CN113730874B - Training assembly and rehabilitation training device - Google Patents
Training assembly and rehabilitation training device Download PDFInfo
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- CN113730874B CN113730874B CN202111188818.7A CN202111188818A CN113730874B CN 113730874 B CN113730874 B CN 113730874B CN 202111188818 A CN202111188818 A CN 202111188818A CN 113730874 B CN113730874 B CN 113730874B
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- 238000012549 training Methods 0.000 title claims abstract description 279
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 51
- 210000001364 upper extremity Anatomy 0.000 claims description 53
- 238000009434 installation Methods 0.000 claims description 8
- 230000010355 oscillation Effects 0.000 claims description 2
- 210000003857 wrist joint Anatomy 0.000 abstract description 23
- 210000000544 articulatio talocruralis Anatomy 0.000 abstract description 19
- 230000000694 effects Effects 0.000 abstract description 12
- 230000033001 locomotion Effects 0.000 description 34
- 210000003423 ankle Anatomy 0.000 description 18
- 230000003993 interaction Effects 0.000 description 18
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 12
- 229910052782 aluminium Inorganic materials 0.000 description 12
- 210000003414 extremity Anatomy 0.000 description 8
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 230000036544 posture Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 210000002683 foot Anatomy 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000006698 induction Effects 0.000 description 4
- 230000002159 abnormal effect Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000010248 power generation Methods 0.000 description 3
- 238000000429 assembly Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 206010047249 Venous thrombosis Diseases 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000002146 bilateral effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B22/00—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements
- A63B22/06—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement
- A63B22/0605—Exercising apparatus specially adapted for conditioning the cardio-vascular system, for training agility or co-ordination of movements with support elements performing a rotating cycling movement, i.e. a closed path movement performing a circular movement, e.g. ergometers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
- A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/04—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs
- A63B23/08—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for lower limbs for ankle joints
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
- A63B23/00—Exercising apparatus specially adapted for particular parts of the body
- A63B23/035—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously
- A63B23/12—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles
- A63B23/14—Exercising apparatus specially adapted for particular parts of the body for limbs, i.e. upper or lower limbs, e.g. simultaneously for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles for wrist joints
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- Health & Medical Sciences (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Physical Education & Sports Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Vascular Medicine (AREA)
- Cardiology (AREA)
- Biophysics (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Rehabilitation Therapy (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a training assembly and a rehabilitation training device, wherein the rehabilitation training device comprises a base; the support 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 rotary shaft is rotatably arranged on the first supporting component; the first crank is fixedly connected with the first rotary shaft; the first crank is rotationally connected with one end of the first connecting rod or the first supporting auxiliary tool; the first supporting auxiliary tool 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 component and the supporting frame, and the idler wheel or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail. The rehabilitation training device has good ankle joint or wrist joint training effect.
Description
Technical Field
The invention relates to the technical field of sports equipment, in particular to a training assembly and a rehabilitation training device.
Background
At present, the population aging degree of China is increased, and the number of patients with unhealthy limbs is increased, so that limb rehabilitation auxiliary devices 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 cannot be well trained, so that the expected rehabilitation training effect cannot be achieved; in addition, the existing limb rehabilitation training device does not consider the training requirement of the ankle joint or the wrist joint of the human body, or does not have the ankle joint or the wrist joint training function, and can not lead the ankle joint or the wrist joint to be well trained in the rehabilitation training process, so that the expected rehabilitation training effect can not be achieved; and the function of preventing venous thrombosis cannot be realized without effective ankle pump movement.
The existing crank rocker type stepping machine or training machine is mainly in standing postures, the pedal dip angle is smaller, the ankle movement amplitude is insufficient, and the rehabilitation training requirements cannot 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 ankle joints or wrist joints.
Disclosure of Invention
In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a training assembly and a rehabilitation training device capable of meeting the rehabilitation training requirements of ankle joints or wrist joints.
To achieve the above and other related objects, the present invention provides a rehabilitation training device comprising:
A base;
the support 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 rotary shaft is rotatably arranged on the first supporting component;
the first crank is fixedly connected with the first rotary shaft;
the first crank is rotationally connected with one end of the first connecting rod or the first supporting auxiliary tool;
the first supporting auxiliary tool 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 component and the supporting frame, and the idler wheels or the sliding blocks are arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail.
