CN206304093U - A kind of lower limb power-assisted and trainer - Google Patents

Abstract

The utility model discloses a device for assisting and training lower limbs, which comprises a thigh movement mechanism and a calf movement mechanism. The thigh movement mechanism is a two-degree-of-freedom space movement mechanism; the thigh movement mechanism is provided with thigh support and fixing parts. The calf movement mechanism is provided with calf supporting and fixing components. The utility model has a simple structure and is convenient to be grafted onto other rehabilitation and fitness training equipment, seats, massage chairs and wheelchairs. The utility model has a wide range of applications and can be used for realizing rehabilitation training and exercise of lower limbs in three-dimensional space. The utility model is also a booster device, which can drive the legs to move and play the role of booster. The utility model has various modes of rehabilitation training. During use, two pairs of devices are arranged symmetrically beside the left/right legs, so that synchronous/asynchronous training can be realized.

Description

A lower limb assisting and training device

technical field

The utility model relates to the field of health care and sports and fitness equipment, in particular to a lower limb assisting and training device.

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: complicated operation, single motion form, and difficulty in simulating three-dimensional motion of human body, etc. It is of practical significance to develop a device that can realize three-dimensional motion rehabilitation training of human lower limbs and has a power-assisted effect.

Utility model content

The technical problem to be solved by the utility model is to provide a lower limb assisting and training device with a simple and compact structure, a wide range of applications, which can be grafted to other rehabilitation and fitness equipment, and can be applied to the rehabilitation and fitness training of the lower limbs.

In order to solve the above technical problems, the utility model adopts the following technical solutions: a lower limb power assisting and training device, including a thigh movement mechanism and a calf movement mechanism, and the thigh movement mechanism is a two-degree-of-freedom space movement mechanism;

The thigh movement mechanism is provided with a thigh support and fixing part, and the calf movement mechanism is provided with a calf support and fixing part.

Further, it also includes a foot movement mechanism, which is also a two-degree-of-freedom space movement mechanism, and the foot movement mechanism is provided with foot support and fixing components.

Further, the two-degree-of-freedom space motion mechanism includes a support plate, a main connecting rod, an auxiliary telescopic rod and a rotating shaft, the rotating shaft is rotatably mounted on the supporting plate, and one end of the main connecting rod and the auxiliary telescopic rod are respectively hinged on the rotating shaft , the other end of the secondary telescopic rod is hinged at the middle of the main connecting rod.

Further, the two-degree-of-freedom space motion mechanism also includes a first drive structure, the first drive structure includes a first drive shaft and a first motor for driving the first drive shaft to rotate, and the first drive shaft A first driving gear is provided, and a first driven gear is provided on the rotating shaft, and the first driving gear and the first driven gear mesh with each other.

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 .

Further, the thigh supporting and fixing part includes a thigh tray, and the connecting block is hinged on the thigh tray through a connecting shaft.

Further, the thigh tray is also provided with a second drive structure for driving the connecting block to rotate, the second drive structure includes a second drive shaft and a second motor for driving the second drive shaft to rotate, the first The second drive shaft is provided with a second driving gear, and the connecting block is rotatably matched with the connecting shaft. The connecting block is provided with teeth, and the second driving gear and the teeth mesh with each other.

Further, the foot movement mechanism is slidably socketed on the other end of the support rod through the connecting rod.

Further, the calf support and fixation part includes a calf tray and calf straps arranged on the calf tray.

Further, the foot support and fixing part includes a footrest and a foot strap provided on the footrest.

The beneficial effects of the utility model are:

The utility model has a simple structure and is convenient to be grafted to other rehabilitation and fitness training equipment, seats, massage chairs and wheelchairs.

The utility model has a wide range of applications and can be used for realizing rehabilitation training and exercise of lower limbs in three-dimensional space.

The utility model is also a booster device, which can drive the legs to move and play the role of booster.

The utility model has various modes of rehabilitation training. During use, two pairs of devices are arranged symmetrically beside the left/right legs, so that synchronous/asynchronous training can be realized.

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

The utility model has adjustability, and the three parts of the thigh, the calf and the foot can be combined in series, and can also be disassembled to perform rehabilitation training on the hip, knee and ankle joints respectively.

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

Description of drawings

Fig. 1 is a three-dimensional structure diagram of an embodiment of the utility model.

Fig. 2 is a left view of an embodiment of the utility model.

Fig. 3 is a right side view of Fig. 2 .

FIG. 4 is a top view of FIG. 2 .

The marks of each part in the accompanying drawings are: 001 support plate, 002 main connecting rod, 003 auxiliary telescopic rod, 004 rotating shaft, 005 first motor, 006 first driving gear, 007 first driven gear, 10 thigh movement mechanism, 11 Thigh support and fixing parts, 111 thigh tray, 112 thigh strap, 20 calf movement mechanism, 201 connection block, 2011 teeth, 202 support rod, 203 push telescopic rod, 204 connection shaft, 205 second motor, 206 second active Gear, 207 fixed block, 208 connecting rod, 21 calf support and fixed part, 211 calf tray, 212 calf strap, 30 foot movement mechanism, 31 foot support and fixed part, 311 pedal, 312 foot strap.

detailed description

Below in conjunction with accompanying drawing, the utility model will be further described:

See Figures 1, 2, 3 and 4.

