CN111388275A - A kind of lower limb muscle rehabilitation training device - Google Patents

Abstract

The invention belongs to a rehabilitation trainer, in particular to a lower limb muscle rehabilitation trainer which comprises a base, two support columns and a support frame which are sequentially connected, wherein the two support columns are arranged in parallel, an exoskeleton training mechanism is arranged on the two support columns, a telescopic loop bar is arranged on the support frame towards the base, the telescopic loop bar comprises a sleeve I, a sleeve II, a sleeve III and a sleeve IV which are sequentially sleeved from large to small, the top of the sleeve I is fixedly connected with the support frame, a trunk binding mechanism is fixedly arranged on the sleeve II, a positioning block I is arranged at the end part of the sleeve IV, a positioning block II detachably connected with the positioning block I is arranged at one end of the sleeve II close to the base, a positioning hole correspondingly matched with the positioning block I is arranged on the base, a driving mechanism II is arranged on the support frame towards the base, the output end of the driving mechanism II is connected with the trunk binding, the patient's butt joint of being convenient for guarantees stability, provides muscle rehabilitation training and closed chain motion training simultaneously.

Description

A kind of lower limb muscle rehabilitation training device

technical field

The invention belongs to a rehabilitation training device, in particular to a lower limb muscle rehabilitation training device.

Background technique

With the acceleration of the aging process of my country's population, there are a large number of patients with cerebrovascular diseases in the elderly population, such as head injury, stroke, etc. In addition, the deterioration of joint function leads to inconvenience of movement and further causes other health problems. It is also a problem faced by the elderly. . For patients with central nervous system damage or lower extremity motor dysfunction after orthopaedic surgery, especially after joint-related surgery, long-term bed rest or immobility may easily lead to weakened or severe degeneration of the motor function of the limbs, especially the muscles of the lower extremities. , Scientific and reasonable sports rehabilitation exercise is an effective solution to the above problems.

For the recovery of muscle motor function, it can be roughly divided into three processes: in the early stage of the disease, it is often the state of muscle weakness or severe reduction of muscle motor function. "One-on-one" passive movement of the patient's injured limb, or with some assisting devices; with the recovery of muscle strength and function, the patient can complete the movement of the limb independently in the mid-stage, but the strength can only resist the gravity of the limb It has a positive effect on maintaining the range of motion of the joints and restoring muscle coordination. The muscle function of the patients in the recovery period is further restored, and the patients need to further restore the muscle strength through resistance training. It is important to What is important is that this stage also needs to focus on restoring its function, that is, the coordination between muscle groups during exercise, so there are corresponding requirements for the direction, resistance strength and range of activities of muscle training in order to ensure the best effect. And not injured in sports.

However, in clinical operations, the rehabilitation of the three stages of muscle function recovery is often used by "pure manual" or with the help of some rehabilitation instruments in different parts. Provide resistance exercise and other methods to complete, and often because there is no strong protective device, patients and medical staff are more conservative in training due to fear of secondary injury. Using nursing staff to assist and guide rehabilitation exercises has the disadvantage of time-consuming and labor-intensive manual nursing. The actual effect of popularized treatment is not ideal, and long-term manual nursing is expensive. Through technical search, it was found that there are some devices for lower limb rehabilitation training, but the existing devices generally have the following defects: small limb rehabilitation equipment can only perform single-joint reciprocating motion, and one device cannot meet the needs of patients of different sizes. The effect is not ideal; the combined use of several devices cannot accurately provide power-assisted and resistance training modes; the equipment for training in sitting and lying postures cannot be fully adapted to improve the lower extremity weight-bearing function, and the equipment that provides lower extremity functional training is rarely seen standing, which is inconvenient for training. Provide protection for patients, especially those with poor early balance function who are prone to fall injuries; the exoskeleton lower limb training robot is a highly automated rehabilitation training instrument, and relevant technical research is being carried out at home and abroad. In general, there are shortcomings such as immature technology, high purchase and treatment costs, etc., which cannot meet the needs of practical applications, and are not conducive to the promotion of rehabilitation training technology.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a lower limb muscle rehabilitation trainer that can adapt to different training modes.