In an alternative embodiment of the present invention, the arc-shaped sliding rail is disposed at one end of the base far from the supporting frame or one end close to the supporting frame.
In an alternative embodiment of the present invention, the rehabilitation training device further includes an upper limb training mechanism including a second support member, a second support aid, a second rotation shaft, and a second crank; the second support part is arranged on the support frame, the second rotary shaft is rotatably arranged on the second support part, the second crank is fixedly connected with the second rotary shaft, and the second support auxiliary tool is rotatably arranged on the second crank.
In an alternative embodiment of the present invention, the upper limb training mechanism further includes: the second support component, the second support auxiliary tool, the second rotary shaft, the second crank, the second connecting rod and the second rocker; the second support part is installed on the support frame, the second rotary shaft is rotatably installed on the second support part, the second crank is fixedly connected with the second rotary 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 support part form a revolute pair, and the second support auxiliary tool is installed on the second connecting rod.
In an alternative embodiment of the present invention, the upper limb training mechanism further includes a second rocker supporting member, the second rocker supporting member is mounted at an end of the second supporting member away from the second rotation shaft, and an end of the second rocker, which is not connected to the second link, and the second rocker supporting member form a revolute pair.
In an alternative embodiment of the invention, the position of the center of oscillation of the second rocker is adjustable.
In an alternative embodiment of the present invention, the upper limb training mechanism further includes a second driving member disposed in the second supporting member, and the second driving member is connected to the second rotating shaft.
In an alternative embodiment of the invention, the rehabilitation training device further comprises a handrail, wherein the handrail is mounted on the support frame.
In an alternative embodiment of the present invention, the lower limb training mechanism further includes a first driving member disposed in the first supporting member, and the first driving member is connected to the first rotation shaft.
In an optional embodiment of the present invention, a maximum included angle between the supporting plane of the first link or the first supporting auxiliary tool and the horizontal direction is greater than or equal to 35 °, or a maximum included angle between the first links located at two sides of the first rotation axis is greater than or equal to 32 °.
To achieve the above and other related objects, the present invention provides a training assembly for a rehabilitation training device, the training assembly comprising:
the connecting rod is provided with a fixedly connected part which is used for being fixedly connected with a supporting auxiliary tool of the rehabilitation training device, and one end of the connecting rod is used as a rotating end which forms a revolute pair with a crank of the rehabilitation training device;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
To achieve the above and other related objects, the present invention provides a training assembly for a rehabilitation training device, the training assembly comprising:
one end of the connecting rod is used as a connecting end fixedly connected with a supporting auxiliary tool of the rehabilitation training device;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
To achieve the above and other related objects, the present invention provides a training assembly for a rehabilitation training device, the training assembly comprising:
One end of the connecting rod is used as a rotating end forming a revolute pair with a crank of the rehabilitation training device;
The supporting auxiliary tool is fixedly arranged on the connecting rod;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
To achieve the above and other related objects, the present invention provides a training assembly for a rehabilitation training device, the training assembly comprising:
supporting auxiliary tools;
one end of the connecting rod is fixedly connected with the supporting auxiliary tool;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
The rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction can be restrained, certain movement angles are generated on bilateral ankle joints or wrist joints, ankle pump movement is formed, and the rehabilitation training device has good ankle joint or wrist joint training effect.
The second supporting 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 the revolute pair with the second crank, and at the moment, the second supporting auxiliary tool is in circular rotation motion relative to the second rotary shaft, but still can keep the relative rotation centers of the second connecting rod and the revolute pair of the second crank to swing because the second supporting auxiliary tool is still positioned on the second connecting rod, so that the second supporting auxiliary tool has a proper wrist joint movement angle.
The rehabilitation training device has the advantages of simple structure, small volume and convenient overall arrangement.
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 can be adjusted, so that the rehabilitation training device can be well adapted to the exercise training requirements of different crowds, and the training effect is ensured.
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 reform the existing rehabilitation training device and the like so as to have 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 larger than or equal to 35 degrees or the maximum included angle between the two first connecting rods on two sides is larger than or equal to 32 degrees, ensure the inclination angle of the enough first supporting auxiliary tool (pedal or supporting plate) and meet the ankle training requirement.
Drawings
Fig. 1 is a schematic perspective view of a rehabilitation training device according to an embodiment of the invention.
