CN106176143B - A kind of healthy plint of multi-pose lower limb - Google Patents

A kind of healthy plint of multi-pose lower limb Download PDF

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Publication number
CN106176143B
CN106176143B CN201610789714.4A CN201610789714A CN106176143B CN 106176143 B CN106176143 B CN 106176143B CN 201610789714 A CN201610789714 A CN 201610789714A CN 106176143 B CN106176143 B CN 106176143B
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China
Prior art keywords
lower limb
thigh
hinged
seat cushion
health training
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CN201610789714.4A
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Chinese (zh)
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CN106176143A (en
Inventor
王勇
张方双
任刚跃
王聿宏
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Hefei University of Technology
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Hefei University of Technology
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0255—Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0266—Foot
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/0405—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs involving a bending of the knee and hip joints simultaneously
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
    • A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
    • A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1253—Driving means driven by a human being, e.g. hand driven
    • A61H2201/1261—Driving means driven by a human being, e.g. hand driven combined with active exercising of the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A61H2201/1642—Holding means therefor
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/088—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/10—Leg
    • A61H2205/102—Knee
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/12—Feet

Landscapes

  • Health & Medical Sciences (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses a kind of healthy plints of multi-pose lower limb, including seat and the healthy training aids of lower limb；The healthy training aids of lower limb includes the thigh movement mechanism, shank movement mechanism and foot motion mechanism being sequentially connected in series, and it is 3-freedom parallel mechanism that the structure of the thigh movement mechanism and foot motion mechanism is identical；Thigh support and fixation member are connected between the thigh movement mechanism and shank movement mechanism, the shank movement mechanism is equipped with leg support and fixation member, and the front end of the foot motion mechanism is connected with foot-operated and fixation member.The present invention can enable user sit on the seat, and lower limb are bound by each support and fixation member and the healthy training aids of lower limb, then can be cosily by the healthy training aids of lower limb with development lower limb exercise.The present invention have a wide range of application, it can be achieved that three-dimensional space motion lower limb rehabilitation training and exercise.

Description

A kind of healthy plint of multi-pose lower limb
Technical field
The present invention relates to rehabilitation medicals and sport and body-building instrument field, relate in particular to a kind of healthy instruction of multi-pose lower limb Practice chair.
Background technique
The reasons such as social senilization's degree increasingly deepens, cerebral apoplexy, spinal cord injury cause limb function movement to reduce, even It all loses, has seriously affected quality of life.Rehabilitation be restore motor function effective way, conventional physical therapist with The one-to-one rehabilitation mode of patient there are large labor intensity, medical expense is high the deficiencies of, therefore, rehabilitation training equipment solve This contradictory effective way.
Many achievements are achieved in rehabilitation training equipment since the middle of last century, such as single-degree-of-freedom formula, ectoskeleton, outstanding Hanging etc..But there is following deficiencies for they: complicated for operation, forms of motion is single, is difficult to simulate human body three-dimensional movement, Bu Nengshi The exercise etc. of many attitude is answered, developing a human body multi-pose lower limb three-dimensional motion device for healing and training that can be realized has centainly Realistic meaning.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of simple and compact for structure, adaptation many attitude, application ranges Extensively, the healthy plint of multi-pose lower limb in the rehabilitation and fitness training of lower limb can be applied.
In order to solve the above-mentioned technical problem, the present invention adopts the following technical scheme: a kind of healthy plint of multi-pose lower limb, Including seat and the healthy training aids of lower limb；
The healthy training aids of lower limb includes the thigh movement mechanism, shank movement mechanism and foot motion being sequentially connected in series The structure of mechanism, the thigh movement mechanism and foot motion mechanism is identical, is 3-freedom parallel mechanism；
Thigh support and fixation member, the shank are connected between the thigh movement mechanism and shank movement mechanism Movement mechanism is equipped with leg support and fixation member, and the front end of the foot motion mechanism is connected with foot-operated and fixation member.
Further, the seat includes support frame, cushion structure and is connected between support frame and cushion structure Telescopic rod for driving cushion structure to go up and down, the healthy training aids of lower limb are arranged on cushion structure.
Further, the cushion structure includes cushion, and the cushion is in " Ш " font.
