of the present invention;

FIG. 5 is a schematic diagram of the frame and seat of the intelligent medical device; and

FIG. 6 is another schematic structural diagram of the linkage unit of the intelligent medical device.

List of reference signs

1: Frame 2: Curved Rail 3: Stub Axis Assembly

4: Secondary chain transmission mechanism 5: Primary chain transmission mechanism 6: Motor

7: Long axis 8: Pedal 9: Connecting rod

10: Rocker 11: Guide Rod Assembly 12: Armrest

13: Seat 14: Connection block 15: Linear bearing

16: Guide rod 17: Slider 18: Pin shaft

19: Cam roller 20: End cap 21: Stub shaft

22: Bushing 23: Rolling bearing EG: First connecting rod

DG: Second connecting rod GN: Third connecting rod

Detailed ways

The following detailed description is given in conjunction with the accompanying drawings.

The invention provides an intelligent rehabilitation medical device, comprising a drive unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit arranged on a frame. The linkage unit includes a linkage mechanism and a sliding rail mechanism linked with it. The sliding rail mechanism slides along the curved track under the driving of the driving unit. The linkage mechanism moves along the foot movement track under the linkage of the slide rail mechanism, thereby assisting the moving object in lower limb rehabilitation training. The rehabilitation evaluation unit evaluates the physical condition and rehabilitation condition of the training object based on the physiological information and motion information of the training object collected by the sensing unit, and adjusts the exercise frequency and exercise time of the training object in real time according to the physical condition.

Example 1

As shown in Figure 1, an intelligent rehabilitation medical device includes a drive unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit arranged on a frame.

The rack 1 is connected by a plurality of bar-shaped rods to form a symmetrical bracket. The rack 1 includes a rectangular bracket and a U-shaped bracket vertically connected to the rectangular bracket. The U-shaped bracket is arranged in the middle of the rectangular bracket. The U-shaped bracket includes two vertical bars perpendicular to the rectangular bracket and a horizontal bar parallel to the plane of the rectangular bracket. The cross bar is connected between the two vertical bars. The two inclined rods are respectively connected between the vertical rods of the U-shaped support and the corresponding rectangular supports, so that the two inclined rods, the two vertical rods and the rectangular support respectively form two stable triangles on both sides of the rack. The material of the frame 1 is industrial aluminum profiles, which are formed by welding and bolting multiple sections of industrial aluminum profiles. The segmented assembly can facilitate the length adjustment of the aluminum profiles, and has the characteristics of high stability and strong operability.

The linkage unit is symmetrically arranged on both sides of the frame and is connected to the drive unit through the symmetrically arranged secondary chain transmission mechanism. The long axis of the unit rotates, so that the linkage unit is linked according to the driving frequency of the drive unit.

The linkage unit is arranged on both sides of the U-shaped bracket in the middle of the rack. The linkage unit includes a first linkage unit disposed on one side of the rack 1 and a second linkage unit on the other side. Since the structures of the first linkage unit and the second linkage unit are the same, in the present invention, the first linkage unit and the second linkage unit are simply referred to as linkage units and the structure is described.

As shown in FIG. 2 , the linkage unit includes a link mechanism and a slide rail mechanism linked therewith.

The link mechanism includes a rocker 10 and a link 9 . One end of the rocker 10 is rotatably connected with the vertical rod of the U-shaped bracket through a rotating shaft, and the other end is rotatably connected with the connecting rod 9 . The connecting rod 9 is arranged in a rotatable connection between the rocker 10 and the slider 17 . The connecting rod 9 is in the shape of a right-angled trapezoid. The two ends of the hypotenuse of the right-angled trapezoid are respectively connected with one end of the rocker 10 and the slider 17 . Wherein, one end of the hypotenuse that intersects with the lower bottom is connected to one end of the rocker 10 in a rotatable connection manner with the rocker 10 . The end of the oblique side that intersects with the upper bottom is connected to the sliding block 17 in a rotatable connection manner. A pedal 8 is installed on the high side between the upper bottom side and the lower bottom side, which is convenient for the training object to step on.