Fig. 2 is a schematic perspective view of another embodiment of a rehabilitation training device according to the first embodiment of the present invention.
Fig. 3 is a schematic view of a partially three-dimensional structure with an adjustable height of a swing center of a second rocker of a rehabilitation training device according to an embodiment of the invention.
Fig. 4 is a schematic perspective view of a rehabilitation training device according to a second embodiment of the 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 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 the fourth embodiment of the present invention.
Fig. 8 is a schematic perspective view of a third embodiment 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 invention.
Fig. 10 is a schematic view of the structure in which the handle is fixed to the second link rod at the same position as the second crank forming a revolute pair.
Description of element reference numerals
A base 1; a lower limb training mechanism 2; a first support member 21; a pedal 22; a first rotation shaft 23; a first crank 24; a first link 25; first rocker 26; a first rocker supporting member 27; a first roller or slider 28; an arcuate slide rail assembly 29; an arc-shaped slide rail 291; a support 292; a first support bar section 31; a second support bar section 32; a horizontal bar section 33; a handrail 4; an upper limb training mechanism 5; a second support member 51; a handle 52; a second rotation shaft 53; a second crank 54; a second link 55; a second rocker 56; a second rocker supporting member 57; a fixing plate 571; a movable plate 572; and a man-machine interaction device 6.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention. It should be noted that the following embodiments and features in the embodiments may be combined with each other without conflict.
It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present invention by way of illustration, and only the components related to the present invention are shown in the illustrations, not according to the number, shape and size of the components in actual implementation, and the form, number and proportion of each component in actual implementation may be arbitrarily changed, and the layout of the components may be more complex.
Example 1
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 disposed on the base 1.
Referring to fig. 1, in this embodiment, rollers may be mounted at the bottom of the base 1, so that the whole rehabilitation training device may be conveniently moved. Of course, in some embodiments, the base 1 may be provided without rollers.
Referring to fig. 1, in the present embodiment, the support frame 3 is disposed on one side of the base 1, and the length of the support frame 3 is adjustable. The support frame 3 includes first bracing piece section 31, second bracing piece section 32 and horizontal pole section 33, the lower extreme of first bracing piece section 31 with base 1 fixed connection, the lower extreme of second bracing piece section 32 inserts the upper end of first bracing piece section 31 to through locking knob (not marked in the figure) locking, horizontal pole section 33 install in the upper end of second bracing piece section 32, horizontal pole section 33 level sets up, wherein, horizontal pole section 33 with second bracing piece section 32 both can be fixed connection or rotation connection. Specifically, the length of the support frame 3 can be controlled by adjusting the length of the second support rod segment 32 inserted into the first support rod segment 31 to adjust the length of the support frame 3 by unscrewing the locking knob, and the second support rod segment is locked by the locking knob (not labeled in the figure) after being adjusted to a proper length. It will be appreciated that in other embodiments, the first support bar segment 31 and the second support bar segment 32 of the support frame 3 may 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 adopts a crank-rocker design, and includes a first support member 21, a first rotation shaft 23, a first support auxiliary tool, a first crank 24, a first connecting rod 25, a first rocker 26, and a first rocker support member 27, wherein the first support auxiliary tool is a pedal 22 (of course, may also be a support plate). The first support member 21 is provided on the base 1; the first rotating shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotary shaft 23; the first crank 24 is rotatably connected with the first pedal 22; the pedal 22 is fixedly arranged 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 member 27 form a revolute pair, and the first rocker supporting member 27 is mounted at one end of the base 1 far away from the supporting frame 3, namely, the first rocker supporting member 27 is arranged at the rear position. Of course, as shown in fig. 2, the first rocker supporting part 27 may also be disposed adjacent to the supporting frame 3 and mounted on the base 1, that is, the first rocker supporting part 27 is disposed in front.
As shown in fig. 1, the height of the first rocker supporting part 27 is fixed so that the height of the swing center of the first rocker 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 by a lifting table, so that the height of the swing center of the first rocker 26 is adjusted by the lifting table, and the lifting table may be lifted by 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 each include two parts, which are respectively located at two sides of the first supporting member 21. The two first cranks 24 are respectively mounted and fixed at two ends of the first rotating shaft 23, each first crank 24 is rotatably connected with the pedals 22 on the same side, each pedal 22 is fixedly mounted on the first connecting rod 25 on the same side, one end of each first connecting rod 25 is rotatably connected with one end of the first rocker 26 on the same side, and the other end of each first rocker 26 and the first rocker supporting part 27 on the same side form a revolute pair. The maximum included angle between the support plane (i.e. tread) of the pedal 22 and the horizontal direction is greater than or equal to 35 degrees, thereby ensuring that the pedal 22 has a sufficient inclination angle and meeting the ankle training requirement.