Further, the seat includes backrest, and the backrest is hinged on the rear side of cushion structure.
Further, it is set on front side of the cushion structure there are two spaced apart handrail bracket, a handrail is erected at On two handrail brackets.
Further, the cushion structure includes two handrails for being separately fixed at the left and right sides of cushion, and two Handrail bracket is separately positioned on the front end of two handrails, and one of handrail holder pivots are mounted on the front end of corresponding handrail, One end of handrail is hinged on one of handrail bracket, and the other end of handrail is detachably secured to another handrail branch On frame.
Further, the bottom of the cushion structure is equipped with connector, and the connector is equipped with shaft, the lower limb health Strong training aids is fixed in shaft.
It further, further include the driving structure rotated for controlling shaft, the driving structure includes driving gear, is used In the motor for driving driving gear rotation, and the driven gear being fixed in shaft, the driving gear and driven gear phase Mutually engagement.
Further, the 3-freedom parallel mechanism includes front end-plate, end plate and is connected to front end-plate and rear end One end of three line handspikes between plate, each line handspike is hinged with end plate by spherical hinge, and the other end passes through flat hinge Hinged with the boss in front end-plate plate face, three line handspikes are in 120 ° and are spaced apart in a circumferential direction.
Further, the shank movement mechanism includes link block, support rod and pushes telescopic rod, the support rod and is pushed away One end of dynamic telescopic rod is respectively hinged on link block, and the other end for pushing telescopic rod is hinged on the middle part of support rod.
The beneficial effects of the present invention are embodied in:
The present invention can enable user sit on the seat, and lower limb pass through each support and fixation member and the healthy training aids of lower limb Binding, then can be cosily by the healthy training aids of lower limb with development lower limb exercise.
The present invention has a wide range of application, it can be achieved that limbs rehabilitation training and exercise under many attitudes such as sitting posture, prone position, stance.
Rehabilitation training mode multiplicity of the present invention, may be implemented synchronous/asynchronous training.
Structure of the invention is compact flexibly, can be occupied little space when not in use with folding shrinking with freedom retractable.
The present invention has controllability, and thigh, shank and foot's three parts can realize that tandem compound can also dismantle progress The rehabilitation training of Fen other Dui Kua, SCID Mice.
The present invention realizes the training of different tracks, different amplitudes, it is made both to have adapted to same position trainer in difference Convalescence and physical training condition exercise the case where, and be able to satisfy different heights trainer carry out rehabilitation and exercise need It asks.
When active training, by adjust motor itself control electric current can resistance link, can be realized active training, not only Convalescence exerciser be can be used as using carrying out rehabilitation limbs, and can be used as health and fitness facilities to build up health.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of the invention.
Fig. 2 is the structural schematic diagram of the healthy training aids of lower limb in one embodiment of the invention and its connection type.
Fig. 3 is the top view of one embodiment of the invention.
The label of each component in attached drawing are as follows: 001 front end-plate, 002 end plate, 003 line handspike, 10 thigh movement mechanisms, 20 shank movement mechanisms, 30 foot motion mechanisms, 40 thigh supports and fixation member, 50 leg supports and fixation member, 60 feet It steps on and pushes telescopic rod, 401 first support bars, 402 thigh pallets, 403 with fixation member, 201 link blocks, 202 support rods, 203 It is thigh bandage, 501 shank pallets, 502 shank bandages, 601 foot-operated, 602 foot's bandages, 70 seats, 701 support frames, 702 flexible Bar, 703 cushions, 704 handrails, 705 backrests, 706 handrail brackets, 707 handrails, 80 connectors, 801 connecting plates, 802 connect Extension bar, 803 link blocks, 804 shafts, 901 driving gears, 902 driven gears.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings:
Referring to figure 1, figure 2 and figure 3.
The healthy plint of multi-pose lower limb of one embodiment of the invention, including seat 70 and the healthy training aids of lower limb；
The healthy training aids of lower limb includes the thigh movement mechanism 10, shank movement mechanism 20 and foot being sequentially connected in series The structure of movement mechanism 30, the thigh movement mechanism 10 and foot motion mechanism 30 is identical, is three-freedom parallel Structure；
Thigh support and fixation member 40, institute are connected between the thigh movement mechanism 10 and shank movement mechanism 20 Shank movement mechanism 20 is stated equipped with leg support and fixation member 50, the front end of the foot motion mechanism 30 is connected with foot-operated With fixation member 60.
