CN113398528A

CN113398528A - Rehabilitation training device

Info

Publication number: CN113398528A
Application number: CN202110778944.1A
Authority: CN
Inventors: 王勇; 权家友; 穆景颂; 刘郑; 肖飞云
Original assignee: Hefei University of Technology
Current assignee: Hefei University of Technology
Priority date: 2021-07-09
Filing date: 2021-07-09
Publication date: 2021-09-17

Abstract

The invention discloses a rehabilitation training device, comprising a base; a support frame mounted on the base; a lower limb training mechanism, comprising a first support member, a first rotation shaft, a first support aid, a first crank, a first connection A rod, a roller or a slider, and an arc-shaped slide rail; a first support member, arranged on the base; the first rotary shaft is rotatably mounted on the first support member; the first crank is fixedly connected with the first rotary shaft; the first crank It is rotatably connected with one end of the first connecting rod or the first supporting aid; the first supporting aid is fixedly installed on the first connecting rod; the other end of the first connecting rod forms a rotating pair with the roller or the slider; the arc-shaped slide rail Installed on one of the base, the first support member and the support frame, the roller or the slider is arranged on the arc-shaped slide rail and can move along the arc-shaped slide rail. The rehabilitation training device has good ankle joint or wrist joint training effect.

Description

Rehabilitation training device

Technical Field

The invention relates to the technical field of sports equipment, in particular to a rehabilitation training device.

Background

At present, the aging degree of the population of China is increased, and the number of patients with unhealthy limbs is increased day by day, so that limb rehabilitation auxiliary appliances become research hotspots in the rehabilitation field, and various rehabilitation robots designed by research teams at home and abroad are put into practical use.

The existing limb rehabilitation training device has small joint movement angle in the rehabilitation training process, and the ankle joint or the wrist joint can not be well trained and can not achieve the expected rehabilitation training effect; in addition, the existing limb rehabilitation training device does not consider the training requirements of human ankle joints or wrist joints, or does not set the training functions of ankle joints or wrist joints, and can also cause that the ankle joints or wrist joints cannot be well trained and cannot achieve the expected rehabilitation training effect in the rehabilitation training process.

The existing crank rocker type treadmill or training machine and the like mainly adopt a standing posture, the dip angle of the pedals is small, the motion amplitude of the ankle is insufficient, and the rehabilitation training requirement can not be met.

Therefore, it is important to develop a rehabilitation training device which has a reasonable structure and can meet the rehabilitation training requirements of the ankle joint or the wrist joint.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, it is an object of the present invention to provide a rehabilitation training device that can meet the needs of rehabilitation training for ankle or wrist joints.

To achieve the above and other related objects, the present invention provides a rehabilitation training device, comprising:

a base;

the supporting frame is arranged on the base;

the lower limb training mechanism comprises a first supporting part, a first rotating shaft, a first supporting auxiliary tool, a first crank, a first connecting rod, a roller or a sliding block and an arc-shaped sliding rail;

the first supporting component is arranged on the base;

the first rotating shaft is rotatably arranged on the first supporting component;

the first crank is fixedly connected with the first rotating shaft;

the first crank is rotatably connected with one end of the first connecting rod or the first support auxiliary tool;

the first support assistive device is fixedly arranged on the first connecting rod;

the other end of the first connecting rod and the roller or the sliding block form a revolute pair;

the arc-shaped sliding rail is arranged on one of the base, the first supporting part and the supporting frame, and the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail.

In an optional embodiment of the present invention, the arc-shaped sliding rail is disposed at one end of the base away from the supporting frame or one end of the base close to the supporting frame.

In an optional embodiment of the present invention, the rehabilitation training device further comprises an upper limb training mechanism, which comprises a second supporting component, a second supporting auxiliary tool, a second rotating shaft and a second crank; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, and the second supporting auxiliary tool is rotatably arranged on the second crank.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises: the second supporting component, the second supporting auxiliary tool, a second rotating shaft, a second crank, a second connecting rod and a second rocker; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, the second crank is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with one end of the second rocker, the other end of the second rocker and the second supporting part form a revolute pair, and the second supporting auxiliary tool is arranged on the second connecting rod.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises a second rocking bar supporting component, the second rocking bar supporting component is installed at one end of the second supporting component far away from the second revolving shaft, and one end of the second rocking bar, which is not connected with the second connecting rod, and the second rocking bar supporting component form a revolute pair.

In an optional embodiment of the invention, the position of the swing center of the second rocker is adjustable.

In an optional embodiment of the present invention, the upper limb training mechanism further comprises a second driving member disposed in the second supporting member, and the second driving member is connected to the second rotation shaft.