The content of the present invention includes a base, a support column and a bracket connected in sequence, two of the support columns are arranged in parallel with each other, an exoskeleton training mechanism is arranged on the two support columns, and a telescopic sleeve rod is arranged on the bracket towards the base, The telescopic sleeve rod includes sleeve I, sleeve II, sleeve III and sleeve IV which are sleeved in order from large to small, the top of the sleeve I is fixedly connected with the bracket, and the sleeve II is fixedly provided with a torso restraint The end of the sleeve IV is provided with a positioning block I, the end of the sleeve II close to the base is provided with a positioning block II that is detachably connected to the positioning block I, and the base is provided with a positioning hole corresponding to the positioning block I. , the bracket is provided with a drive mechanism II toward the base, and the output end of the drive mechanism II is connected with the torso restraint mechanism.

Furthermore, the bottom plate is also provided with a sliding card plate that restricts the position of the positioning block I after the positioning block I cooperates with the positioning hole.

Further, one of the support columns can be relatively close to or away from the other support column along the base and the bracket. A crotch strap and a knee strap are detachably arranged at the crotch and knees, the thigh mechanism is slidably arranged on the support column through the slider, and the support column is provided with a drive mechanism I that drives the exoskeleton training mechanism to move up and down along the support column , the output end of the drive structure I is fixedly connected with the slider.

Further, the crotch straps and the knee straps are provided with clamping blocks, and the corresponding positions of the thigh mechanism and the calf mechanism are provided with clamping grooves, and the clamping blocks slide into the clamping grooves to complete the fixation, or, the crotch is tied. Iron blocks are arranged on the belt and the knee straps, and electromagnets are arranged at corresponding positions of the thigh mechanism and the calf mechanism, and the electromagnets are turned on to absorb the iron blocks to complete the fixation.

Further, the thigh mechanism includes a telescopic rod I and a motor I, the motor I is fixedly arranged on the slider, and is disposed toward another support column, and one end of the telescopic rod I is fixedly connected to the output shaft of the motor I.

Further, the thigh mechanism also includes a motor II, a rotating block and a rotating shaft, the motor II is fixedly arranged on the other end of the telescopic rod I, and is disposed toward the base, the rotating block and the telescopic rod I are rotatably connected through the rotating shaft, and the rotating shaft is rotatably connected. A driven gear is arranged on the upper, and the output shaft of the motor II is arranged with a driving gear that meshes with the driven gear.

Further, the calf mechanism includes a telescopic rod II, a motor III, a foot rest and a motor VI, the motor III is fixedly arranged on the rotating block and is disposed toward another support column, and one end of the telescopic rod II is connected to the motor III. The output shaft is fixedly connected, the motor VI is arranged at the bottom of the telescopic rod II, and is arranged towards another support column, and the foot support is fixedly connected with the output shaft of the motor VI.

The invention also includes a resistance mechanism, the resistance mechanism includes an installation box arranged at the bottom of the slider, two guide sleeves are arranged in parallel in the installation box, tension springs are arranged in the guide sleeve, and the two tension springs extend out One end of the guide sleeve is connected with a connecting cylinder, one end of the tension spring is fixedly connected with the installation box, and the other end is fixedly connected with the connecting cylinder. The mating block is provided with a socket corresponding to the plug.

The present invention also includes a lateral abduction and adduction mechanism for lower limbs. The lateral abduction and adduction mechanism for lower limbs includes a square bellows arranged on the telescopic rod I and/or the telescopic rod II and a crank rocker mechanism. The telescopic rod I and/or The telescopic rod II is divided into two sections by the square bellows and connected into one by the square bellows. The frame of the crank-rocker mechanism is arranged on the upper section of the telescopic rod I and/or the telescopic rod II, and the end of the rocker is away from the frame. It is arranged to be hinged with the lower telescopic rod I and/or the telescopic rod II, and the frame is also provided with a motor V that drives the crank to rotate.

Further, a spacer is slidably provided on the base at the front side of the exoskeleton training mechanism.

The beneficial effect of the present invention is,

The present invention can provide lower extremity muscle rehabilitation training and lower extremity closed-chain exercise training, which expands the needs of single-joint function training for lower extremity rehabilitation patients; the trunk restraint mechanism cooperates with the telescopic sleeve rod and the driving mechanism II, which not only facilitates the docking between the patient and the training device, but also facilitates the connection between the patient and the training device. It can ensure the stability of the trunk restraint mechanism during training; it can also move down or rise with the patient's back during the closed-chain exercise training of the lower limbs, so as to realize the weight-bearing squat training of the patient. During external exercise training, the sleeves III and IV of the telescopic sleeve are retracted into the sleeve II, to prevent the sleeves III and IV from hindering the wearing convenience of the trunk restraint mechanism and prevent the sleeves III and IV from hindering. In the training when the lower limbs walk backwards, during the closed chain training of the lower limbs, the sleeves III and IV are extended and connected with the base to improve the stability of the trunk restraint mechanism, share the bending force of the driving mechanism II, and at the same time. , the trunk restraint mechanism simultaneously provides real-time protection to the patient and correction of the upright position of the trunk; the present invention provides the overall weight-bearing movement of the lower limbs, carries out the muscle rehabilitation training of the lower limbs, and is closer to the real lower limb movement function;