In use, user is sitting on seat 70, lower limb are tied up by each support with fixation member and the healthy training aids of lower limb It is fixed, it then can be cosily by the healthy training aids of lower limb with development lower limb exercise.
In the present embodiment, the seat 70 is including support frame 701, cushion structure and is connected to support frame 701 and cushion The telescopic rod 702 for driving cushion structure to go up and down between structure, the healthy training aids of lower limb are arranged on cushion structure. Cushion structure is adjusted to suitable height by telescopic rod 702, to meet the needs of different crowd, it is often more important that, pass through The mode taken exercise under sitting posture and stance may be implemented in elevating cushion structure；When it is implemented, telescopic rod 702 can be it is electronic Line handspike, hydraulic push rod even turbine and worm pair etc., as long as flexible, length is adjustable.
In the present embodiment, the cushion structure includes the left side that cushion 703 and two are separately fixed at cushion 703 The handrail 704 of right two sides.The telescopic rod 702, the seat are respectively connected between the front side and support frame 701 of each handrail 704 Two telescopic rods 702 are connected between the rear side and support frame 701 of pad body 703.In this way, four telescopic rods 702 altogether, structure Simply, and it can guarantee stability in use and the safety of device.
In the present embodiment, the seat 70 includes backrest 705, and the backrest 705 is hinged on the rear side of cushion 703, The overturning of backrest 705 is leaned on to human body is suitable for, and can also be overturn to suitable for human body and be lain low.Design is, it can be achieved that in sitting posture in this way It performs physical exercise under each posture such as prone position, there are many training postures to select for user, and mode multiplicity has a wide range of application, increases Comfort level.When it is implemented, the structure that existing invertible back support can be used realizes the switching of state, for example, by cushion sheet is arranged in Motor driven articulated shaft rotation on body 703, high degree of automation.
In the present embodiment, the bottom of the cushion 703 is equipped with connector 80, and the connector 80 is equipped with shaft 804, the healthy training aids of lower limb is fixed in shaft 804.Using this structure, lower limb can be adjusted by rotating shaft 804 The angle of healthy training aids, to perform physical exercise under sitting posture, prone position, stance with the use of person, 804 mean level of shaft or so cloth It sets, meets the human body lower limbs characteristics of motion.
Certainly, the present invention can not only perform physical exercise under sitting posture, prone position, stance, the transition between these postures It can also perform physical exercise under posture, it is applied widely.
It further include the driving structure for controlling the rotation of shaft 804, the driving structure includes driving tooth in the present embodiment Wheel 901, the motor for driving driving gear 901 to rotate, and the driven gear 902 being fixed in shaft 804, the active Gear 901 and driven gear 902 are intermeshed, and motor and driving gear 901 may be provided on connector 80.This driving side Formula, structure is simple, facilitates control, is easy to implement.
Certainly, the present invention can also not use above-mentioned driving structure, and direct manual rotating shaft 804 is suitable wait go to After angle, locked by limit methods such as pin shafts.
The healthy training aids of a pair of of lower limb is configured in specific implementation, in the present apparatus, to meet the exercise of a double lower limb, in order to just In production, installation, connector 80 is arranged two, and the both ends of shaft 804 pass through bearing respectively and are rotatably installed in two connectors 80 On, and shaft 804 is separated in, the gap of shaft 804 is connected by shaft coupling, and driven gear 902 is arranged in shaft coupling Outside.
In specific implementation, the connector 80 includes connecting plate 801, connecting rod 802 and link block 803, and connecting plate 801 is used It is connect in cushion 703, connecting rod 802 turns forward arrangement, and the upper end of connecting rod 802 and connecting plate 801 are affixed, connection The lower end of bar 802 and link block 803 are affixed, and the shaft 804 is rotatably installed in the bottom of link block 803.This structure design Rationally, connector 80 will not hinder the combination and movement of lower limb and the healthy training aids of lower limb.
