CN110547944B - Walking Gait Correction Trainer for Hemiplegia Patients - Google Patents
Walking Gait Correction Trainer for Hemiplegia Patients Download PDFInfo
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- CN110547944B CN110547944B CN201910806165.0A CN201910806165A CN110547944B CN 110547944 B CN110547944 B CN 110547944B CN 201910806165 A CN201910806165 A CN 201910806165A CN 110547944 B CN110547944 B CN 110547944B
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- 230000005021 gait Effects 0.000 title claims abstract description 37
- 238000012937 correction Methods 0.000 title claims abstract description 30
- 206010019468 Hemiplegia Diseases 0.000 title claims abstract 4
- 230000007246 mechanism Effects 0.000 claims abstract description 47
- 238000012549 training Methods 0.000 claims abstract description 21
- 230000005540 biological transmission Effects 0.000 claims description 29
- 210000003141 lower extremity Anatomy 0.000 abstract description 22
- 230000000694 effects Effects 0.000 abstract description 20
- 230000033001 locomotion Effects 0.000 abstract description 15
- 210000004394 hip joint Anatomy 0.000 abstract description 14
- 210000000629 knee joint Anatomy 0.000 abstract description 14
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 13
- 238000011084 recovery Methods 0.000 abstract description 7
- 238000000034 method Methods 0.000 description 32
- 230000008569 process Effects 0.000 description 32
- 210000002414 leg Anatomy 0.000 description 21
- 210000002683 foot Anatomy 0.000 description 13
- 238000004088 simulation Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
- A61H1/0262—Walking movement; Appliances for aiding disabled persons to walk
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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
- 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
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
本发明公开了偏瘫患者走路步态纠正训练器，涉及步态纠正技术领域，包括底板，所述底板的上表面固定连接有伸缩机构和扶手架，所述伸缩机构的伸缩部固定连接有座椅，所述底板的上表面还固定连接有抬腿机构，所述抬腿机构上固定安装有抬脚机构。本发明，通过上述等结构之间的配合，具备了可同时模拟了人行走时髋关节、膝关节和踝关节的运动轨迹，进而提高了步态恢复的效果，解决了传统的偏瘫患者走路步态纠正训练器大多是通过驱动髋关节和膝关节来实现步态纠正训练，而无法模拟人体下肢在正常行走过程中踝关节的运动轨迹，使得步态纠正康复训练与正常人体下肢的行走姿态轨迹不一致，从而导致训练效果不佳的问题。
The invention discloses a walking gait correction trainer for hemiplegia patients, which relates to the technical field of gait correction. The upper surface of the bottom plate is also fixedly connected with a leg-lifting mechanism, and a foot-lifting mechanism is fixedly installed on the leg-lifting mechanism. The present invention, through the cooperation of the above structures, can simultaneously simulate the motion trajectory of the hip joint, knee joint and ankle joint when a person walks, thereby improving the effect of gait recovery and solving the problem of traditional walking steps for hemiplegic patients. Most of the gait correction trainers realize gait correction training by driving the hip and knee joints, but cannot simulate the motion trajectory of the ankle joint of the lower limbs of the human body during normal walking, so that the gait correction rehabilitation training and the walking posture trajectory of the normal human lower limbs Inconsistency, which leads to the problem of poor training effect.
Description
Technical Field
The invention relates to the technical field of gait correction, in particular to a walking gait correction trainer for hemiplegic patients.
Background
Most of the traditional walking gait correction trainers for hemiplegic patients realize gait correction training by driving hip joints and knee joints, but cannot simulate the movement track of ankle joints of lower limbs of human bodies in the normal walking process, so that the gait correction rehabilitation training is inconsistent with the walking posture track of the lower limbs of the normal human bodies, and the training effect is poor.
Disclosure of Invention
The walking gait correction trainer for hemiplegic patients has the advantages that the walking gait correction trainer can simultaneously simulate the movement tracks of hip joints, knee joints and ankle joints when people walk, further improves the gait recovery effect, and solves the problem that most of the walking gait correction trainers for hemiplegic patients realize gait correction training by driving the hip joints and the knee joints, cannot simulate the movement tracks of the ankle joints of lower limbs of human bodies in the normal walking process, so that the walking posture tracks of the walking rehabilitation training and the lower limbs of the normal human bodies are inconsistent, and the training effect is poor.