Preferably, as shown in FIG. 6 , the fixed point of the pedal 8 is connected to both ends of the connecting rod 9 through at least two connecting rods to form a stable triangular structure.

The fixed point of the pedal 8 is connected with both ends of the connecting rod 9 through the first connecting rod EG and the second connecting rod DG to form a stable triangular structure. One end of the first connecting rod EG is jointly connected with the connecting rod 9 and the rocker 10 in a rotatable manner, and the other end is connected with the fixed point of the pedal 8 . One end of the second connecting rod DG is jointly connected with the connecting rod 9 and the slider 17 in a rotatable manner, and the other end is connected with the fixed point of the pedal 8 . The length ratio of the first connecting rod EG, the second connecting rod DG and the connecting rod 9 is 5.4337:1.6957:4.2743. The angle between the first connecting rod EG and the plane of the pedal 8 is 85 degrees.

Preferably, the fixed point of the pedal 8 is connected with the N point in the middle of the connecting rod 9 through the third connecting rod GN. The third connecting rod GN can evenly distribute the force on both ends of the connecting rod 9 and prolong the service life of the connecting rod 9 .

The sliding rail mechanism includes a sliding block 17 , a guide rod 16 , a connecting block 14 and a curved track 2 . As shown in FIG. 3 , the curved track 2 is arranged inside the baffle. The sliding track 2 is a groove track on the inner side of the baffle. Sliding track 2 is a curved track designed according to the statistical data of the physiological process of human exercise, which conforms to the law of human lower limb movement, so that the training object can recover in a comfortable training process.

One end of the baffle is fixed with the vertical rod of the U-shaped bracket, and the other end is fixed on the baffle bracket parallel to the vertical rod. A short axis 21 penetrating the baffle is arranged at the center of the curved track 2 on the baffle. The stub shaft 21 is rotatably fixed at the center position of the sliding track 2 through the rolling bearing 23 . One end of the short shaft 21 is drivingly connected with the secondary chain transmission mechanism 4 , and the other end is fixedly connected with the connecting block 14 . The connecting block 14 is driven by the secondary chain transmission mechanism 4 to rotate according to the driving frequency. Both ends of the short shaft 21 are respectively provided with end caps 20 with protective function. The exposed part of the stub shaft 21 is covered with a shaft sleeve 22 for protecting the stub shaft.

As shown in FIG. 4 , a cam roller 19 is provided at one end of the slider 17 in contact with the curved track 2 . The slider 17 slides along the curved track 2 by means of the cam roller 19 . The other end of the sliding block 17 is provided with a pin shaft 18 for connecting with the oblique side of the connecting rod 9 in a rotatable manner. The slider 17 is connected with the connecting rod 9 through the pin 18 . At least two guide rods 16 for guiding the sliding block 17 to move along the curved track 2 are disposed between the sliding block 17 and the connecting block 14 . A linear bearing 15 is provided at the position where the connecting block 14 contacts with at least one guide rod 16 . The cam roller 19 makes a curved motion in the curved track 2. With the difference of the radius of curvature, the guide rod 16 makes a linear motion relative to the connecting block 14 when the slider 17 moves along the curved track 2, which reduces the wear of parts and improves the Mechanical life. That is, the connecting block 14 is connected with the driving unit through the secondary chain transmission mechanism 4 and rotated under the driving of the driving unit. The slider 17 drives one end of the connecting rod 9 to move along the curved track 2 , so that the pedal 8 assists the moving object to perform lower limb rehabilitation training.

Preferably, the number of guide rods 16 is not limited to 2, but can be 3 or more.