In an optional embodiment of the present invention, the rehabilitation training device further comprises an armrest, and the armrest is mounted on the support frame.

In an alternative embodiment of the invention, the lower limb training mechanism further comprises a first drive member arranged within the first support member, the first drive member being connected to the first pivot shaft.

In an optional embodiment of the present invention, a maximum included angle between a support plane of the first link or the first support aid and a horizontal direction is greater than or equal to 35 °, or a maximum included angle between the first links located at both sides of the first rotation axis is greater than or equal to 32 °.

The rehabilitation training device can eliminate local degree of freedom, thereby inhibiting joint abnormal reaction, enabling ankle joints or wrist joints at two sides to generate a certain moving angle to form ankle pump movement, and having good ankle joint or wrist joint training effect.

The second support auxiliary tool of the upper limb movement training mechanism of the rehabilitation training device can be fixed on the second connecting rod and forms the same position of a rotating pair with the second crank, and at the moment, the second support auxiliary tool generally does circular rotation motion relative to the second rotating shaft, but still can keep the rotating centers of the rotating pair of the second connecting rod and the second crank which are opposite to each other to swing because the second support auxiliary tool is still positioned on the second connecting rod, so that the second support auxiliary tool has a proper wrist joint moving angle.

The rehabilitation training device is simple in structure, small in size and convenient to install overall.

The length of the crank (the first crank and the second crank), the connecting rod (the first connecting rod and the second connecting rod) and the supporting frame of the rehabilitation training device is adjustable, so that the rehabilitation training device can better adapt to the exercise training requirements of different people and ensure the training effect.

The rehabilitation training device provided by the invention has multiple working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training.

The upper and lower limb movement training mechanism of the rehabilitation training device can directly transform the prior rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function.

The rehabilitation training device can meet the requirement that the maximum included angle between the supporting plane of the first connecting rod or the first supporting auxiliary tool and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the two first connecting rods on the two sides is greater than or equal to 32 degrees, so that the enough inclination angle of the first supporting auxiliary tool (a pedal or a supporting plate) is ensured, and the requirement of ankle joint training is met.

Drawings

Fig. 1 is a schematic perspective view of a rehabilitation training device according to an embodiment of the present invention.

Fig. 2 is a schematic perspective view of another embodiment of a rehabilitation training device according to a first embodiment of the present invention.

Fig. 3 is a schematic view of a height-adjustable partial three-dimensional structure of a swing center of a second rocker of the rehabilitation training device according to the first embodiment of the invention.

Fig. 4 is a schematic perspective view of a rehabilitation training device according to a second embodiment of the present invention.

Fig. 5 is a schematic perspective view of a rehabilitation training device according to a third embodiment of the present invention.

Fig. 6 is a schematic perspective view of an embodiment of a rehabilitation training device according to a fourth embodiment of the present invention.

Fig. 7 is a schematic perspective view of another embodiment of a rehabilitation training device according to a fourth embodiment of the present invention.

Fig. 8 is a schematic perspective view of a rehabilitation training device according to a fourth embodiment of the present invention.

Fig. 9 is a schematic perspective view of a rehabilitation training device according to a fifth embodiment of the present invention.

FIG. 10 is a schematic view of the handle fixed to the second connecting rod at the same position as the second crank forming a revolute pair.

Description of the element reference numerals

A base 1; a lower limb training mechanism 2; the first support member 21; a foot pedal 22; a first rotating shaft 23; a first crank 24; a first link 25; a first rocker 26; the first rocker support member 27; a first roller or slide 28; an arcuate slide rail assembly 29; an arc-shaped slide rail 291; a support 292; a first support rod segment 31; a second support rod segment 32; a horizontal pole segment 33; a handrail 4; an upper limb training mechanism 5; the second support member 51; a handle 52; the second revolving shaft 53; a second crank 54; a second link 55; a second rocker 56; the second rocker support member 57; a fixing plate 571; a movable plate 572; and a man-machine interaction device 6.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Example one

Referring to fig. 1, the present embodiment describes a rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5, which are disposed on the base 1.

Referring to fig. 1, in the present embodiment, for example, rollers may be installed at the bottom of the base 1, so that the whole rehabilitation training device can be conveniently moved. Of course, in some embodiments, the base 1 may not be provided with rollers.