In the present invention, two exoskeleton training mechanisms are slidably arranged on two support columns to fit patients with different leg lengths for training. The skeletal training mechanism includes a thigh mechanism and a calf mechanism that are connected in sequence and can be stretched in length, which can adapt to patients with different thigh and calf lengths, so as to adapt to patients of different body types, improve the adaptability of the trainer and the stability after binding, Improve the effect of rehabilitation training;

The exoskeleton training mechanism of the present invention realizes the walking training of the lower limbs respectively through the motor I and the motor III, realizes the internal rotation and external rotation movement through the motor II, and realizes the abduction and adduction movement of the legs or the soles of the feet through the motor V and the motor VI respectively. The use requirements, training methods and range of activities in different rehabilitation periods can be precisely controlled by controlling the working order, rotation angle and rotation direction of each motor to achieve precise rehabilitation of lower extremity functions, and also expand the needs of single-joint functional training for lower extremity rehabilitation patients. ;

The resistance mechanism is set up, and the resistance mechanism is easy to connect and separate, which can provide the resistance exercise and power-assisted exercise required for the rehabilitation training of the lower limb function, and can adapt to the needs of patients in different rehabilitation periods;

The base is located on the front side of the exoskeleton training mechanism to slide and set the spacer, so that the entire weight of the patient can be placed on the spacer during the closed-chain training of the lower limbs, so as to ensure the stability of the exoskeleton training mechanism, so that the present invention can be used for ultra-early stage patients. The adaptive training can also be used to improve the lower extremity function of patients in the later stage.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a partial enlarged view of A in FIG. 1 .

Figure 3 is a schematic diagram of the structure of the resistance mechanism.

FIG. 4 is a front view of the exoskeleton training mechanism of the present invention.

FIG. 5 is a partial enlarged view of B in FIG. 4 .

FIG. 6 is a partial enlarged view of C in FIG. 4 .

FIG. 7 is a left side view of the exoskeleton training mechanism of the present invention.

FIG. 8 is a schematic structural diagram of the present invention during lower limb muscle rehabilitation training.

FIG. 9 is a schematic structural diagram of the present invention when the lower limb closed-chain exercise is performed.

FIG. 10 is a schematic structural diagram of the telescopic sleeve rod in the present invention.

In the figure, 1, base; 2, support column; 3, exoskeleton training mechanism; 31, thigh mechanism; 311, telescopic rod I; 312, motor I; 313, motor II; 314, rotating block; 315, rotating shaft; 316, driven gear; 317, driving gear; 32, calf mechanism; 321, telescopic rod II; 322, motor III; 323, foot rest; 324, motor VI; 33, square bellows; 34, crank rocker mechanism; 341, frame; 342, rocker; 343, crank; 344, connecting rod; 345, motor V; 4, crotch strap; 5, knee strap; 6, clip; 7, card slot; 8, slide Block; 81, Nut; 9, Drive Structure I; 91, Motor IV; 92, Screw; plate; 1211, fixing block; 122, upper body strap; 123, abdominal strap; 13, handle; 14, display; 15, buckle; 16, gasket; 17, resistance mechanism; 171, installation box; 172, guide Sleeve; 173, tension spring; 174, connecting cylinder; 175, latch; 176, matching block; 177, jack; 18, telescopic sleeve rod; 181, sleeve I; 182, sleeve II; 1821, positioning block II ; 183, casing III; 184, casing IV; 1841, positioning block I; 19, positioning hole; 191, sliding card.

Detailed ways

As shown in Figures 1-10, it includes a base 1, a support column 2 and a bracket 10 that are connected in sequence. Two of the support columns 2 are arranged in parallel with each other, and an exoskeleton training mechanism 3 is arranged on the two support columns 2. The bracket 10 is provided with a telescopic sleeve rod 18 facing the base 1. The telescopic sleeve rod 18 includes a sleeve I181, a sleeve II 182, a sleeve III 183 and a sleeve IV 184 which are sleeved in order from large to small. The top of the sleeve I181 It is fixedly connected with the bracket 10, the trunk restraint mechanism 12 is fixed on the sleeve II 182, the end of the sleeve IV 184 is provided with a positioning block I 1841, and the end of the sleeve II 182 close to the base 1 is provided with a positioning block that is detachably connected to the positioning block I 1841 II1821, the base 1 is provided with a positioning hole 19 corresponding to the positioning block I1841, the bracket 10 is provided with a driving mechanism II11 facing the base 1, and the output end of the driving mechanism II11 is connected with the trunk restraint mechanism 12.