In order to achieve the purpose, the invention provides the following technical scheme: the walking gait correction trainer for hemiplegic patients comprises a bottom plate, wherein the upper surface of the bottom plate is fixedly connected with a telescopic mechanism and an armrest frame, the telescopic part of the telescopic mechanism is fixedly connected with a seat, the upper surface of the bottom plate is also fixedly connected with a leg lifting mechanism, and the leg lifting mechanism is fixedly provided with a leg lifting mechanism.
The leg lifting mechanism comprises a supporting plate, a motor, a first transmission arm and a pedal plate, the supporting plate is fixedly installed on the upper surface of the bottom plate, the motor is fixedly installed on one side, away from the telescopic mechanism, of the supporting plate, one end, away from the motor, of the first transmission arm is hinged to the supporting plate, a second transmission arm is fixedly connected to a shaft arm of an output shaft of the motor, one end, close to the motor, of the first transmission arm is rotatably connected with a first connecting shaft through bearing matching, one end, away from the motor, of the second transmission arm is rotatably connected with a second connecting shaft through bearing matching, one ends, away from the supporting plate, of the first connecting shaft and the second connecting shaft are rotatably connected with a linkage block through bearing matching, and the pedal plate is fixedly installed on the linkage block through a leg lifting mechanism.
Preferably, the foot lifting mechanism comprises a fixed plate, a gear, a first bevel gear, a second bevel gear, a reciprocating screw and a support arm, the fixed plate is fixedly connected to the upper surface of the base plate, two ends of the reciprocating screw are rotatably connected to the linkage block through bearings in a matched manner, the gear and the first bevel gear are fixedly connected to a shaft arm of the second connecting shaft, the second bevel gear is fixedly connected to a shaft arm at one end of the reciprocating screw close to the first bevel gear, the second bevel gear is in meshed connection with the first bevel gear, the support arm is fixedly connected to the upper surface of the linkage block, an inner gear ring is fixedly connected to the upper surface of the fixed plate, the gear is in meshed connection with the inner gear ring, a lifting plate is hinged to the upper end of the support arm, a pedal plate is fixedly connected to the upper surface of the lifting plate, and a reciprocating screw sleeve is sleeved on the outer side surface of the reciprocating screw, the upper end of the reciprocating threaded sleeve is hinged with a linkage arm, and the upper end of the linkage arm is hinged with the right end of the lifting plate.
Preferably, the number of the leg lifting mechanisms is two, and the two leg lifting mechanisms are symmetrically distributed in a front-back axial mode by taking the telescopic mechanisms as symmetrical axes.
Preferably, the telescopic mechanism is an electric push rod or a hydraulic rod.
Compared with the prior art, the invention has the following beneficial effects:
the invention simulates the movement track of the hip joint and the knee joint of the lower limb when walking through the operation of the output shaft of the motor by arranging the supporting plate, the motor, the first transmission arm, the second transmission arm, the first connecting shaft, the second connecting shaft, the linkage block and the pedal.
The walking ankle joint device simulates the movement track of the walking ankle joint of a person and improves the gait recovery effect through the fixing plate, the gear, the first bevel gear, the second bevel gear, the reciprocating screw rod, the supporting arm, the inner gear ring, the lifting plate, the reciprocating screw sleeve and the linkage arm.
The two leg lifting mechanisms are arranged in a front-rear axis symmetrical distribution mode by taking the telescopic mechanisms as symmetrical axes, so that a patient can conveniently carry out synchronous training on the two lower limbs of the patient, and the output shafts of the two motors are sequentially driven in the training process, so that the process that the two lower limbs operate sequentially when the patient walks is simulated.
In conclusion, the walking gait correction trainer can simulate the movement tracks of the hip joint, the knee joint and the ankle joint of a person during walking, further improves the gait recovery effect, and solves the problem that most of walking gait correction trainers for the hemiplegic patients realize gait correction training by driving the hip joint and the knee joint and cannot simulate the movement track of the ankle joint of the lower limbs of the person during normal walking, so that the walking posture track of the gait correction rehabilitation training is inconsistent with the walking posture track of the lower limbs of the person, and the training effect is poor.