Referring to fig. 1, in the present embodiment, the supporting frame 3 is installed at one side of the base 1, and the length of the supporting frame 3 is adjustable. The support frame 3 comprises a first support rod section 31, a second support rod section 32 and a horizontal rod section 33, the lower end of the first support rod section 31 is fixedly connected with the base 1, the lower end of the second support rod section 32 is inserted into the upper end of the first support rod section 31 and is locked by a locking knob (not marked in the figure), the horizontal rod section 33 is installed at the upper end of the second support rod section 32, the horizontal rod section 33 is horizontally arranged, wherein the horizontal rod section 33 is connected with the second support rod section 32 in a fixed connection or a rotating manner. Specifically, the length of the support frame 3 can be controlled by adjusting the length of the support frame 3 by loosening the locking knob and adjusting the length of the second support rod segment 32 inserted into the first support rod segment 31, and the support frame is locked by the locking knob (not shown in the figure) after being adjusted to a proper length. It is understood that in other embodiments, the first support rod segment 31 and the second support rod segment 32 of the support frame 3 may also be adjusted in relative position by a screw nut transmission mechanism or other existing adjusting mechanisms, so as to achieve the purpose of adjusting the length of the support frame 3.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 is designed by a crank-rocker design, and includes a first supporting member 21, a first rotating shaft 23, a first supporting auxiliary device, a first crank 24, a first connecting rod 25, a first rocker 26 and a first rocker supporting member 27, wherein the first supporting auxiliary device is a pedal 22 (or a supporting plate). The first support member 21 is provided on the base 1; the first revolving shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotating shaft 23; the first crank 24 is rotatably connected with the first pedal 22; the pedal 22 is fixedly mounted on the first connecting rod 25, and one end of the first connecting rod 25 is rotatably connected with one end of the first rocker 26; the other end of the first rocker 26 and the first rocker supporting part 27 form a revolute pair, and the first rocker supporting part 27 is installed at one end of the base 1 far away from the supporting frame 3, that is, the first rocker supporting part 27 is arranged at the rear. Of course, as shown in fig. 2, the first rocker supporting member 27 may be disposed adjacent to the supporting frame 3 and mounted on the base 1, i.e., the first rocker supporting member 27 is forward.

As shown in fig. 1, the height of the first rocking bar supporting member 27 is fixed, so that the height of the rocking center of the first rocking bar 26 is fixed. Of course, the height of the swing center of the first rocker 26 may also be adjustable, for example, the first rocker supporting member 27 may also be mounted on the base 1 through a lifting platform, so that the height of the swing center of the first rocker 26 is adjusted through the lifting platform, and the lifting platform can be lifted and lowered through the extension and retraction of a push rod, for example. Referring to fig. 1, in a specific example of the present embodiment, the pedal 22, the first crank 24, the first connecting rod 25 and the first rocker 26 include two parts, which are respectively located at two sides of the first supporting member 21. The two first cranks 24 are respectively and fixedly arranged at two ends of the first rotating shaft 23, each first crank 24 is rotatably connected with the pedals 22 at the same side, each pedal 22 is fixedly arranged on the first connecting rod 25 at the same side, one end of each first connecting rod 25 is rotatably connected with one end of the first rocking rod 26 at the same side, and the other end of each first rocking rod 26 and the first rocking rod supporting part 27 at the same side form a rotating pair. The maximum included angle between the supporting plane (i.e. the tread) of the pedals 22 and the horizontal direction is more than or equal to 35 degrees, so that the pedals 22 are ensured to have enough inclination angles, and the ankle joint training requirements are met.

Referring to fig. 1, in this embodiment, the first crank 24 is a disc crank, one end of the first rotating shaft 23 is fixedly connected to the center of the disc crank, the pedals 22 and the edge of the disc crank form a rotation pair, the disc crank can save a part of space, and the disc crank can also be used as a part of the first support member 21 to shield other parts inside the first support member 21. It will be appreciated that in other embodiments, the first crank 24 may be a rod crank, one end of which is fixedly connected to one end of the first rotating shaft 23, and the other end of which is rotatably connected to the pedal 22.

Referring to fig. 1, in the present embodiment, the length of the first connecting rod 25 or the size of the first crank 24 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable, and the adjustment of the length of the first connecting rod 25 or the size of the first crank 24 can be used to adjust the inclination angle of the pedal 22 to meet the reasonable ankle joint movement range and angle of different human bodies. For example, the first connecting rod 25 includes two rod bodies connected to each other, the relative positions of the two rod bodies are adjustable and fixed by fastening bolts or locking knobs, the length of the first connecting rod 25 can be adjusted by adjusting the relative positions of the two rod bodies, and the size of the first crank 24 can be adjusted by replacing cranks with different sizes.