In the present invention, a trunk restraint mechanism 12 is provided to facilitate rehabilitation training for persons with inconvenient mobility or paralysis of lower limbs. The bracket 10 is provided with a driving mechanism II11 toward the base 1, which cooperates with the exoskeleton training mechanism 3 to perform lower limb muscle rehabilitation training, and through the driving mechanism II11 By driving the trunk restraint mechanism 12 to move up and down, the closed-chain exercise training of lower limbs can be performed. By setting the telescopic sleeve 18, the backward force of the trunk restraint mechanism 12 can be effectively supported, and the bending force borne by the output shaft of the driving mechanism II11 can be shared. , the telescopic sleeve rod 18 can be connected to the positioning hole 19 on the bottom plate 1 through the positioning block I1841 during training, which can more effectively bear the backward force of the trunk restraint mechanism 12 and improve the structural stability. At the same time, the trunk restraint mechanism 12 can pass the driving mechanism. II11 drives up and down to complete the closed-chain exercise training of the lower limbs. Before the training, when the disabled or paralyzed person wears the trunk restraint mechanism 12, the sleeve III183 and IV184 are retracted into the sleeve I181 and the sleeve II182, and the The positioning block I 1841 and the positioning block II 1821 are fixed to each other. The disabled or paralyzed person rides a wheelchair into the space between the two support columns 2, moves the trunk restraint mechanism 12 down through the driving mechanism II 11, and enters between the wheelchair and the patient's back to complete the trunk restraint mechanism. 12 is worn, and finally the driving mechanism II11 is moved up to lift the person with inconvenience or lower limb paralysis for training. After lifting, the positioning block I1841 and the positioning block II1821 keep docking during muscle rehabilitation training, so that the cannula III183 and the cannula are connected. IV184 is retracted into the cannula I181 and the cannula II182 to avoid affecting the training of the patient when walking backwards. During the closed-chain exercise training of the lower limbs, the positioning block I1841 can be matched with the positioning hole 19, and the cannula IV184 can be connected to the bottom plate. 1 Connection, by setting the telescopic sleeve rod 18, it can not only provide safe and reliable protection, but also facilitate the docking between the patient and the trainer. In this embodiment, the telescopic sleeve rod 18 and the positioning hole 19 are provided along the width direction of the trunk restraint mechanism group, wherein, the trunk restraint mechanism 12 includes a hard back fixing plate 121 and an upper limb strap 122 and an abdominal strap 123 arranged on the back fixing plate 121. The upper limb strap 122 and the abdominal strap 123 are provided with buckles 15. When on the wheelchair, control the driving mechanism II11 to move downward until the back fixing plate 121 is located on the back of the patient, fix the abdominal strap 123 on the patient's abdomen through the buckle 15, and then fix it on the patient through the buckle 15 through the armpit. In the thoracic cavity, the upper limb straps 122 and the abdominal straps 123 can be the chest straps and waist belts to provide comfortable and safe protection for the patient. After the fixation is completed, the driving mechanism II11 is controlled to move upward until the patient's crotch and thigh mechanism 31 The upper part is flush to provide safe lower limb rehabilitation training. In this embodiment, the driving mechanism II11 may be an air cylinder or a hydraulic cylinder.

The bottom plate 1 is also provided with a sliding card plate 191 that restricts the position of the positioning block I1841 after the positioning block I1841 cooperates with the positioning hole 19 .

The exoskeleton training mechanism 3 includes a thigh mechanism 31 and a calf mechanism 32 connected in sequence, the thigh mechanism 31 includes a telescopic rod I311 and a motor I312, the motor I312 is fixedly arranged on the slider 8 and faces another support column 2 Setting, one end of the telescopic rod I311 is fixedly connected with the output shaft of the motor I312.