Drawings
FIG. 1 is a front view of the structure of the present invention;
FIG. 2 is a top view of a partial structure of the present invention;
FIG. 3 is a front view of a partial structure of the present invention;
FIG. 4 is a structural diagram of the reciprocating screw sleeve after moving to the middle of the reciprocating screw rod according to the present invention;
FIG. 5 is a view showing the state of the reciprocating screw insert of the present invention after moving to the leftmost end of the reciprocating screw.
In the figure: 1-bottom plate, 2-telescopic mechanism, 3-handrail frame, 4-seat, 5-leg lifting mechanism, 6-foot lifting mechanism, 7-supporting plate, 8-motor, 9-first transmission arm, 10-second transmission arm, 11-first connecting shaft, 12-second connecting shaft, 13-linkage block, 14-pedal, 15-fixing plate, 16-gear, 17-first bevel gear, 18-second bevel gear, 19-reciprocating screw, 20-supporting arm, 21-internal gear ring, 22-lifting plate, 23-reciprocating screw sleeve and 24-linkage arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 5, the present invention provides a technical solution: a walking gait correction trainer for hemiplegic patients comprises a bottom plate 1, wherein the upper surface of the bottom plate 1 is fixedly connected with a telescopic mechanism 2 and an armrest frame 3, the telescopic part of the telescopic mechanism 2 is fixedly connected with a seat 4, the upper surface of the bottom plate 1 is also fixedly connected with a leg lifting mechanism 5, and the leg lifting mechanism 5 is fixedly provided with a foot lifting mechanism 6.
The leg lifting mechanism 5 comprises a support plate 7, a motor 8, a first transmission arm 9 and a pedal plate 14, an elastic strap for fixing the position of the feet is arranged on the pedal plate 14, so that the feet of a user can move along with the pedal plate 14, the support plate 7 is fixedly arranged on the upper surface of the bottom plate 1, the motor 8 is fixedly arranged on one side of the support plate 7 far away from the telescopic mechanism 2, one end of the first transmission arm 9 far away from the motor 8 is hinged with the support plate 7, a shaft arm of an output shaft of the motor 8 is fixedly connected with a second transmission arm 10, one end of the first transmission arm 9 close to the motor 8 is rotatably connected with a first connecting shaft 11 in a matching way through a bearing, one end of the second transmission arm 10 far away from the motor 8 is rotatably connected with a second connecting shaft 12 in a matching way through a bearing, one end of the first connecting shaft 11 and the second connecting shaft 12 far away from the support plate 7 is rotatably connected with a linkage block 13 in a matching way through a bearing, the pedal plate 14 is fixedly arranged on the linkage block 13 through the leg lifting mechanism 6, in use, the patient is moved to the chair 4, and then steps on the two pedals 14 with both feet, meanwhile, the patient can cover the armrest frame 3 by both hands to avoid the self-dumping phenomenon, and then the operation of the output shaft of the motor 8 is carried out, the second transmission arm 10 rotates counterclockwise, and the process of rotating counterclockwise by the second transmission arm 10 is transmitted by the first transmission arm 9, the first connection shaft 11 and the second connection shaft 12, the linkage block 13 is enabled to translate (the translation track is a circle formed by the rotation of the second connecting shaft 12 by taking the output shaft of the motor 8 as the circle center), the pedal plates 14 are enabled to translate synchronously in the translation process of the linkage block 13, so that the effects of lifting and lowering the legs of the patient during the simulation walking of the lower limbs are realized, and through the processes of lifting legs and putting down, the movement tracks of the hip joints and the knee joints of the lower limbs when walking are simulated.