In the present embodiment, the cushion 703 is in " Ш " font.Using this structure, human thigh position can be saturating The vacancy of cushion 703 is crossed in conjunction with thigh movement mechanism, design rationally, can greatly simplify apparatus structure, here Described " Ш " font is not necessarily to font to understand, if having two notches corresponding with thigh be accordingly to be regarded as be on Shape is stated, is belonged to the scope of protection of the present invention.
In addition, above-mentioned cushion 703 also can need the training under stance convenient for users to being trained under stance When, cushion structure is increased by telescopic rod 702, the vacancy that thigh position passes through cushion 703 is stood, and passes through driving Then the angle of the healthy training aids of structural adjustment lower limb can carry out the exercise of next step to meet stance needs.
In the present embodiment, the front end of described two handrails 704 is respectively equipped with handrail bracket 706, and a handrail 707 is erected at On the handrail bracket 706 of the front end of two handrails 704.Handrail 707 is used to prevent user from turning forward and generate security risk, Further protect user.
In the present embodiment, one of handrail bracket 706 is rotatably installed in the front end of corresponding handrail 704, handrail 707 One end is hinged on one of handrail bracket 706, and the other end of handrail 707 is detachably secured to another by pin and helps It on bar bracket 706, designs in this way, handrail bracket 706 is not allowed easy to be lost, and can quickly open and close very much, conveniently make User, which enters, to be sitting in cushion, and the practicability of device is substantially increased.
In above structure, 3-freedom parallel mechanism include front end-plate 001, end plate 002 and be connected to front end-plate with One end of three line handspikes 003 between end plate, each line handspike is hinged by spherical hinge and end plate 002, the other end It is hinged by flat hinge and the boss in front end-plate plate face；Also, three line handspikes are in 120 ° of intervals point in a circumferential direction Cloth.Thigh movement mechanism 10 and foot motion mechanism 30 are 3-freedom parallel mechanism, and in other words, each movement mechanism is equal With front end-plate, end plate.
The healthy training aids of lower limb is fixed in shaft 804 with the end plate in thigh movement mechanism 10.
Thigh support and fixation member 40 include: the first support bar 401 connected firmly with the front end-plate of thigh movement mechanism 10, The thigh pallet 402 connected firmly with first support bar, the thigh bandage 403 on thigh pallet 402；The bottom of thigh pallet 402 Face is connect by connector with shank movement mechanism 20.
Every line handspike is by its own motor driven, the length of adjustable line handspike, and three linear motors are same When elongate or shorten the translation that can realize the front end-plate of thigh movement mechanism 10, wherein two line handspikes extend simultaneously or Shortening can realize that 10 front end-plate of thigh movement mechanism is rotated around third root line handspike top.Similarly, Ren Lianggen straight line Push rod stretches, and can realize that the front end-plate of thigh movement mechanism 10 is rotated around third root line handspike top, realize full side The exercise of position.
The operating principle of foot motion mechanism 30 is identical, realizes the training of the different motion track of shank and foot respectively. Also, the movement of parent body will drive the movement of Lower Establishment, for example, the movement of thigh movement mechanism, will drive shank fortune The movement of motivation structure, foot motion mechanism, and so on.
In specific structure setting, above-mentioned shank movement mechanism is not 3-freedom parallel mechanism comprising: link block 201, Support rod 202 and promotion telescopic rod 203, link block 201 are fixed on thigh pallet, the support rod 202 and promotion telescopic rod 203 upper end is respectively hinged on link block 201, and the lower end of the support rod 202 and the end plate of foot motion mechanism 30 are solid Fixed connection, the lower end for pushing telescopic rod 203 are hinged on the middle part of support rod 202；
Above-mentioned leg support includes: the shank pallet 501 being fixedly connected with connecting rod 201, set on small with fixation member 50 Shank bandage 502 on leg support disk；Foot-operated and fixation member 60 includes: to ride with what the front end-plate of foot motion mechanism connected firmly 601 and foot's bandage 602 on foot-operated 601.
For convenience of forming and installing, shank pallet 501 is fixed on support rod 202 by fixed block, pushes telescopic rod 203 Lower end be hinged on the fixed block.