The thigh mechanism 31 also includes a motor II 313 , a rotating block 314 and a rotating shaft 315 . The motor II 313 is fixedly arranged on the other end of the telescopic rod I 311 and is disposed toward the base 1 , and the rotating block 314 and the telescopic rod I 311 are rotatably connected through the rotating shaft 315 . , the rotating shaft 315 is provided with a driven gear 316 , and the output shaft of the motor II 313 is provided with a driving gear 317 that meshes with the driven gear 316 . The lower leg mechanism 32 includes a telescopic rod II 321, a motor III 322, a foot rest 323 and a motor VI 324. The motor III 322 is fixed on the rotating block 314 and is disposed toward the other support column 2. One end of the telescopic rod II 321 is connected to the motor III 322. The output shaft is fixedly connected, the motor VI 324 is set at the bottom of the telescopic rod II 321, and is set towards the other support column 2, the foot support 323 is fixedly connected with the output shaft of the motor VI 324, and the patient's hip joint and knee joint are respectively at the motor I312 and On the axis where the motor III322 is located, the motor I312 and the motor III322 work to drive the patient's thigh and calf to flex and extend, providing training for walking forward or backward. The ankle joint is on the axis of the motor VI324, which can drive the ankle up and down.

In order to provide exercise training for lower limbs to rotate internally and externally, the thigh mechanism 31 further includes a motor II 313, a rotating block 314 and a rotating shaft 315. The motor II 313 is fixedly arranged on the other end of the telescopic rod I311 and is disposed toward the base 1. The block 314 and the telescopic rod I311 are connected in rotation through the rotating shaft 315. The rotating shaft 315 is provided with a driven gear 316. The output shaft of the motor II 313 is provided with a driving gear 317 that meshes with the driven gear 316. The rod II 321 and the foot support 323 perform internal or external rotation rotation, providing exercise training for the patient to rotate internally and externally.

The present invention also includes a lateral abduction and adduction mechanism for lower limbs. The lateral abduction and adduction mechanism for lower limbs includes a square bellows 33 arranged on the telescopic rod I311 and/or the telescopic rod II321 and a crank rocker mechanism 34. The telescopic rods I311 and /or the telescopic rod II 321 is divided into two sections by the square bellows 33 and connected into one by the square bellows 33, the frame 341 of the crank-rocker mechanism 34 is arranged on the telescopic rod I 311 and/or the telescopic rod II 321 of the upper section, One end of the rocker 342 facing away from the frame 341 is hinged with the lower telescopic rod I311 and/or the telescopic rod II321, and the frame 341 is also provided with a motor V345 that drives the crank 343 to rotate. During operation, the motor V345 drives the crank 343 to rotate in a circle or Swing, the connecting rod 344 drives the rocker 342 to swing slightly, so as to realize the lateral abduction and adduction training of the patient's lower limbs.

The exoskeleton training mechanism 3 can realize the patient's lower limb walking, lateral abduction and adduction, and internal rotation and external rotation, and are driven by motors respectively. The training mode and range of activities can be controlled by controlling the working order, rotation angle and rotation of each motor. Precise control of direction to achieve precise rehabilitation of lower extremity functions. The motor control can be programmed to set a fixed motion trajectory and motion sequence, or it can be manually controlled by the operator for on-site guidance, which also expands the scope of single-joint functional training for lower extremity rehabilitation patients. need.

The exoskeleton training mechanism 3 cooperates with the trunk restraint mechanism 12 to perform closed-chain exercise training of the lower limbs. First, the foot support 323 is moved forward to the position of the spacer 16, so that the patient's body weight is stressed through the spacer 16, and the trunk restraint mechanism 12 and 12 are controlled. The three mechanisms of the exoskeleton training mechanism cooperate to realize the patient's squat training, and the angle of movement of the hip, knee and ankle joints can be adjusted and controlled by each motor during the squatting process. In addition, the trunk restraint mechanism 12 slides down through the telescopic sleeve rod 18 to adapt to While squatting height, it provides real-time protection to the patient and corrects the upright position of the trunk to ensure the training effect.

The spacer 16 is slidably arranged on the base 1 and is located on the front side of the exoskeleton training mechanism 3 , and the sliding arrangement can effectively avoid hindering the movement of the foot rest 323 when the exoskeleton training mechanism 3 performs flexion and extension training. .