The drive unit is arranged at the front end of the rack 1 . The drive unit includes a motor 6 , a long shaft 7 , a primary transmission mechanism 5 and a secondary transmission mechanism 4 . The connecting block 14 is connected with one end of the secondary transmission mechanism 4 through the short shaft 21 . The other end of the secondary transmission mechanism 4 is in driving connection with one end of the long shaft 7 . Preferably, the primary transmission mechanism 5 and the secondary transmission mechanism 4 are transmission chains. Both ends of the long shaft 7 are provided with gear mechanisms matched with the transmission chain. The middle position of the long shaft 7 is provided with a large gear mechanism which is in driving link with the primary transmission mechanism 5 . Both ends of the primary transmission mechanism 5 are respectively connected with the large gear mechanism and the motor 6 . The motor 6 is a servo motor with a feedback adjustment function. The motor 6 provides forward and reverse power, and the power is divided into two branches by the secondary chain transmission mechanism 4 and the long shaft 7 and transmitted to the linkage units on both sides of the frame, with high accuracy and transmission efficiency. The movement frequency of the linkage unit is controlled by the drive unit and is consistent with the drive frequency of the drive unit.

As shown in FIG. 5 , a height-adjustable seat 13 is provided on the frame 1 . The seat 13 is provided at one end of the frame 1 opposite to the position of the drive unit. The position of the seat is set according to the physiological characteristics of the human body, so that the training object can sit comfortably and smoothly. The crossbar of the U-shaped frame of the frame 1 is used as the armrest 12, and is provided with a corresponding friction device, which is convenient for the training subject to balance and stabilize the limbs, and prevents the training subject from losing balance due to the sliding of the metal rod. For example, the handrail 12 is provided with a frosted rubber cover. The training subject sits on the seat 13 while supporting the upper limbs on the armrests 12 to maintain balance. The lower limbs of the training object are respectively placed on the corresponding pedals 8, and the lower limb rehabilitation training is performed according to the driving frequency of the driving unit.

The sensing unit collects the training object's physiological information, lower limb movement frequency, foot movement trajectory and movement time, and the rehabilitation evaluation unit evaluates the training object's rehabilitation based on the training object's physiological information, lower limb movement frequency, and pressure data generated by the feet and pedals ,

The sensing unit is used to collect the movement data of the training object during the movement. The exercise data includes the sole force data of the training object, the lower limb exercise frequency, exercise time, physiological information data and the foot movement trajectory. The physiological information data includes changes in physiological parameters such as body weight, heart rate, blood pressure, body temperature, pulse, and respiratory rate.

The sensing unit includes at least a pressure sensor provided on the pedal 8 , a position information sensor and a physiological information sensor provided at the position of the armrest of the rack 1 . Preferably, at least one pressure sensor is provided on the pedal 8 . The pressure sensor is used to monitor the force of the footsteps of the training subjects. The position information sensor is used to monitor the movement track of the pedal 8, so as to monitor the foot movement track and movement frequency of the training object. The armrest 12 is provided with at least one physiological information sensor, including a heart rate sensor, a body temperature sensor, and a blood pressure sensor. Preferably, the sensing unit further includes a pulse sensor arranged on the wristband.

The rehabilitation evaluation unit adjusts the motion frequency of the pedal by adjusting the driving frequency of the driving unit based on the physiological information of the training object, so that the training object can achieve the best rehabilitation effect.

The rehabilitation evaluation unit can either be arranged on the rack 1 or the armrest 12 to transmit data in a wired or wireless manner, or it can be arranged in an intelligent mobile terminal to perform data transmission in a wireless manner. The scientifically calculated foot movement trajectory and movement frequency are stored in the rehabilitation evaluation unit. When the training object performs lower limb rehabilitation training for the first time, the rehabilitation evaluation unit receives the motion frequency, foot motion trajectory and physiological information data transmitted by the sensing unit, and compares the physiological information with the standard physiological information data corresponding to the motion frequency. If the difference between the physiological information data and the standard physiological information data is within the allowable error range, the exercise frequency of the training object is not adjusted. If the difference between the physiological information data and the standard physiological information data is large, the rehabilitation evaluation unit sends an instruction to the driving unit to adjust the driving frequency of the motor 6, thereby indirectly adjusting the exercise frequency of the training object, so that the exercise frequency matches the physiological information data, so that the The training object achieves the best effect of lower limb rehabilitation training.

Preferably, if the training object is a special group, such as children. The rehabilitation evaluation unit adjusts the lower limb movement frequency of the training object based on the pressure data of the training object standing on the pedal 8 and the physiological information data of the training object, so that special groups such as children can obtain lower limb rehabilitation training.