Preferably, the foot lifting mechanism 6 comprises a fixed plate 15, a gear 16, a first bevel gear 17, a second bevel gear 18, a reciprocating screw 19 and a support arm 20, the fixed plate 15 is fixedly connected to the upper surface of the base plate 1, both ends of the reciprocating screw 19 are rotatably connected to the linkage block 13 through bearings in a matching manner, the gear 16 and the first bevel gear 17 are fixedly connected to a shaft arm of the second connecting shaft 12, the second bevel gear 18 is fixedly connected to a shaft arm of the reciprocating screw 19 near one end of the first bevel gear 17, the second bevel gear 18 is in meshing connection with the first bevel gear 17, the support arm 20 is fixedly connected to the upper surface of the linkage block 13, an inner toothed ring 21 is fixedly connected to the upper surface of the fixed plate 15, the gear 16 is in meshing connection with the inner toothed ring 21, the upper end of the support arm 20 is hinged to a lifting plate 22, the pedal plate 14 is fixedly connected to the upper surface of the lifting plate 22, a reciprocating screw 23 is sleeved on the outer side surface of the reciprocating screw 19, the upper end of the reciprocating screw sleeve 23 is hinged with a linkage arm 24, the upper end of the linkage arm 24 is hinged with the right end of the lifting plate 22, the first conical gear 17 rotates through the process that the second connecting shaft 12 rotates along the anticlockwise direction of the output shaft of the motor 8 and through the process that the gear 16 is in meshing transmission with the inner toothed ring 21, the second conical gear 18 synchronously rotates through the process that the gear 16 rotates and through the linkage of the second connecting shaft 12, the reciprocating screw rod 19 synchronously rotates through the process that the first conical gear 17 rotates and through the process that the first conical gear 17 is in meshing transmission with the second conical gear 18, the reciprocating screw sleeve 23 reciprocates left and right through the process that the reciprocating screw rod 19 rotates and through the sleeved relation between the reciprocating screw rod 19 and the reciprocating screw sleeve 23, the reciprocating screw sleeve 23 reciprocates left and right, and through the process that the reciprocating screw sleeve 23 reciprocates left and right and through the linkage of the linkage arm 24, the lifting plate 22 swings around the hinge point between the lifting plate 22 and the support arm 20, and the pedal 14 swings synchronously by the swinging process of the lifting plate 22, and the swinging track of the pedal 14 is as follows: assuming that the state shown in fig. 1 starts, the second connecting shaft 12 starts to rotate counterclockwise by forty-five degrees, in the process, the linkage block 13 moves leftward while moving upward, and the reciprocating screw 23 moves leftward along the reciprocating screw 19, so that the pedal 14 moves forward while lifting, and the pedal 14 rotates clockwise around the hinge point between the lifting plate 22 and the supporting arm 20 to the state shown in fig. 4; with the continuous counterclockwise rotation of the second connecting shaft 12 by forty-five degrees, in the process, the linkage block 13 moves leftwards while moving downwards, and meanwhile the reciprocating screw sleeve 23 moves leftwards continuously along the reciprocating screw rod 19, so that the pedal plate 14 moves forwards while lifting, and the pedal plate 14 continues to rotate clockwise to the state shown in fig. 5 by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center, so that the purpose that when a person walks, the lower limbs move forwards while lifting the tiptoes (the purpose that the lower limbs move forwards while lifting the tiptoes is to facilitate the simulation of the effect that the heels land first when a foot is subsequently dropped) is simulated; then, as the second connecting shaft 12 continues to rotate counterclockwise by forty-five degrees, in the process, the linkage block 13 moves downwards and moves rightwards, and meanwhile, the reciprocating screw sleeve 23 moves rightwards along the reciprocating screw rod 19, so that when the pedal plate 14 is put down, the pedal plate 14 continues to rotate counterclockwise to the state shown in fig. 4 by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center, and the effect that the heel firstly lands when a person walks and lands is simulated; then, the linkage block 13 continuously rotates counterclockwise for forty-five degrees along with the continuous counterclockwise rotation of the second connecting shaft 12, and in the process, the linkage block 13 moves rightward while moving upward, and meanwhile, the reciprocating screw sleeve 23 continuously moves rightward along the reciprocating screw rod 19, so that when the pedal plate 14 is lifted, the pedal plate 14 continuously rotates counterclockwise by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center and returns to the state shown in fig. 1, the effect of lifting the heel of a person when lifting the foot is simulated, the movement tracks of the hip joint, the knee joint and the ankle joint when the person walks are simulated by the operation of the output shaft of the motor 8 in such a reciprocating manner, and the gait recovery effect is improved.