The present invention also includes a resistance mechanism 17, the resistance mechanism 17 includes an installation box 171 arranged at the bottom of the slider 8, two guide sleeves 172 are arranged in parallel in the installation box 171, and a tension spring is arranged in the guide sleeve 172 173. One end of the two tension springs 173 extending out of the guide sleeve 172 is connected with a connecting cylinder 174. One end of the tension springs 173 is fixedly connected to the installation box 171, and the other end is fixedly connected to the connecting cylinder 174. The connecting cylinder 174 is provided with a plug 175. , the telescopic rod I311 is provided with a matching block 176 corresponding to the plug 175, and the matching block 176 is provided with a socket 177 corresponding to the plug 175. When the patient improves the function of the lower limbs in the later stage, he can perform anti-assist training. In the embodiment, the motor III322 has the function of holding brake, and the thigh mechanism 31 and the calf mechanism 32 are in a straight line state. During resistance training, insert the pin 175 into the jack 177, so that the telescopic rod I311 is actively rotated around the motor I312. The pulling force of the tension spring 173 is used to carry out resistance training; when performing power-assisted training, it is only necessary to slide the plug 175 along the axis of the connecting cylinder 174 to disconnect the connection with the jack 177, and the docking and separation are very convenient and quick, wherein , the tension spring 173 is arranged in the guide sleeve 172, and is fixed on the bottom of the slider 8 through the installation box 171, so as to improve the structural stability and the use effect.

One of the supporting columns 2 can be relatively close to or away from the other supporting column 2 along the base 1 and the bracket 10. Specifically, the base 1 is provided with a sliding groove, and the bottom of the supporting column 2 is set in the sliding groove, and can only move along the sliding groove. The sliding groove slides in the direction, and a locking device can be set at the bottom of the sliding groove or the support column 2, and the locking device can be fixed by a thread or a buckle. Similarly, a sliding groove 101 is set at the corresponding position on the bracket 10, and the top of the supporting column 2 is set on the sliding groove 101. inside, and can only slide in the direction of the sliding groove, the top of the sliding groove 101 or the support column 2 can also be provided with a locking device, so as to adjust the width of the two exoskeleton training mechanisms 3 to adapt to patients with different hip widths, the exoskeleton training The mechanism 3 includes a thigh mechanism 31 and a calf mechanism 32 that are connected in sequence and are retractable in length to accommodate patients with different leg lengths, improve the adaptability of the trainer and the stability after binding, and improve the effect of rehabilitation training. Two groups of exoskeleton training The mechanism 3 is driven up and down by the driving mechanism I9 to improve automation. The driving mechanism I9 specifically includes a motor IV91 arranged on the support column 2 and a screw rod 92 connected to the motor IV91. The support column 2 is fixedly connected, wherein the screw rod 92 is arranged along the height direction of the support column, the exoskeleton training mechanism 3 is slidably arranged on the support column 2 through the slider 8, and the slider 8 is fixedly connected with a nut threaded with the screw rod 92 81. When the patient moves between the two support columns 2, the operator can control the motor IV91 to work through the controller, the driving screw 92 rotates, the slider 8 and the exoskeleton training mechanism 3 move up and down along the height direction of the support columns 2, The driving mechanism I9 may also be an air cylinder or a hydraulic cylinder. The thigh mechanism 31 and the calf mechanism 32 are located at the crotch and the knee, respectively, and are detachably provided with a crotch strap 4 and a knee strap 5. Before using the rehabilitation training device, the crotch strap 4 and the knee strap 5 can be detached first. Bind it to the crotch and knee of the patient, and then install it on the corresponding thigh mechanism 31 and calf mechanism 32 during training to complete the connection between the rehabilitation training device and the patient, which greatly improves the rehabilitation training device and the patient. Difficulty in docking, improve patient acceptance.

The crotch strap 4 and the knee strap 5 are provided with a clamping block 6, the thigh mechanism 31 and the calf mechanism 32 are provided with a clamping slot 7 at the corresponding position, and the clamping block 6 is slid into the clamping slot 7 to complete fixing, specifically, The clip slot 7 can be a dovetail slot or a T-shaped slot with an opening on the upper side. After the clip block 6 is assembled and disassembled, it can only be disassembled by sliding upwards, which simplifies the connection difficulty and improves the connection stability. The crotch and knees are correspondingly installed with the crotch strap 4 and the knee strap 5, and the motor IV91 is controlled by the controller to work, and the two card slots 7 on the exoskeleton training mechanism 3 are located under the card block 6, and the movable The support column 2 slides inward to adapt to the patient's hip width. Finally, it works on the control motor IV91 to drive the exoskeleton training mechanism 3 to move upward to complete the installation of the clip 6 and the clip slot 7, which greatly simplifies the docking of the patient. Or, the crotch strap 4 and the knee strap 5 are provided with iron blocks, and the corresponding positions of the thigh mechanism 31 and the calf mechanism 32 are provided with electromagnets, the electromagnets are turned on, and the iron blocks are absorbed to complete the fixation, which further simplifies. Difficulty of docking, the present invention can perform rehabilitation training for paralyzed lower limbs. First, tie the crotch strap 4 and the knee strap 5 to the patient, enter between the two support columns 2 through the wheelchair, and complete the crotch strap The strap 4 and the knee strap 5 are fixed to the thigh mechanism 31 and the calf mechanism 32 .