It is understood that, in this embodiment, similar to the one shown in fig. 7, the first crank 24 is rotatably connected to one end of a first connecting rod 25, the other end of the first connecting rod 25 is rotatably connected to one end 26 of the first rocking rod, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the pedals 22 have a sufficient inclination angle and meet the ankle training requirement, it is necessary to satisfy any one of the two constraints that the maximum angle between the support plane of the first link 25 or the pedals 22 and the horizontal direction is greater than or equal to 35 ° or that the maximum angle between the two first links 25 on both sides is greater than or equal to 32 °.

Referring to fig. 1, in the present embodiment, the lower limb training mechanism 2 further includes a first driving member (not shown) disposed in the first supporting member 21, and the first driving member is connected to the first rotating shaft 23. The first drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the lower limb training mechanism 2 further comprises a first resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel, disposed within the first support element 21. The friction assembly includes a friction plate and a friction plate seat which are matched with each other, the friction plate is installed on the first rotating shaft 23, the friction plate seat is installed at one end of the first supporting part 21 close to the first rotating shaft 23, and the magnitude of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or unscrewed through a man-machine interaction device 6 which will be described later. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is arranged on the first rotating shaft 23, the permanent magnet assembly is arranged at one end, close to the first rotating shaft 23, of the first supporting part 21, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the first support element 21 may also comprise only a first resistance element (not shown), without the provision of a first drive element, the operation of which is adjusted manually or controlled by the human-computer interaction device 6.

It will be appreciated that the first drive member may be employed directly as the first resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the first resistance member. Taking a driving device adopting a motor or a combination of the motor and a speed reducer as an example, direct current which is not more than rated current of the motor can be input into the motor, so that the motor is in an energy consumption braking state and becomes a resistance source.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 is designed to be a crank-rocker type, and includes a second supporting component 51, a second supporting auxiliary tool, a second rotating shaft 53, a second crank 54, a second connecting rod 55, and a second rocker 56, wherein the second supporting auxiliary tool is a handle 52. The second supporting component 51 is mounted at one end of the horizontal rod section 33 of the supporting frame 3, the second revolving shaft 53 is rotatably mounted at one end of the second supporting component 51 far away from the supporting frame 3, the second crank 54 is fixedly connected with the end of the second revolving shaft 53, the second crank 54 is rotatably connected with one end of the second connecting rod 55, the other end of the second connecting rod 55 is rotatably connected with one end of the second rocker 56, the other end of the second rocker 56 and the second supporting component 51 form a revolute pair, and the handle 52 is mounted on the second connecting rod 55. Of course, the second supporting auxiliary tool can also adopt a supporting plate, when in use, the hand is flatly placed on the supporting plate, and the hand is fixed by using a limiting object such as a binding band and the like, so that the hand moves along with the supporting plate.

As shown in fig. 10, the handle 52 of the upper limb exercise training mechanism 5 may be fixed to the second link 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the handle 52 is generally circularly revolved about the second revolving shaft 53, but still positioned on the second link 55, so that it can be kept swung about the center of rotation of the revolute pair of the second link 55 and the second crank 54, and thus can have an appropriate wrist joint movement angle.

Referring to fig. 1, in a specific example of the present embodiment, the handle 52, the second crank 54, the second connecting rod 55 and the second rocker 56 include two, which are respectively located at two sides of the second supporting member 51. The two second cranks 54 are respectively and fixedly installed at two ends of the second revolving shaft 53, each second crank 54 is rotatably connected with one end of the second connecting rod 55 at the same side, the other end of each second connecting rod 55 is rotatably connected with one end of the second rocking rod 56 at the same side, the other end of each second rocking rod 56 and one side of the second supporting component 51 form a rotating pair, and each handle 52 is fixedly installed on the second connecting rod 55 at the same side.

Referring to fig. 1, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to one end of the second connecting rod 55, which is not connected to the second rocking rod 56. Of course, in other embodiments, the second crank 54 may be a disc crank.

Referring to fig. 1, in this embodiment, the upper limb training mechanism 5 further includes a second rocking bar supporting member 57, the second rocking bar supporting member 57 is installed at an end of the second supporting member 51 away from the second revolving shaft 53, and an end of the second rocking bar 56 not connected to the second connecting rod 55 and the second rocking bar supporting member 57 form a revolute pair. Of course, the second rocker support member 57 may not be provided, and the end of the second rocker 56 not connected to the second link 55 and the second support member 51 form a revolute pair.