Preferably, the number of the leg lifting mechanisms 5 is two, the two leg lifting mechanisms 5 are symmetrically distributed in a front-rear direction by taking the telescopic mechanism 2 as a symmetric axis, the two leg lifting mechanisms 5 are arranged, so that a patient can conveniently and synchronously train the two lower limbs of the patient, and the output shafts of the two motors 8 are sequentially driven in the training process, so that the process that the two lower limbs operate sequentially when the person walks is simulated.
Preferably, telescopic machanism 2 is electric putter or hydraulic stem, and through the electric putter or the hydraulic stem that set up, is convenient for adjust the height of seat 4 to different height users' demand has been adapted to.
In conclusion, the walking gait correction trainer can simulate the movement tracks of the hip joint, the knee joint and the ankle joint of a person during walking, further improves the gait recovery effect, and solves the problem that most of walking gait correction trainers for the hemiplegic patients realize gait correction training by driving the hip joint and the knee joint and cannot simulate the movement track of the ankle joint of the lower limbs of the person during normal walking, so that the walking posture track of the gait correction rehabilitation training is inconsistent with the walking posture track of the lower limbs of the person, and the training effect is poor.
The working principle is as follows: when the walking gait correction trainer for hemiplegic patients is used, the patients are moved to the seat 4, then two feet are respectively stepped on the two foot pedals 14, meanwhile, the patients can cover the handrail frame 3 by two hands to avoid the phenomenon of self dumping, then the second transmission arm 10 is rotated anticlockwise through the operation of the output shaft of the motor 8, the second transmission arm 10 rotates anticlockwise and is transmitted by the first transmission arm 9, the first connecting shaft 11 and the second connecting shaft 12, so that the linkage block 13 translates (the translation track is a circle formed by the rotation of the second connecting shaft 12 by taking the output shaft of the motor 8 as a circle center), the foot pedals 14 synchronously translate through the translation process of the linkage block 13, the effects of leg lifting and leg lowering during the simulation walking of the lower limbs of the patients are realized, and the motion tracks during the walking of hip joints and knee joints are simulated through the processes of leg lifting and leg lowering, meanwhile, the gear 16 rotates in the process that the second connecting shaft 12 rotates in the counterclockwise direction of the output shaft of the motor 8 and the gear 16 and the inner toothed ring 21 are in meshing transmission, the first conical gear 17 rotates in the process that the gear 16 rotates and the second connecting shaft 12 are in linkage, the first conical gear 17 rotates in the process that the first conical gear 17 rotates and the first conical gear 17 and the second conical gear 18 are in meshing transmission, the second conical gear 18 rotates synchronously, the reciprocating screw rod 19 rotates synchronously in the process that the second conical gear 18 rotates, the reciprocating screw rod 19 rotates and the reciprocating screw sleeve 23 reciprocates leftwards and rightwards, the linkage arm 24 lifts in linkage, and the movable plate 22 swings with the hinge point between the lifting plate 22 and the supporting arm 20 as the circle center, the pedal 14 is synchronously swung by the swinging process of the lifting plate 22, and the swinging track of the pedal 14 is as follows: assuming that the state shown in fig. 1 starts, the second connecting shaft 12 starts to rotate counterclockwise by forty-five degrees, in the process, the linkage block 13 moves leftward while moving upward, and the reciprocating screw 23 moves leftward along the reciprocating screw 19, so that the pedal 14 moves forward while lifting, and the pedal 14 rotates clockwise around the hinge point between the lifting plate 22 and the supporting arm 20 to the state shown in fig. 4; with the continuous counterclockwise rotation of the second connecting shaft 12 by forty-five degrees, in the process, the linkage block 13 moves