The lower limb power assisting and training device according to an embodiment of the present utility model includes a thigh motion mechanism 10, a calf motion mechanism 20 and a foot motion mechanism 30 connected in series in sequence, and the thigh motion mechanism 10 and the foot motion mechanism 30 both have two degrees of freedom space movement mechanism;

The thigh movement mechanism 10 is provided with a thigh support and fixing part 11 , the calf movement mechanism 20 is provided with a calf support and fixing part 21 , and the foot movement mechanism 30 is provided with a foot support and fixing part 31 .

In this embodiment, the two-degree-of-freedom space motion mechanism includes a support plate 001, a main connecting rod 002, an auxiliary telescopic rod 003, and a rotating shaft 004. The rear ends of the main connecting rod 002 and the secondary telescopic rod 003 are respectively hinged on the rotating shaft 004, and the front ends of the secondary telescopic rod 003 are hinged at the middle of the main connecting rod 002; , the rotating shaft 004 is arranged vertically, the main connecting rod 002 is arranged horizontally, and the auxiliary telescopic rod 003 is located below the main connecting rod 002.

In this embodiment, the thigh supporting and fixing part 11 includes a thigh tray 111 and a thigh strap 112 arranged on the thigh tray 111, and the thigh tray 111 is fixed on the main connecting rod 002 of the thigh movement mechanism 10. Front end; the foot support and fixing part 31 includes a foot pedal 311 and a foot strap 312 arranged on the foot pedal 311 , and the foot pedal 311 is fixed on the front end of the main connecting rod in the foot movement mechanism 30 .

For the purpose of concise description, only the two-degree-of-freedom space motion mechanism of the thigh motion mechanism 10 is marked in the accompanying drawings, and the two-degree-of-freedom space motion mechanism of the foot motion mechanism 30 is generally more than the two-degree-of-freedom space motion mechanism of the thigh motion mechanism 10. The size of the high-degree space motion mechanism should be small, so that the design conforms to the structure of the lower limbs of the human body.

When performing training, the thigh and the foot are placed on the thigh motion mechanism 10 and the foot motion mechanism 30 respectively, and are fixed by the thigh support and fixing part 11 and the foot support and fixing part 31 respectively, and the rotating shaft 004 is rotated back and forth. The connecting rod 002 and the auxiliary telescopic rod 003 reciprocate left and right to drive the thighs and feet to swing left and right. The main connecting rod 002 also adopts a telescopic rod structure. The telescopic main connecting rod 002 can drive the thighs and feet to stretch back and forth, and the telescopic auxiliary The rod 003 can drive the main connecting rod 002 to reciprocate up and down, thereby driving the thighs and feet to lift and fall. It can be seen that the thigh movement mechanism 10 and the foot movement mechanism 30 using a two-degree-of-freedom space movement mechanism can realize the movement of the thighs and feet. The full range of motion of the feet has a very good exercise effect.

In this embodiment, the two-degree-of-freedom space motion mechanism further includes a first drive structure, the first drive structure includes a first drive shaft and a first motor 005 for driving the first drive shaft to rotate, the first drive shaft And the first motor 005 is also installed on the support plate 001, the first drive shaft is provided with a first driving gear 006, the rotating shaft 004 is provided with a first driven gear 007, and the first driving gear 006 and The first driven gears 007 mesh with each other. Setting the first driving structure can improve the automatic control of the device. This driving method is simple and easy. Through the transmission effect of the first driving gear 006 and the first driven gear 007, the first motor 005 can drive the rotating shaft 004 in the Rotation in the horizontal plane. To further simplify the structure, the output shaft of the first motor 005 is used as the first drive shaft, and the first driving gear 006 is integrally formed directly on the first drive shaft.

In this embodiment, the calf movement mechanism 20 includes a connection block 201, a support rod 202 and a push telescopic rod 203, the upper ends of the support rod 202 and the push telescopic rod 203 are respectively hinged on the connection block 201, and the push telescopic rod The lower end of 203 is hinged at the middle of the support rod 202; the calf support and fixation part 21 includes a calf tray 211 and a calf strap 212 arranged on the calf tray 211 .

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 .

For the convenience of molding and installation, the calf support and fixing part 21 is fixed on the support rod 202 through the fixing block 207 , and the lower end of the telescopic rod 203 is pushed to be hinged on the fixing block 207 .

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 this embodiment, the top of the connecting block 201 is hinged on the thigh tray 111 through the connecting shaft 204. The connecting shaft 204 is parallel to the main connecting rod 002, which is more in line with the movement law of the lower limbs. The second driving structure that the connecting block 201 rotates. The calf movement mechanism 20 is connected with the thigh movement mechanism 10 through the above-mentioned structure, which can further enhance the exercise of the calf. When exercising, the second drive structure drives the connecting block 201 to rotate, which can drive the support rod 202 and push the telescopic rod 203 to reciprocate left and right Shake, so as to drive the calf to swing from side to side and get exercise.