A fixing block 1211 is provided on the back side of the trunk restraint mechanism 12, and the trunk restraint mechanism 12 is fixedly connected with the sleeve II 182 through the fixed block 1211, which simplifies the connection difficulty.

The stand 10 of the present invention is also provided with a handle 13 for the patient to hold and a display 14 for displaying the training state. The patient can maintain the balance of the body through the handle 13, and can watch the training time and the various trainings of the exoskeleton training mechanism 3 through the display 14. Information such as angle and intensity allow patients to intuitively observe their own training progress and improve their acceptance.

The present invention has multiple functions in one machine, and the present invention can provide power-assisted exercise, joint activity and resistance exercise required for the rehabilitation training of lower limb functions, and can adapt to the needs of patients in different rehabilitation periods. The movement angles of the three joints are controlled separately by each motor to achieve precise rehabilitation of lower extremity functions, and also expand the needs of single-joint functional training for lower extremity rehabilitation patients.

The overall weight-bearing movement of the lower extremity is closer to the real lower extremity motor function. In the present invention, the spacer 16 under the sole of the foot and the position of the sole of the foot can be adjusted to move forward, so as to realize the patient's weight-bearing squatting training, and the angle of movement of the hip, knee, and ankle joints during the squatting process can be adjusted and controllable. In addition, the trunk restraint mechanism 12 will pass The telescopic sleeve bar 18 can provide real-time protection to the patient and correct the upright position of the trunk while adapting to the height of the squat, so as to ensure the training effect.

The invention has flexible adjustment and is convenient to adapt to the rehabilitation training needs of patients of different body types. In the present invention, two exoskeleton training mechanisms are slidably arranged on two support columns 2 to fit patients with different leg lengths for training. The two support columns 2 can be relatively close to or away from each other, which is convenient for patients with different hip widths. For training, the exoskeleton training mechanism 3 includes a thigh mechanism 31 and a calf mechanism 32 that are connected in turn and extendable in length, so as to adapt to patients with different thigh lengths and calf lengths, so as to adapt to patients of different body types, improve the adaptability of the trainer and The stability after binding improves the effect of rehabilitation training.

The invention is safe and effective, and can be used for the adaptive training of patients in the ultra-early stage and can also be used for improving the function of the lower limbs of patients in the later stage. The exoskeleton training mechanism 3 of the present invention can realize the patient's lower limb walking, lateral abduction and adduction, and internal rotation and external rotation exercise training. The trunk restraint mechanism 12 is provided to improve practical safety performance, and the telescopic sleeve rod 18 is convenient for the patient and the trainer. At the same time, the stability of the trunk restraint mechanism 12 is ensured during training, and the handle 13 is provided, and the patient can maintain the balance of the body through the handle 13, which effectively avoids the patient's fear of falling or excessive joint movement. A conservative treatment plan that reduces the angle of rehabilitation training due to secondary injuries such as joints, the present invention can achieve precise and efficient rehabilitation under the premise of ensuring the safety of treatment.

Claims (10)