When being trained, shank is taken and is placed on shank movement mechanism 20, and is solid by leg support and fixation member 50 It is fixed, it stretches and pushes telescopic rod 203, support rod 202 can be driven up and down reciprocatingly to rotate, so that shank be driven to lift and fall, obtained It takes exercise.
In the present embodiment, thigh pallet 402 and the bulk U-shaped in general of shank pallet 501 pass through corresponding bandage respectively It is enclosed and limits space, to hold onto thigh or shank.
In movement, wherein the movement of the front end-plate of thigh movement mechanism 10 is transmitted to huckle by first support bar 401 Point, to drive thigh to move, training leg muscle and hip joint, thigh pallet 402 fix thigh with thigh bandage 403, with Thigh pallet 402 act.
Support rod 201 pushes telescopic rod 202 that stretching motion is transmitted to lower leg portion, to drive shank to move, takes exercise small Leg is lifted and is fallen, and training Calf muscle and knee joint, shank pallet 501 fixes shank with shank bandage 502, with shank Pallet 501 acts.In specific setting, telescopic rod can be electric pushrod, hydraulic push rod even turbine and worm pair etc., as long as energy It is flexible.
Human foot is fixed on foot-operated 601 by foot's bandage 602, is driven and is moved by foot motion mechanism, realizes sole Left and right overturning, on carry off and the movement such as fall, training foot muscles and ankle-joint.
In the present embodiment, the movement mechanisms at different levels of the healthy training aids of lower limb are mutually interlocked, the movement meeting of parent body The movement for driving Lower Establishment, for example, the movement of thigh movement mechanism 10, will drive shank movement mechanism 20, foot exercises machine The movement of structure 30, and so on.Certainly, above-mentioned movement mechanism at different levels is also possible to independently of each other, equally can be realized effective forging The purpose of refining.
It should be understood that example as described herein and embodiment are only for explanation, those skilled in the art can make according to it Various modifications or variation belong to protection scope of the present invention in the case where not departing from spirit of the invention.

Claims (6)

1.一种多姿态下肢康健训练椅，其特征在于：包括座椅（70）和下肢康健训练器；1. A multi-position lower limb health training chair, characterized in that: it comprises a seat (70) and a lower limb health training device; 所述下肢康健训练器包括依次串联的大腿运动机构（10）、小腿运动机构（20）以及脚部运动机构（30），所述大腿运动机构（10）以及脚部运动机构（30）的结构相同，均为三自由度并联机构；The lower limb health training device comprises a thigh exercise mechanism (10), a calf exercise mechanism (20) and a foot exercise mechanism (30) connected in series in sequence, and the structure of the thigh exercise mechanism (10) and the foot exercise mechanism (30) The same, all are three-degree-of-freedom parallel mechanisms; 在所述大腿运动机构（10）与小腿运动机构（20）之间连接有大腿支撑与固定部件（40），所述小腿运动机构（20）上设有小腿支撑与固定部件（50），所述脚部运动机构（30）的前端连接有脚踏与固定部件（60）；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 moving mechanism (20) is provided with a lower leg supporting and fixing part (50), so The front end of the foot movement mechanism (30) is connected with a footrest and a fixing part (60); 所述座椅（70）包括支撑架（701）、坐垫结构以及连接在支撑架（701）和坐垫结构之间的用于带动坐垫结构升降的伸缩杆（702），所述坐垫结构的底部设有连接件（80），所述连接件（80）上设有转轴（804），所述下肢康健训练器固定在转轴（804）上，可通过转动转轴（804）调整下肢康健训练器的角度，以配合使用者在坐姿、卧姿、站姿下进行锻炼；The seat (70) includes a support frame (701), a seat cushion structure, and a telescopic rod (702) connected between the support frame (701) and the seat cushion structure for driving the seat cushion structure to rise and fall, and the bottom of the seat cushion structure is provided with a telescopic rod (702). There is a connecting piece (80), the connecting piece (80) is provided with a rotating shaft (804), the lower limb health training device is fixed on the rotating shaft (804), and the angle of the lower limb health training device can be adjusted by rotating the rotating shaft (804). , in order to cooperate with the user to exercise in sitting, lying and standing positions; 所述坐垫结构包括坐垫本体（703），所述坐垫本体（703）呈“Ш”字形；The seat cushion structure includes a seat cushion body (703), and the seat cushion body (703) is in the shape of "Ш"; 所述连接件（80）包括连接板（801）、连接杆（802）和连接块（803），连接板（801）用于与坐垫本体（703）连接，连接杆（802）的上端与连接板（801）固接，连接杆（802）的下端与连接块（803）固接，所述转轴（804）转动安装在连接块（803）的底部；The connecting piece (80) includes a connecting plate (801), a connecting rod (802) and a connecting block (803). The connecting plate (801) is used for connecting with the seat cushion body (703), and the upper end of the connecting rod (802) is connected to The plate (801) is fixedly connected, 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); 还包括用于控制转轴（804）转动的驱动结构，所述驱动结构包括主动齿轮（901），用于带动主动齿轮（901）转动的电机，以及固定在转轴（804）上的从动齿轮（902），所述主动齿轮（901）与从动齿轮（902）相互啮合。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), the driving gear (901) and the driven gear (902) mesh with each other. 2.如权利要求1所述的多姿态下肢康健训练椅，其特征在于：所述座椅（70）包括靠背（705），所述靠背（705）铰接在坐垫结构的后侧。2. The multi-position lower limb health training chair according to claim 1, wherein the seat (70) comprises a backrest (705), and the backrest (705) is hinged on the rear side of the cushion structure. 3.如权利要求1或2所述的多姿态下肢康健训练椅，其特征在于：所述坐垫结构的前侧设有两个间隔布置的扶杆支架（706），一扶手杆（707）架设在两个扶杆支架（706）上。3. The multi-position lower limb health training chair according to claim 1 or 2, characterized in that: the front side of the seat cushion structure is provided with two arm support brackets (706) arranged at intervals, and one arm arm (707) is erected On both Grip Brackets (706). 4.如权利要求3所述的多姿态下肢康健训练椅，其特征在于：所述坐垫结构包括两个分别固定在坐垫本体（703）的左右两侧的扶手（704），两个扶杆支架（706）分别设置在两个扶手（704）的前端，且其中一个扶杆支架（706）转动安装在相应扶手（704）的前端，扶手杆（707）的一端铰接在该其中一个扶杆支架（706）上，扶手杆（707）的另一端可拆卸固定在另一个扶杆支架（706）上。4. The multi-position lower limb health training chair according to claim 3, wherein the cushion structure comprises 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 armrests (704), and one of the armrest brackets (706) is rotatably installed at the front end of the corresponding armrest (704), and one end of the armrest bar (707) is hinged to the one armrest bracket (706), the other end of the handrail (707) is detachably fixed on another handrail bracket (706). 5.如权利要求1或2所述的多姿态下肢康健训练椅，其特征在于：所述三自由度并联机构包括前端板（001）、后端板（002）以及连接在前端板（001）与后端板（002）之间的三根直线推杆（003），各直线推杆（003）的一端通过球铰链与后端板（002）铰接，另一端通过平铰链与前端板（001）板面上的凸台铰接；三根直线推杆（003）在圆周方向上呈120°间隔分布。5. The multi-position lower limb health training chair according to claim 1 or 2, wherein the three-degree-of-freedom parallel mechanism comprises a front end plate (001), a rear end plate (002), and a front end plate (001) connected to the front end plate (001). 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 hinged 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 120° intervals in the circumferential direction. 6.如权利要求1或2所述的多姿态下肢康健训练椅，其特征在于：所述小腿运动机构（20）包括连接块（201）、支撑杆（202）和推动伸缩杆（203），所述支撑杆（202）和推动伸缩杆（203）的一端分别铰接在连接块（201）上，所述推动伸缩杆（203）的另一端铰接在支撑杆（202）的中部。6. The multi-position lower limb health training chair according to claim 1 or 2, characterized in that: the calf exercise mechanism (20) comprises a connecting block (201), a support rod (202) and a push telescopic rod (203), One ends of the support rod (202) and the push telescopic rod (203) are hinged on the connecting block (201) respectively, and the other end of the push telescopic rod (203) is hinged at the middle of the support rod (202).
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