Preferably, if the training object is a robot. The rehabilitation evaluation unit readjusts the exercise frequency and seat height based on the pressure data of the training object standing on the pedal 8 and the foot movement trajectory. When the training subject sits on the seat and the pressure monitored by the pressure sensor of the pedal 8 disappears, it proves that the shortest distance between the seat and the pedal exceeds the length of the lower limbs of the training subject. The rehabilitation evaluation unit adjusts the distance between the seat 13 , the armrest 12 , and the pedal 8 , until the various data and exercise frequency during the exercise of the training object are adjusted to within the normal range.

Preferably, the rehabilitation evaluation unit evaluates the health condition of the training object based on the physiological information data and exercise frequency of the training object collected by the sensing unit. Adjust the exercise frequency and exercise time based on the physiological information data of the training subjects. When the physiological information data of the training object is abnormal, the rehabilitation evaluation unit stops assisting the training object to perform lower limb rehabilitation training, and restores the training object to a standard sitting posture. Preferably, the rehabilitation assessment unit includes an alarm unit. In the case that the physiological information data of the training object is abnormal, the alarm unit sends out alarm information in the form of sound alarm, light alarm and/or combination.

Preferably, the rehabilitation evaluation unit includes a data processing unit, an evaluation unit and a control unit. The data processing unit performs valid data screening on the motion data collected by the sensing unit and sends the valid data to the evaluation unit. The evaluation unit evaluates the physiological and rehabilitation conditions of the training subject based on the valid data. The control unit adjusts the exercise frequency and exercise time of the training object based on the evaluation result of the evaluation unit.

The data processing unit performs valid data screening on the motion-related data collected by the sensing unit, and sends the valid data to the evaluation unit. The data collected by the respective sensors of the sensing unit are not all valid data, and include a plurality of error data with exceeding the error range. The data processing unit screens the data transmitted by the data acquisition unit, excludes data beyond the error range, retains accurate valid data and sends it to the evaluation unit.

The evaluation unit evaluates the physical condition and shoulder movement curve of the training object based on the valid data. The evaluation unit evaluates the physical condition of the training subject based on the received valid data. For example, if the training subject's heartbeat frequency accelerates and exceeds the normal range during the standing training, the evaluation unit instructs the control unit to reduce the exercise frequency, so that the training subject's heartbeat frequency is adjusted to the normal frequency. The evaluation unit stores the scientifically calculated physiological information data and the matching exercise frequency. When the training object performs lower limb rehabilitation training for the first time, the evaluation unit compares the physiological information data of the training object with the stored standard physiological information data. If the difference between the physiological information data and the standard physiological information data is within the allowable error range, the exercise frequency of the training object is not adjusted. If the difference between the physiological information data and the standard physiological information data is large, the rehabilitation evaluation unit sends an instruction to the driving unit to adjust the driving frequency of the motor 6, thereby indirectly adjusting the exercise frequency of the training object, so that the exercise frequency matches the physiological information data, so that the The training object achieves the best effect of lower limb rehabilitation training.

The control unit is connected with the drive unit and the linkage unit. The control unit corrects the exercise frequency, exercise time and the position of the seat 13 of the training subject based on the evaluation result of the evaluation unit.

Example 2

This embodiment is a further description of Embodiment 1, and the same content as that of Embodiment 1 will not be repeated.

As shown in FIG. 6 , the linkage unit includes a link mechanism and a slide rail mechanism linked therewith.

The link mechanism includes a rocker 10 and a link 9 . One end of the rocker 10 and a vertical rod of the U-shaped bracket are rotatably fixed at point F of the hinge center. The other end of the rocker 10 and one end of the connecting rod 9 are rotatably connected to point E. The other end of the connecting rod 9 and the slider 17 are rotatably connected to point C.