leftwards while moving downwards, and meanwhile the reciprocating screw sleeve 23 moves leftwards continuously along the reciprocating screw rod 19, so that the pedal plate 14 moves forwards while lifting, and the pedal plate 14 continues to rotate clockwise to the state shown in fig. 5 by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center, so that the purpose that when a person walks, the lower limbs move forwards while lifting the tiptoes (the purpose that the lower limbs move forwards while lifting the tiptoes is to facilitate the simulation of the effect that the heels land first when a foot is subsequently dropped) is simulated; then, as the second connecting shaft 12 continues to rotate counterclockwise by forty-five degrees, in the process, the linkage block 13 moves downwards and moves rightwards, and meanwhile, the reciprocating screw sleeve 23 moves rightwards along the reciprocating screw rod 19, so that when the pedal plate 14 is put down, the pedal plate 14 continues to rotate counterclockwise to the state shown in fig. 4 by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center, and the effect that the heel firstly lands when a person walks and lands is simulated; then, the linkage block 13 continuously rotates counterclockwise for forty-five degrees along with the continuous counterclockwise rotation of the second connecting shaft 12, and in the process, the linkage block 13 moves rightward while moving upward, and meanwhile, the reciprocating screw sleeve 23 continuously moves rightward along the reciprocating screw rod 19, so that when the pedal plate 14 is lifted, the pedal plate 14 continuously rotates counterclockwise by taking a hinge point between the lifting plate 22 and the supporting arm 20 as a circle center and returns to the state shown in fig. 1, the effect of lifting the heel of a person when lifting the foot is simulated, the movement tracks of the hip joint, the knee joint and the ankle joint when the person walks are simulated by the operation of the output shaft of the motor 8 in such a reciprocating manner, and the gait recovery effect is improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (3)
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| CN201910806165.0A CN110547944B (en) | 2019-08-28 | 2019-08-28 | Walking Gait Correction Trainer for Hemiplegia Patients |
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| CN201910806165.0A CN110547944B (en) | 2019-08-28 | 2019-08-28 | Walking Gait Correction Trainer for Hemiplegia Patients |
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| CN110974618B (en) * | 2019-12-12 | 2024-11-26 | 上海理工大学 | A sit-stand dual-purpose walking training aid |
| CN110876663A (en) * | 2019-12-23 | 2020-03-13 | 深圳市尚荣医用工程有限公司 | Take intelligent wheelchair of low limbs rehabilitation training function |
| CN111903554B (en) * | 2020-08-03 | 2024-06-11 | 天津理工大学 | Small pig stair climbing simulation device |
| CN113397917B (en) * | 2021-07-21 | 2022-08-23 | 侯祥芳 | Rehabilitation physiotherapy equipment for clinical operation of general surgery department |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| DE4413327A1 (en) * | 1994-04-18 | 1995-10-19 | Christoph Dipl Phys D Steinert | Appts. for promotion of blood circulation through lower limbs |
| US9901505B2 (en) * | 2010-12-03 | 2018-02-27 | David L Bombard | Continuous passive motion device |
| CN205163560U (en) * | 2015-10-12 | 2016-04-20 | 哈尔滨工程大学 | Multi -functional gait rehabilitation training device |
| CN205235269U (en) * | 2015-12-28 | 2016-05-18 | 芜湖天人智能机械有限公司 | Variable orbit subtracts heavily recovered robot |
| KR101936715B1 (en) * | 2016-10-31 | 2019-01-09 | 김영기 | rehabilitation medicine apparatus for curve exercise |
| CN206630838U (en) * | 2016-11-09 | 2017-11-14 | 天津大学 | The four limbs linkage recovery exercising robot of normal gait track can be achieved |
| CN107789162B (en) * | 2017-12-04 | 2019-11-15 | 河南科技大学 | A stepping device for a gait rehabilitation robot |
| CN108309694B (en) * | 2018-03-02 | 2023-12-19 | 合肥哈工力训智能科技有限公司 | Foot-driven lower limb rehabilitation training device |
| CN108652925B (en) * | 2018-05-11 | 2019-11-26 | 王兵 | A kind of walking aid rehabilitation and gait correction system |
| CN109009869B (en) * | 2018-07-11 | 2019-10-18 | 燕山大学 | A kind of hip joint rehabilitation trainer |
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