As shown in fig. 1, the height of the swing center of the second rocking lever 56 is fixed. Of course, the height of the swing center of the second rocking lever 56 can also be made adjustable by providing the second rocking lever supporting member 57 in the shape as shown in fig. 3. As shown in fig. 3, the second rocker supporting member 57 includes a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on two sides of the second supporting member 51 and extend to a side away from the base 1, a movable plate 572 is mounted on an outer side of each fixed plate 571 in a height-adjustable manner, one end of the second rocker 56, which is not connected to the second connecting rod 55, and the movable plate 572 form a rotation pair, and the height of the swing center of the second rocker 56 is adjusted by adjusting the position of the movable plate 572 on the fixed plate 571.

In this embodiment, the length of the second connecting rod 55 or the gauge of the second crank 54 (defined as the length of a rod crank or the diameter of a disc crank) is adjustable.

Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a second driving component disposed in the second supporting component 51, and the second driving component is connected to the second rotating shaft 53. The second driving member may be an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, the upper limb training mechanism 5 further comprises a second resistance element disposed within the second support element 51, the second resistance element comprising a friction assembly, a magnetically controlled resistance generator, or a flywheel. The friction assembly comprises a friction plate and a friction plate seat which are matched with each other, the friction plate is arranged on the second revolving shaft 53, the friction plate seat is arranged at one end, close to the second revolving shaft 53, of the second supporting part 51, and the size of the motion resistance is adjusted by controlling the friction plate and the friction plate seat to be screwed or loosened through the man-machine interaction device 6. The magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is installed on the second rotating shaft 53, the permanent magnet assembly is installed at one end, close to the second rotating shaft 53, of the second supporting part 51, the magnetic control resistance generator cuts magnetic induction lines among the permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the distance between the aluminum disc and the permanent magnets is adjusted through the human-computer interaction device 6 to achieve adjustment of the resistance.

It will be appreciated that the second support element 51 may of course comprise only the second resistance element, without the provision of the second drive element, by adjusting the operation of the second resistance element manually, or by controlling the operation of the second resistance element via the human-computer interaction means 6.

It will be appreciated that the second drive member may be employed directly as the second resistance member without the additional provision of a friction assembly or a magnetically controlled resistance generator as the second resistance member. Taking a driving device adopting a motor or a combination of the motor and a speed reducer as an example, direct current which is not more than rated current of the motor can be input into the motor, so that the motor is in an energy consumption braking state and becomes a resistance source.

In this embodiment, the lower limb training organ 2 and the upper limb training organ 5 may further comprise limb restraint members (not shown) for restraining the limb.

Referring to fig. 1, in the present embodiment, the rehabilitation training device further includes an armrest 4, the armrest 4 is mounted on the top of the support frame 3, and the armrest 4 is used for being held by a user. As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3.

Referring to fig. 1, in this embodiment, the rehabilitation training device further includes a human-computer interaction device 6, and the human-body interaction device is an intelligent control center for controlling the rehabilitation training device. The human-computer interaction device 6 can be arranged on the top of the support frame 3 (of course, it can be arranged in other suitable positions). As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3. By way of example, the human-computer interaction device 6 may be a remote controller or a touch screen.

The rehabilitation training device of the embodiment can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. When the upper limb and the lower limb are cooperatively exercised, the posture of the human body is a sitting posture, the lower limb meets the motion of the ankle pump, and the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain exercising angle.

The rehabilitation training device of the present embodiment can include three training modes, which are a passive training mode, an assisted training mode and an active training mode, and the foot training is taken as an example for description.

In passive training, the power source is all from the first driving component, the foot is located on the pedal 22, the first driving component drives the first crank 24 to rotate, the pedal 22 is driven to move, and the pedal 22 drives the ankle to swing back and forth.

During assisted training, between passive training and active training, a power source part comes from a first driving part, and a part comes from feet of a human body, the man-machine interaction device 6 is operated to control the first driving part to be converted into an assisted training mode, and an intelligent sensing system (comprising a sensor and a control circuit) is started to complete assisted training in cooperation with ankles of the human body.

During active training, human feet are used as power sources to drive the pedals 22 to move, the man-machine interaction device 6 can control the training resistance, the resistance with different sizes can exercise the muscle movement of the lower limbs of the human body in different degrees, and the control capability of brain nerves to the muscle movement is gradually remodeled layer by layer.

It should be noted that, the hand training can also adopt a similar active training mode, a power-assisted training mode and an active training mode, and the control principle is similar to that in the foot training, so the description is not repeated.