In this embodiment, the second drive structure includes a second drive shaft and a second motor 205 for driving the second drive shaft to rotate, the second drive shaft is provided with a second driving gear 206, and the connecting block 201 is rotationally matched with the connecting shaft 204 through a bearing, the connecting block 201 is provided with teeth 2011 , and the second driving gear 206 and the teeth 2011 are meshed with each other. This driving mode is simple and easy to implement, and can improve the automatic controllability of the device.

In this embodiment, the foot movement mechanism 30 is slidably socketed on the other end of the support rod 202 through the connecting rod 208 . This design is convenient for disassembly and assembly, and the length of the calf can be adjusted to suit different groups of people. Each of the telescopic rods mentioned above can be an electric linear push rod, a hydraulic push rod or even a worm gear pair, as long as it can be stretched and the length can be adjusted.

The motion mechanisms at all levels in this embodiment are interlocked, and the action of the upper-level mechanism will drive the action of the lower-level mechanism. 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.

The utility model lower limb assisting and training device can be grafted onto the training chair, specifically the support plate 001 in the thigh movement mechanism 10 can be fixed on the training chair. 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.

The utility model lower limb assisting and training device can be applied to the health training and assist walking of people whose lower limb motor function has declined or lost, helping patients to realize the health training of the movement trajectory in three-dimensional space, enabling the patient's lower limbs to complete more complex spatial movements and effectively exercise joints and muscles. For mild patients, the mild patients can walk under the assistance of the device. For ordinary people with sound lower body functions, health training can also be carried out to help them enhance their physical ability. It has a wide range of applications and has a very large prospect of industrial application.

It should be understood that the examples and implementations described herein are only for illustration, 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 utility model without departing from the spirit of the utility model.

Claims (10)

1. a kind of lower limb power-assisted and trainer, it is characterised in that：Including thigh motion (10) and shank motion (20), the thigh motion (10) is two-freedom spatial movement mechanism；

The thigh motion (10) is provided with thigh support and fixed component (11), is set on the shank motion (20) There are leg support and fixed component (21).

2. lower limb power-assisted as claimed in claim 1 and trainer, it is characterised in that：Also include foot motion mechanism (30), The foot motion mechanism (30) is also two-freedom spatial movement mechanism, and the foot motion mechanism (30) is provided with foot's branch Support and fixed component (31).

3. lower limb power-assisted as claimed in claim 1 or 2 and trainer, it is characterised in that：The two-freedom spatial movement Mechanism includes supporting plate (001), master link (002), secondary expansion link (003) and rotating shaft (004), and the rotating shaft (004) rotates In supporting plate (001), one end of the master link (002) and secondary expansion link (003) is respectively hinged at rotating shaft (004) On, the other end of the secondary expansion link (003) is hinged on the middle part of master link (002).

4. lower limb power-assisted as claimed in claim 3 and trainer, it is characterised in that：The two-freedom spatial movement mechanism Also include the first driving structure, first driving structure includes the first drive shaft and for driving the first drive shaft turns First motor (005), first drive shaft is provided with the first driving gear (006), the rotating shaft (004) be provided with first from Moving gear (007), first driving gear (006) is intermeshed with the first driven gear (007).

5. lower limb power-assisted as claimed in claim 1 or 2 and trainer, it is characterised in that：The shank motion (20) Including contiguous block (201), support bar (202) and promote expansion link (203), the support bar (202) and promotion expansion link (203) One end be respectively hinged on contiguous block (201), it is described promote expansion link (203) the other end be hinged on support bar (202) Middle part.

6. lower limb power-assisted as claimed in claim 5 and trainer, it is characterised in that：The thigh support and fixed component (11) including thigh pallet (111), the contiguous block (201) is hinged on thigh pallet (111) by connecting shaft (204).

7. lower limb power-assisted as claimed in claim 6 and trainer, it is characterised in that：Also set on the thigh pallet (111) There is the second driving structure for driving contiguous block (201) to rotate, second driving structure includes the second drive shaft and use In the second motor (205) for driving the second drive shaft turns, second drive shaft is provided with the second driving gear (206), institute State contiguous block (201) to be rotatably assorted with connecting shaft (204), the contiguous block (201) is provided with teeth (2011), second master Moving gear (206) is intermeshed with teeth (2011).

8. lower limb power-assisted as claimed in claim 2 and trainer, it is characterised in that：The shank motion (20) includes The one of contiguous block (201), support bar (202) and promotion expansion link (203), the support bar (202) and promotion expansion link (203) End is respectively hinged on contiguous block (201), and the other end of promotion expansion link (203) is hinged on the middle part of support bar (202), The foot motion mechanism (30) is slidably socketed the other end in support bar (202) by connecting rod (208).

9. lower limb power-assisted as claimed in claim 1 or 2 and trainer, it is characterised in that：The leg support and fixed part Shank bandage (212) of the part (21) including shank pallet (211) and on the shank pallet (211).

10. lower limb power-assisted as claimed in claim 2 and trainer, it is characterised in that：The foot support and fixed component (31) including riding (311) and the foot's bandage (312) on foot-operated (311).