The sliding mechanism includes a sliding track 2 , a connecting block 14 , a sliding block 17 and a cam roller 19 connected with the sliding block 17 and moving along the sliding track. The fixed center of the rotation pair of the crank DB of the slide rail 2 and the connecting block 14 are connected at point A. The slider 17 and the cam roller 19 are connected at point D. The pedal 8 and the connecting rod 9 are fixedly connected to the G point. The dimensional ratio of the interlocking unit will be described with reference to the interlocking unit shown in FIG. 6 . With O as the origin, the horizontal direction is the X axis, and the vertical direction is the Y axis to establish a Cartesian coordinate system. Then the coordinates of the fixed center point A point are (9.0000, 2.8593), and the coordinates of point F are (7.2664, 8.6082). The rocker length EF=2.3523cm. The connecting rod length DE=4.2743cm. The distance from the end E of the rocker 10 to the fixed point G of the pedal is EG=5.4337cm. The center of the cam roller 19 to the fixed point of the foot pedal DG=1.6957cm. The plane of the pedal 8 is fixed to the connecting rod 9 in a direction with an included angle of 85° with the connecting line EG. The track coordinates of the sliding track 2 include at least nine point coordinates. The track coordinates of the sliding track 2 are convenient for the nine coordinates disclosed in the present invention, and also include a plurality of coordinate points that can make the cam roller 19 move more smoothly among the nine coordinate points. The trajectory of the sliding track 2 does not require high precision, and can be rounded and fine-tuned to make the cam roller 19 move more smoothly along the sliding track 2 . The preferred nine coordinate points of the sliding track 2 are shown in Table 1.

Table 1

Coordinate number 1 2 3 4 5 6 7 8 9 X-axis (cm) 10.0966 9.8138 9.4072 9.1915 8.9212 8.6629 7.9973 7.5225 8.2912 Y-axis (cm) 2.6041 3.6807 4.0818 4.0651 3.8782 3.6400 3.0327 2.4986 2.4346

Since there are both approximations and differences among the individuals of the training objects, for example, there are slight differences in height, length of upper limbs and lengths of lower limbs, the track coordinates of the sliding track 2 may be slightly different from the track coordinates shown in the present invention, so that this The invented smart medical device adapts to different individuals.

The linkage unit of the present invention can be enlarged or reduced proportionally according to the linkage unit structure shown in FIG. 6 , so as to be installed on intelligent medical devices of different sizes to meet the training/medical needs of adults, children or robots of different sizes.

Example 3

This embodiment is a further improvement and description of Embodiment 1 and Embodiment 2, and the same content as that of Embodiment 1 will not be repeated.

First, adjust the position of the seat 13, including adjusting the shortest distance between the seat 13 and the pedal 8 and the seat height, so that the training object feels comfortable. Preferably, the distance between the seat 13 and the pedal 8 is adjustable, and the bracket of the seat 13 is movably arranged on the frame 1 . Preferably, at least one pressure sensor is provided on the seat 13 for monitoring the pressure change between the buttocks and the seat 13 of the training object during the rehabilitation training process.

After the position of the seat is adjusted to match the position of the training subject, the training subject sits on the seat 13 . The pedal 8 is located at the lowermost initial position. The training subject places the lower limbs on the pedals 8 and places their hands on the armrests 12 .

After the training object is seated, the lower limbs are placed on the pedals, and the hands are placed on the armrest 12, click the exercise switch. The motor 6 starts to provide forward and reverse rotation power within a certain angle. The motor 6 rotates in the forward direction, and drives the long shaft 7 to rotate through the primary chain transmission mechanism 5 . The long shaft 7 drives the connecting block 14 to rotate through the secondary chain transmission mechanism 4 at both ends thereof. When the connecting block 14 rotates, the sliding block 17 is guided by at least two guide rods 16 to slide along the curved track 2 with the assistance of the cam roller 19 .

The motor 7 rotates forward and reverse repeatedly within a certain angle, and the crank mechanism 1 rotates forward and reverse under the transmission of the first chain transmission mechanism 8 , the long shaft 9 , the second chain transmission mechanism 10 , and the second chain transmission reduction wheel 19 . With the difference of the curvature radius, the guide rod 16 moves linearly relative to the connecting block 14 during the movement of the slider 17 along the curved track 2. The linear bearing 15 between the connecting block 14 and the guide rail 16 can reduce the wear of parts and improve the Mechanical life.