The rehabilitation training device of this embodiment can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist produce certain activity angle, form ankle pump motion, possess good ankle joint or wrist joint training effect. The second auxiliary support device of the upper limb movement training mechanism of the rehabilitation training device of this embodiment can be fixed on the second connecting rod 55 at the same position as the second crank 54 forming a revolute pair, and at this time, the second auxiliary support device generally performs a circular revolving motion relative to the second revolving shaft 53, but because it is still located on the second connecting rod 55, the rotation center of the revolute pair of the second connecting rod 55 and the second crank 54 which are opposite can still be kept swinging, so that it has a proper wrist joint movement angle. The rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54), the connecting rod (the first connecting rod 25 and the second connecting rod 55) and the supporting frame 3 of the rehabilitation training device of the embodiment can be adjusted, so that the rehabilitation training device can better adapt to the exercise training requirements of different people and ensure the training effect. The rehabilitation training device of the embodiment has multiple working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. The upper and lower limb movement training mechanism of the rehabilitation training device of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function. The rehabilitation training device of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first connecting rod 25 or the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the two first connecting rods 25 on both sides is greater than or equal to 32 degrees, so that the sufficient inclination angle of the first supporting assistive device is ensured, and the requirement of ankle joint training is met.

Example two

As shown in fig. 4, this embodiment describes another rehabilitation training device, which includes a base 1, and a support frame 3, a lower limb training mechanism 2, and an upper limb training mechanism 5 disposed on the base 1. Compared with the rehabilitation training device of the first embodiment, the other structures are basically the same except that different upper limb training mechanisms 5 are adopted, so the description is not repeated.

In this embodiment, the upper limb training mechanism 5 includes a second support member 51, a second support aid, a second pivot shaft 53, and a second crank 54, and the second support aid is a handle 52 (a support plate may be used instead of the support plate). The second supporting member 51 is mounted at one end of the horizontal rod section 33 of the supporting frame 3, the second rotating shaft 53 is rotatably mounted on the second supporting member 51, the second crank 54 is fixedly connected with the end of the second rotating shaft 53, and the handle 52 is rotatably connected with the second crank 54.

Referring to fig. 4, in a specific example of the present embodiment, the handle 52 and the second crank 54 include two handles, which are respectively located on two sides of the second supporting member 51. The two second cranks 54 are respectively fixed on two ends of the second revolving shaft 53, and each handle 52 is rotatably mounted on the second crank 54 on the same side.

Referring to fig. 4, in the present embodiment, the second crank 54 is a rod crank, one end of the rod crank is fixedly connected to one end of the second rotating shaft 53, and the other end of the rod crank is rotatably connected to the handle 52. Of course, the second crank 54 is a disc crank.

The rehabilitation training device of the embodiment can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. When the upper and lower limbs are cooperatively exercised, the human body is in a sitting posture, the lower limbs meet the motion of the ankle pump, and the upper limbs do ordinary circular motion.

It can be understood that the lower limb training mechanism 2 of the rehabilitation training device of the present embodiment can also adopt the lower limb training mechanism 2 shown in fig. 6 to 8, which is described in detail in the fourth embodiment and will not be described herein.

EXAMPLE III

As shown in fig. 5, the present embodiment describes a third rehabilitation training device, which includes a base 1, a support frame 3 disposed on the base 1, and a lower limb training mechanism 2. Compared with the first embodiment, the other structures are basically the same except that the upper limb training mechanism 5 is not provided, and therefore, the description is not repeated.

The rehabilitation training device of this embodiment can only carry out the low limbs training, and during the training, the human gesture is the position of sitting, and the low limbs is rotary motion along with pedal 22 to satisfy the ankle pump motion, possess good ankle joint training effect.

Example four

As shown in fig. 6, the fourth rehabilitation training device is a modified embodiment of the rehabilitation training device according to the first embodiment. The lower limb training mechanism 2 of the rehabilitation training device of the present embodiment is different from the lower limb training mechanism 2 of the rehabilitation training device of the first embodiment, and other mechanisms are basically the same, so that the description is not repeated.

The rehabilitation training device comprises a base 1, and a support frame 3, a lower limb training mechanism 2 and an upper limb training mechanism 5 which are arranged on the base 1. The construction is substantially the same except for the construction of the lower training device 2 and will not be described again.

Referring to fig. 1 and 6, the lower limb training mechanism 2 of the present embodiment adopts an equivalent alternative mechanism of crank-rocker mechanism, which is formed by replacing the combination of the first rocker 26 and the first rocker supporting member 27 of the lower limb training mechanism 2 of the first embodiment with the combination of the roller or slider 28, the arc-shaped sliding track 291 and the support 292. The center of the arc-shaped sliding rail 291 is located at the swing center of the first rocker 26, and the arc of the arc-shaped sliding rail 291 is consistent with the arc-shaped movement track of one end of the first rocker 26 far away from the swing center.