1. A lower extremity muscle rehabilitation training device is characterized in that it comprises a base (1), a support column (2) and a bracket (10) connected in turn, and the support column (2) is provided with two parallel to each other, and two An exoskeleton training mechanism (3) is arranged on the support column (2), a telescopic sleeve rod (18) is arranged on the bracket (10) toward the base (1), and the telescopic sleeve rod (18) includes sleeves in order from large to small. The connected casing I (181), casing II (182), casing III (183) and casing IV (184), the top of the casing I (181) is fixedly connected with the bracket (10), and the casing A trunk restraint mechanism (12) is fixedly arranged on the tube II (182), a positioning block I (1841) is arranged at the end of the sleeve IV (184), and a positioning block is arranged at one end of the sleeve II (182) close to the base (1). I (1841) Removably connected positioning block II (1821), the base (1) is provided with positioning holes (19) corresponding to the positioning block I (1841), and the bracket (10) is provided with a positioning hole (19) facing the base (1). The driving mechanism II (11), the output end of the driving mechanism II (11) is connected with the trunk restraining mechanism (12). 2. The lower extremity muscle rehabilitation training device according to claim 1, wherein the bottom plate (1) is further provided with a positioning block I (1841) and the positioning hole (19) is matched with the positioning block I (1841) to limit the positioning block I (1841). position of the slide card (191). 3. The lower extremity muscle rehabilitation training device according to claim 1 or 2, wherein one support column (2) can be relatively close to another support column (2) along the base (1) and the bracket (10) Or far away, the exoskeleton training mechanism (3) includes a thigh mechanism (31) and a calf mechanism (32) that are connected in turn and are retractable in length, and the thigh mechanism (31) and the calf mechanism (32) are located at the crotch and the knee respectively. A crotch strap (4) and a knee strap (5) are detachably provided, the thigh mechanism (31) is slidably arranged on the support column (2) through the slider (8), and the support column (2) is provided with a drive external The bone training mechanism (3) is a driving mechanism I(9) that moves up and down along the support column (2). The output end of the driving mechanism I(9) is fixedly connected with the slider (8). 4. The lower extremity muscle rehabilitation training device according to claim 3, wherein the crotch strap (4) and the knee strap (5) are provided with a block (6), and the thigh mechanism (31) ) and the calf mechanism (32) corresponding position is provided with a card slot (7), the card block (6) slides into the card slot (7) to complete the fixing, or, the crotch strap (4) and the knee strap (5) Iron blocks are arranged on the upper part, and electromagnets are provided at corresponding positions of the thigh mechanism (31) and the calf mechanism (32). 5. The lower limb muscle rehabilitation training device according to claim 3, wherein the thigh mechanism (31) comprises a telescopic rod I (311) and a motor I (312), and the motor I (312) is fixedly arranged on the The slider (8) is disposed toward the other support column (2), and one end of the telescopic rod I (311) is fixedly connected with the output shaft of the motor I (312). 6. The lower limb muscle rehabilitation training device according to claim 5, wherein the thigh mechanism (31) further comprises a motor II (313), a rotating block (314) and a rotating shaft (315), and the motor II ( 313) is fixedly arranged on the other end of the telescopic rod I (311), and is set towards the base (1). There is a driven gear (316), and the output shaft of the motor II (313) is provided with a driving gear (317) that meshes with the driven gear (316). 7. The lower limb muscle rehabilitation training device according to claim 6, wherein the calf mechanism (32) comprises a telescopic rod II (321), a motor III (322), a foot support (323) and a motor VI (324) ), the motor III (322) is fixedly arranged on the rotating block (314) and is arranged towards the other support column (2), one end of the telescopic rod II (321) is fixedly connected to the output shaft of the motor III (322), The motor VI (324) is arranged at the bottom of the telescopic rod II (321) and is arranged towards the other support column (2), and the foot support (323) is fixedly connected with the output shaft of the motor VI (324). 8. The lower limb muscle rehabilitation training device according to claim 7, further comprising a resistance mechanism (17), the resistance mechanism (17) comprising an installation box (171) arranged at the bottom of the slider (8), Two guide sleeves (172) are arranged in parallel in the installation box (171), tension springs (173) are arranged in the guide sleeve (172), and the two tension springs (173) extend out of the guide sleeve (172) One end is connected with a connecting cylinder (174), one end of the tension spring (173) is fixedly connected with the installation box (171), and the other end is fixedly connected with the connecting cylinder (174), and the connecting cylinder (174) is provided with a plug (175), The telescopic rod I (311) is provided with a matching block (176) corresponding to the plug (175), and the matching block (176) is provided with an insertion hole (177) corresponding to the plug (175). 9. The lower extremity muscle rehabilitation training device according to claim 8, further comprising a lateral abduction and adduction mechanism for the lower limbs, and the lateral abduction and adduction mechanism for the lower limbs comprises a set on the telescopic rod I (311) and/or The square bellows (33) and the crank-rocker mechanism (34) on the telescopic rod II (321), the telescopic rod I (311) and/or the telescopic rod II (321) are divided into two sections by the square bellows (33) and Connected together by a square bellows (33), the frame (341) of the crank-rocker mechanism (34) is arranged on the upper telescopic rod I (311) and/or telescopic rod II (321), and the rocker ( 342) One end away from the frame (341) is arranged to be hinged with the lower telescopic rod I (311) and/or the telescopic rod II (321), and the frame (341) is also provided with a motor V (345) that drives the rotation of the crank (343). ). 10 . The lower limb muscle rehabilitation training device according to claim 1 , wherein the base ( 1 ) is slidably provided with a washer ( 16 ) on the front side of the exoskeleton training mechanism ( 3 ). 11 .

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