The slider 17 is connected with the connecting rod 9 through the pin 18 . The connecting rod 9 and the rocker 10 are correspondingly linked during the movement of the slider 17 , so that the pedal 8 moves along the foot movement trajectory conforming to the human body structure. Preferably, the pedals in the two units are a first pedal and a second pedal. The first pedal and the second pedal move in the same rotational direction. The first pedal and the second pedal always maintain a relative position difference. For example, the first pedal and the second pedal always maintain a relative position of 180 degrees. The motor 6 adjusts the driving frequency according to the motion frequency fed back by the rehabilitation evaluation unit.

During the training object's first lower limb rehabilitation training, the sensing unit collects relevant data such as the training object's weight, blood pressure, heart rate, temperature, exercise frequency, and foot movement trajectory. Specifically, when the training subject stands on the pedal 8 with both feet and stands stably by relying on the handrail, the pressure sensor on the pedal 8 records the weight of the training subject. After the training subject sits down, the pressure sensor on the pedal 8 monitors the pressure change between the training subject and the pedal 8 during the training of the training subject. The position information sensor on the pedal monitors the foot movement trajectory and movement frequency of the training object. When the foot movement trajectory deviates, it means that some mechanisms in the linkage unit have loose connection or failure. The temperature sensor, heart rate sensor, and blood pressure sensor on the armrest 12 monitor changes in body temperature, heart rate, and blood pressure of the training subject. The pressure sensor on the seat 13 monitors the pressure change of the training subject's hip after sitting.

The sensing unit sends the collected data to the rehabilitation evaluation unit in a wired or wireless manner. The rehabilitation evaluation unit includes a data processing unit, an evaluation unit and a control unit. The data processing unit performs valid data screening on the motion data collected by the sensing unit and sends the valid data to the evaluation unit. The evaluation unit evaluates the physiological and rehabilitation conditions of the training subject based on the valid data. The control unit adjusts the exercise frequency and exercise time of the training object based on the evaluation result of the evaluation unit.

The data processing unit performs valid data screening on the motion-related data collected by the sensing unit, and sends the valid data to the evaluation unit. The data collected by the respective sensors of the sensing unit are not all valid data, and include a plurality of error data with exceeding the error range. The data processing unit screens the data transmitted by the data acquisition unit, excludes data beyond the error range, retains accurate valid data and sends it to the evaluation unit.

The evaluation unit evaluates the physical condition and shoulder movement curve of the training object based on the valid data. The evaluation unit evaluates the physical condition of the training subject based on the received valid data. For example, if the training subject's heartbeat frequency accelerates and exceeds the normal range during the standing training, the evaluation unit instructs the control unit to reduce the exercise frequency, so that the training subject's heartbeat frequency is adjusted to the normal frequency. The evaluation unit stores the scientifically calculated physiological information data and the matching exercise frequency. When the training object performs lower limb rehabilitation training for the first time, the evaluation unit compares the physiological information data of the training object with the stored standard physiological information data. If the difference between the physiological information data and the standard physiological information data is within the allowable range of error, the exercise frequency of the training object is not adjusted. If the difference between the physiological information data and the standard physiological information data is large, the rehabilitation evaluation unit sends an instruction to the driving unit to adjust the driving frequency of the motor 6, thereby indirectly adjusting the exercise frequency of the training object, so that the exercise frequency matches the physiological information data, so that the The training object achieves the best effect of lower limb rehabilitation training.

The control unit is connected with the drive unit and the linkage unit. The control unit corrects the exercise frequency, exercise time and the position of the seat 13 of the training subject based on the evaluation result of the evaluation unit.