Referring to fig. 6, in the present embodiment, the lower limb training mechanism 2 includes a first supporting member 21, a first rotating shaft 23, a first supporting auxiliary tool, a first crank 24, a first connecting rod 25, a roller or a slider 28, and an arc-shaped sliding rail assembly 29, wherein the arc-shaped sliding rail assembly 29 includes an arc-shaped sliding rail 291 and a support 292, and the first supporting auxiliary tool is a pedal 22 (which may be a supporting plate). The first support member 21 is provided on the base 1; the first revolving shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotating shaft 23; the first crank 24 is rotatably connected with the first pedal 22; the pedals 22 are fixedly arranged on the first connecting rod 25, and one end of the first connecting rod 25 and the roller or the sliding block 28 form a rotating pair; the arc-shaped slide rail 291 is mounted on the base 1 through the support 292, and the roller or the slider 28 is disposed on the arc-shaped slide rail 291 and moves along the arc-shaped slide rail 291.

Specifically, the arc-shaped slide rail assembly 29 is mounted at the rear end of the base 1 away from the support frame 3, that is, the arc-shaped slide rail 291 is disposed at the end of the base 1 away from the support frame 3. Of course, as shown in fig. 8, the arc-shaped sliding rail assembly 29 may also be mounted in a front-mounted manner at an end of the base 1 where the supporting frame 3 is disposed, that is, the arc-shaped sliding rail 291 is disposed at an end of the base 1 close to the supporting frame 3. Of course, when the arc-shaped slide rail 291 is disposed at the rear, the arc-shaped slide rail 291 may also be mounted on the first support member 21; when the arc-shaped slide rail 291 is in the front position, the arc-shaped slide rail 291 may be mounted on the support frame 3 or the first support member 21.

As shown in fig. 6, the height of the support 292 is fixed, and thus the height of the arc-shaped sliding rail 291 is fixed. Of course, the height of the arc-shaped sliding rail 291 may also be adjustable, for example, the support 292 may be a lifting platform, so that the height of the arc-shaped sliding rail 291 is adjusted by the height of the support 292.

Referring to fig. 6, in a specific example of the present embodiment, the pedal 22, the first crank 24, the first connecting rod 25, the roller or the slider 28, and the arc-shaped sliding track assembly 29 are all two and are respectively located on two sides of the first supporting member 21. The two first cranks 24 are respectively and fixedly installed at two ends of the first revolving shaft 23, each first crank 24 is rotatably connected with the pedals 22 at the same side, each pedal 22 is fixedly installed on the first connecting rod 25 at the same side, one end of each first connecting rod 25 and the roller or the slider 28 at the same side form a rotating pair, each roller or slider 28 is installed on the arc-shaped slide rail 291 of the arc-shaped slide rail assembly 29 at the same side, and the two arc-shaped slide rail assemblies 29 are installed on the base 1. The maximum included angle between the supporting plane (i.e. the tread) of the pedals 22 and the horizontal direction is more than or equal to 35 degrees, so that the pedals 22 are ensured to have enough inclination angles, and the ankle joint training requirements are met.

In fig. 6, the first crank 24 forms a rotation pair with the pedals 22, but the first crank 24 may also form a rotation pair with the first connecting rod 25 as shown in fig. 7. Specifically, as shown in fig. 7, the first crank 24 is rotatably connected to one end of a first connecting rod 25, the other end of the first connecting rod 25 and the roller or the slider 28 form a rotating pair, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the pedals 22 have a sufficient inclination angle and meet the ankle training requirement, it is necessary to satisfy any one of the two constraints that the maximum angle between the support plane of the first link 25 or the pedals 22 and the horizontal direction is greater than or equal to 35 ° or that the maximum angle between the two first links 25 on both sides is greater than or equal to 32 °.

Referring to fig. 6, in the present embodiment, the lower limb training mechanism 2 further includes a first driving member (not shown) disposed in the first supporting member 21, and the first driving member is connected to the first rotating shaft 23. The first drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

The rehabilitation training device of this embodiment may also include three training modes, which are a passive training mode, an assisted training mode, and an active training mode, and the detailed description of the training modes is described in the first embodiment, and is not repeated herein.

The rehabilitation training device of this embodiment can eliminate local degree of freedom to restrain joint abnormal reaction, make two side ankle joints or wrist produce certain activity angle, form ankle pump motion, possess good ankle joint or wrist joint training effect. The rehabilitation training device of the embodiment has the advantages of simple structure, small volume and convenient overall arrangement. The length of the crank (the first crank 24 and the second crank 54), the connecting rod (the first connecting rod 25 and the second connecting rod 55) and the supporting frame 3 of the rehabilitation training device of the embodiment can be adjusted, so that the rehabilitation training device can better adapt to the exercise training requirements of different people and ensure the training effect. The rehabilitation training device of the embodiment has multiple working modes, and can realize independent lower limb training, independent upper limb training and upper and lower limb cooperative training. The upper and lower limb movement training mechanism of the rehabilitation training device of the embodiment can directly transform the existing rehabilitation training device and the like, so that the rehabilitation training device has the ankle joint or wrist joint training function. The rehabilitation training device of the embodiment can meet the requirement that the maximum included angle between the supporting plane of the first connecting rod 25 or the first supporting assistive device (the pedal 22 or the supporting plate) and the horizontal direction is greater than or equal to 35 degrees or the maximum included angle between the two first connecting rods 25 on both sides is greater than or equal to 32 degrees, so that the sufficient inclination angle of the first supporting assistive device is ensured, and the requirement of ankle joint training is met.

It can be understood that the upper limb training mechanism 5 of the rehabilitation training device of the present embodiment may also adopt the design of the upper limb training mechanism 5 shown in fig. 4, which is described in detail in the second embodiment and is not described herein again.

It is to be understood that the rehabilitation training device of the present embodiment may be provided with no upper limb training mechanism 5, similar to that shown in fig. 5.

EXAMPLE five

As shown in fig. 9, the fifth rehabilitation training device is described in the present embodiment, and the rehabilitation training device includes a base 1, and a support frame 3 and an upper limb training mechanism 5 which are disposed on the base 1. Compared with the first embodiment, the other structures are basically the same except for the difference of the shapes of the lower limb training mechanism 2 and the base 1, and the description is not repeated.

The rehabilitation training device of the embodiment can only perform upper limb training, and when the upper limb performs rotary motion along with the handle 52 during training, the wrist joint has a certain training movable angle, so that a good wrist joint training effect is achieved.

EXAMPLE six

In the present embodiment, a sixth rehabilitation training device is described, which is different from the first embodiment, in that the pedal 22 (the first support auxiliary tool) is directly and fixedly mounted on the first rocker 21, the first crank 24 is rotatably connected with one end of the first connecting rod 25, and in order to meet the requirement of ankle joint training, the maximum included angle between the support plane of the pedal 22 and the horizontal direction is greater than or equal to 35 °. Other structures are basically the same as those of the first embodiment, and thus are not described again.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.

The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.

Claims

1. A rehabilitation training device, comprising:

a base;

the supporting frame is arranged on the base;

the first supporting component is arranged on the base;

the first crank is fixedly connected with the first rotating shaft;

2. The rehabilitation training device of claim 1, wherein the arc-shaped sliding rail is disposed at one end of the base far away from the supporting frame or one end close to the supporting frame.

3. The rehabilitation training device of claim 1, further comprising an upper limb training mechanism including a second support member, a second support aid, a second rotation shaft, and a second crank; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, and the second supporting auxiliary tool is rotatably arranged on the second crank.

4. The rehabilitation training device for joint training as claimed in claim 1, wherein said upper limb training mechanism further comprises: the second supporting component, the second supporting auxiliary tool, a second rotating shaft, a second crank, a second connecting rod and a second rocker; the second supporting part is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting part, the second crank is fixedly connected with the second rotating shaft, the second crank is rotatably connected with one end of the second connecting rod, the other end of the second connecting rod is rotatably connected with one end of the second rocker, the other end of the second rocker and the second supporting part form a revolute pair, and the second supporting auxiliary tool is arranged on the second connecting rod.

5. The rehabilitation training device of claim 4, wherein the upper limb training mechanism further comprises a second rocker support member mounted to an end of the second support member distal from the second pivot axis, the end of the second rocker not connected to the second link forming a revolute pair with the second rocker support member.

6. The rehabilitation training device of claim 5, wherein the center of oscillation of the second rocker is adjustable in position.

7. The rehabilitation training device of claim 3 or 4, wherein the upper limb training mechanism further comprises a second drive member disposed within the second support member, the second drive member being connected to the second swivel shaft.

8. The rehabilitation training device of claim 1, further comprising an armrest mounted on the support frame.

9. The rehabilitation training device of claim 1, wherein the lower limb training mechanism further comprises a first drive member disposed within the first support member, the first drive member being coupled to the first swivel shaft.

10. The rehabilitation training device of claim 1, wherein a maximum angle between a support plane of the first link or the first support aid and a horizontal direction is greater than or equal to 35 °, or a maximum angle between the first links located on both sides of the first swing axis is greater than or equal to 32 °.