Preferably, the rehabilitation evaluation unit is an electronic module, which can be set at any position of the rack 1 . Preferably, the data processing unit and the evaluation unit in the rehabilitation evaluation unit are arranged on the intelligent mobile terminal, and the control unit is arranged at any position on the rack 1 . The data collection unit sends the collected data to the data processing unit of the intelligent mobile terminal in a wireless manner. For example, the data acquisition unit sends data to the data processing unit in a wireless transmission manner such as Bluetooth, WiFi, ZigBee, and iBecon. The evaluation unit 502 makes an evaluation based on the valid data sent by the data processing unit, and sends the adjustment instructions to the control unit wirelessly. For example, the evaluation unit sends data to the control unit by means of wireless transmission such as Bluetooth, WiFi, ZigBee, iBecon, etc.

According to a preferred embodiment, the pressure sensor, temperature sensor, heart rate sensor, blood pressure sensor, and respiratory rate sensor in the data acquisition unit are provided with EnOcean modules that provide energy. The EnOcean module converts the thermal and mechanical energy of the training object into electrical energy to provide energy for the sensor.

It should be noted that the above-mentioned specific embodiments are exemplary, and those skilled in the art can come up with various solutions inspired by the disclosure of the present invention, and these solutions also belong to the disclosure scope of the present invention and fall within the scope of the present invention. within the scope of protection of the invention. It should be understood by those skilled in the art that the description of the present invention and the accompanying drawings are illustrative rather than limiting to the claims. The protection scope of the present invention is defined by the claims and their equivalents.

Claims (10)

1. A lower limb rehabilitation training device based on rehabilitation assessment comprises a sensing unit and a rehabilitation assessment unit which are arranged on a frame, and is characterized in that,

the sensing unit can acquire physiological information, lower limb movement frequency, foot movement track and movement time of the training object, the rehabilitation evaluation unit evaluates the physical condition and rehabilitation condition of the training object based on the physiological information and the movement information of the training object acquired by the sensing unit, and adjusts the movement frequency and the movement time of the training object in real time according to the physical condition, wherein:

the rehabilitation evaluation unit comprises a data processing unit, an evaluation unit and a control unit, the data processing unit is used for screening effective data of the motion data collected by the sensing unit and sending the effective data to the evaluation unit, the evaluation unit is used for evaluating the physiological and rehabilitation conditions of the training object based on the effective data, and the control unit is used for adjusting the motion frequency and the motion time of the training object based on the evaluation result of the evaluation unit.

2. The lower limb rehabilitation training device of claim 1, further comprising a driving unit and a linkage unit, wherein the driving unit and the linkage unit are arranged on the frame, the linkage unit comprises a link mechanism and a slide rail mechanism linked with the link mechanism, the slide rail mechanism slides along a curved track under the driving of the driving unit, and the link mechanism is linked with the slide rail mechanism and moves to a corresponding position, so that the slide rail mechanism assists a training subject in performing lower limb rehabilitation training, wherein:

the sliding rail mechanism comprises a sliding block (17), a guide rod (16), a connecting block (14) and a curved rail (2), the sliding block connecting block (14) is connected with the driving unit through a two-stage chain transmission mechanism (4) and rotates under the driving of the driving unit, and at least two guide rods (16) used for guiding the sliding block (17) to move along the curved rail (2) are arranged between the sliding block (17) and the connecting block (14).

3. The lower limb rehabilitation training device according to claim 2, wherein the sensing unit acquires physiological information of the training subject, lower limb movement frequency, foot movement track and movement time, the rehabilitation evaluation unit evaluates rehabilitation of the training subject based on the physiological information of the training subject, the lower limb movement frequency, pressure data generated by a foot and a pedal (8), and the rehabilitation evaluation unit adjusts the movement frequency of the pedal (8) by adjusting the driving frequency of the driving unit based on the physiological information of the training subject, wherein:

under the condition that the physiological information data is greatly different from the standard physiological information data, the rehabilitation evaluation unit adjusts the driving frequency of the motor 6 in a mode of sending instructions to the driving unit, so that the movement frequency of the training object is indirectly adjusted.

4. The lower limb rehabilitation training device of claim 3, wherein the linkage mechanism comprises a rocker (10) and a connecting rod (9), the connecting rod (9) is rotatably connected between the rocker (10) and the sliding block (17), the connecting rod (9) is of a right trapezoid structure, pedals (8) which are convenient for the training subject to step on are arranged at two ends of a bevel edge in the right trapezoid, and the sliding block (17) drives one end of the connecting rod (9) to move along the curved track (2) to enable the pedals (8) to assist the training subject in lower limb rehabilitation training.

5. The lower limb rehabilitation training device of claim 4, wherein a linear bearing (15) is arranged at the position where the connecting block (14) contacts with at least one guide rod (16), and the guide rod (16) moves linearly relative to the connecting block (14) during the movement of the sliding block (17) along the curved track (2).

6. The lower limb rehabilitation training device of claim 5, wherein the driving unit comprises at least a motor (6), a long shaft (7), a primary transmission mechanism (5) and a secondary transmission mechanism (4), the connecting block (14) is connected with one end of the secondary transmission mechanism (4) through a short shaft (21), the other end of the secondary transmission mechanism (4) is in transmission connection with one end of the long shaft (7), wherein:

a motor (6) in the driving unit rotates through a long shaft (7) of the primary chain transmission mechanism (5), the long shaft (7) is respectively connected with the secondary chain transmission mechanism (4) through gears on two ends of the long shaft,

the linkage units are symmetrically arranged at two ends of the rack and are connected with the driving unit through the symmetrically arranged secondary chain transmission mechanisms (4) so as to enable the linkage units to be linked according to the driving frequency of the driving unit.

7. The lower limb rehabilitation training device of claim 6, wherein the short shaft (21) is arranged at the center of the curved track (2) in a manner of penetrating through a baffle of the curved track (2), one end of the short shaft (21) is in transmission connection with the secondary chain transmission mechanism (4), the other end of the short shaft is connected with the connecting block (14), and the connecting block (14) is driven by the secondary chain transmission mechanism (4) to rotate according to a driving frequency.

8. The lower limb rehabilitation training device of claim 7, wherein the fixing point of the pedal (8) is connected with the two ends of the connecting rod (9) through at least two connecting rods so as to form a stable triangular structure;

one end of a first connecting rod (EG) is connected with the connecting rod (9) and the rocker (10) together in a rotatable mode, and the other end of the first connecting rod is connected with a fixed point of the pedal (8);

one end of a second connecting rod (DG) is connected with the connecting rod (9) and the sliding block (17) together in a rotatable mode, and the other end of the second connecting rod is connected with a fixed point of the pedal (8);

the length proportion of the first connecting rod (EG) to the second connecting rod (DG) to the connecting rod (9) is 5.4337: 1.6957: 4.2743, respectively;

the included angle between the first connecting rod (EG) and the plane of the pedal (8) is 85 degrees.

9. The lower limb rehabilitation training device of claim 8, wherein the sensing unit comprises at least a pressure sensor provided on the pedal (8), a position information sensor, and a physiological information sensor provided at a position of the armrest (12) of the frame.

10. A lower limb rehabilitation training system based on rehabilitation evaluation, the system is configured to be a driving unit, a linkage unit, a sensing unit and a rehabilitation evaluation unit which are arranged on a frame,

the linkage unit is configured to be a connecting rod mechanism and a slide rail mechanism linked with the connecting rod mechanism, the slide rail mechanism slides along the curved track under the driving of the driving unit, the connecting rod mechanism is linked with the slide rail mechanism to move to a corresponding position, so that the slide rail mechanism assists the training object to perform lower limb rehabilitation training,

the rehabilitation evaluation unit evaluates the physical condition and the rehabilitation condition of the training object based on the physiological information and the motion information of the training object acquired by the sensing unit, and adjusts the motion frequency and the motion time of the training object in real time according to the physical condition; wherein,

the sliding rail mechanism is configured to be a sliding block (17), a guide rod (16), a connecting block (14) and a curved track (2), the connecting block (14) is connected with the driving unit through a two-stage chain transmission mechanism (4) and driven by the driving unit to rotate, and the sliding block (17) is guided to move along the curved track (2) between the sliding block (17) and the connecting block (14) through at least two guide rods (16); the sliding block (17) drives one end of the connecting rod (9) to move along the curve track (2) so that the pedal (8) assists the training object to perform lower limb rehabilitation training.