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 pedal 22 and the edge of the disc crank form a revolute pair, and the disc crank can save a part of space, and meanwhile, the disc crank can also serve as a part of the first supporting member 21 to block other members inside the first supporting 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 pivot 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 inclination angle of the pedal 22 can be adjusted by adjusting the length of the first connecting rod 25 or the size of the first crank 24 to conform to different reasonable ankle movement ranges and angles of human body. 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 adjustment of the size of the first crank 24 can be achieved by changing the cranks of different sizes.
It will be appreciated that in this embodiment, similar to that shown in fig. 7, the first crank 24 is rotatably connected to one end of the first link 25, the other end of the first link 25 is rotatably connected to one end of the first rocker 26, and the pedal 22 is fixedly mounted on the first link 25. In this case, in order to ensure that the foothold 22 has a sufficient inclination angle, to satisfy the ankle training requirement, it is necessary to satisfy either one of the constraint conditions that the maximum angle of the support plane of the first link 25 or the foothold 22 with the horizontal direction is greater than or equal to 35 ° or that the maximum angle of 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, a motor, or a combination of a motor and a reduction gear, or a flywheel.
In this embodiment, the lower limb training mechanism 2 further includes a first resistance member disposed within the first support member 21, the first resistance member including a friction assembly, a magnetic control 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 installed on the first rotating shaft 23, the friction plate seat is installed at one end, close to the first rotating shaft 23, of the first supporting part 21, and the friction plate seat are controlled to be screwed or loosened through a human-computer interaction device 6 to be described later to adjust the movement resistance. 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 mounted on the first rotating shaft 23, the permanent magnet assembly is mounted at one end, close to the first rotating shaft 23, of the first supporting component 21, the magnetic control resistance generator cuts magnetic induction lines between permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the man-machine interaction device 6 adjusts the distance between the aluminum disc and the permanent magnet to achieve adjustment of the resistance.
It will be appreciated that the first support member 21 may also include only a first resistance member (not shown) without providing a first driving member, and the first resistance member may be manually adjusted or controlled by the man-machine interaction device 6.
It will be appreciated that the first drive member may also be employed directly as the first resistance member without the addition of a friction pack or a magnetically controlled resistance generator as the first resistance member. By taking a driving device with a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of induced current.
Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 adopts a crank rocker design, and includes a second support member 51, a second support auxiliary tool, a second rotation shaft 53, a second crank 54, a second connecting rod 55, and a second rocker 56, wherein the second support auxiliary tool is a handle 52. The second support member 51 is mounted at one end of the horizontal bar section 33 of the support frame 3, the second rotating shaft 53 is rotatably mounted at one end of the second support member 51 away from the support frame 3, the second crank 54 is fixedly connected with the end of the second rotating 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 support member 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 horizontally placed on the second supporting auxiliary tool, and the hand is fixed by using limiting objects like a binding belt 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 training mechanism 5 may be fixed to the second link 55 at the same position as the second crank 54 to form a revolute pair, and the handle 52 may be rotated about the second rotation shaft 53, but still be located on the second link 55, so that the handle may still swing about the rotation centers of the revolute pair of the second link 55 and the second crank 54 to have a proper 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 link 55 and the second rocker 56 each include two parts, which are respectively located at two sides of the second supporting member 51. The two second cranks 54 are respectively mounted and fixed at two ends of the second rotating 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 rocker 56 at the same side, the other end of each second rocker 56 and one side of the second supporting member 51 form a revolute pair, and each handle 52 is fixedly mounted on the second connecting rod 55 at the same side.
Referring to fig. 1, in this embodiment, the second crank 54 is a rod crank, one end of which is fixedly connected to one end of the second rotating shaft 53, and the other end of which is rotatably connected to one end of the second link 55, which is not connected to the second rocker 56. Of course, in other embodiments, the second crank 54 may be a disc crank.
Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a second rocker supporting member 57, the second rocker supporting member 57 is mounted on an end of the second supporting member 51 away from the second rotating shaft 53, and an end of the second rocker 56 not connected to the second connecting rod 55 forms a revolute pair with the second rocker supporting member 57. Of course, the second rocker supporting member 57 may not be provided, and the second rocker 56 may have an end that is not connected to the second link 55 and forms a revolute pair with the second supporting member 51.
As shown in fig. 1, the height of the swing center of the second swing lever 56 is fixed. Of course, the height of the swing center of the second swing lever 56 may be adjusted by providing the second swing lever supporting member 57 in a shape as shown in fig. 3. As shown in fig. 3, the second rocker supporting member 57 has a pair of fixed plates 571 and a pair of movable plates 572, the pair of fixed plates 571 are disposed on both sides of the second supporting member 51 and extend toward a side far away from the base 1, a movable plate 572 is mounted on the 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 link 55, forms a revolute pair with the movable plate 572, 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 size of the second crank 54 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable.
Referring to fig. 1, in the present embodiment, the upper limb training mechanism 5 further includes a second driving member disposed in the second supporting member 51, and the second driving member is connected to the second rotating shaft 53. The second drive member may be a motor, or a combination of a motor and a decelerator, or a flywheel.
In this embodiment, the upper limb training mechanism 5 further includes a second resistance member disposed in the second support member 51, and the second resistance member includes a friction assembly, a magnetic control 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 installed on the second rotating shaft 53, the friction plate seat is installed at one end, close to the second rotating shaft 53, of the second supporting part 51, and the man-machine interaction device 6 is used for controlling the tightening or loosening of the friction plate and the friction plate seat to adjust the movement resistance. 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 mounted on the second rotating shaft 53, the permanent magnet assembly is mounted on one end, close to the second rotating shaft 53, of the second supporting component 51, the magnetic control resistance generator cuts magnetic induction lines between permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the man-machine interaction device 6 adjusts the distance between the aluminum disc and the permanent magnets to achieve adjustment of the resistance.
It will be appreciated that the second support member 51 may of course comprise only a second resistance member, without a second driving member, and the second resistance member may be manually adjusted or controlled by the man-machine interaction device 6.
It will be appreciated that the second drive member may also be employed directly as the second resistance member without the additional provision of a friction pack or a magnetically controlled resistance generator as the second resistance member. By taking a driving device with a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of induced current.
In this embodiment, the lower limb training mechanism 2 and the upper limb training mechanism 5 may further include limb restraint members (not shown) for restraining the limb.
Referring to fig. 1, in this embodiment, the rehabilitation training device further includes a handrail 4, the handrail 4 is mounted on the top of the support frame 3, and the handrail 4 is used for being held by a user. As an example, the man-machine interaction device 6 is arranged on the horizontal bar 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, where the human-computer interaction device is an intelligent control center, and is used for controlling the rehabilitation training device. The man-machine interaction device 6 may be disposed on top of the support 3 (or may be disposed at other suitable positions). As an example, the man-machine interaction device 6 is arranged on the horizontal bar section 33 of the support frame 3. As an example, the man-machine interaction device 6 may be a remote control or a touch screen, etc.
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 cooperatively exercise and train, the human body posture is a sitting posture, the lower limb meets the motion of an ankle pump, and the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain training movement angle.
The rehabilitation training device of the embodiment may include three training modes, namely a passive training mode, a power-assisted training mode and an active training mode, and is described by taking foot training as an example.
During passive training, the power sources are all from the first driving part, the feet are positioned on the pedals 22, the first crank 24 is driven by the first driving part to rotate, the pedals 22 are driven to move, and the pedals 22 drive the ankle to swing reciprocally.
During power-assisted training, between passive training and active training, the power source part comes from the first driving part, part comes from human foot, operates the human-computer interaction device 6 controls the first driving part to turn into the power-assisted training mode, and the intelligent induction system (comprising a sensor and a control circuit) is started to cooperate with human ankle to complete the power-assisted training.
When the human body is actively trained, the human feet are used as power sources to drive the pedals 22 to move, the human-computer interaction device 6 can be used for controlling the training resistance, the resistance of different magnitudes can be used for exercising the muscle movement of the lower limbs of the human body in different degrees, and the control capacity of the brain nerves to the muscle movement is remodeled in a layered and graded mode.
It should be noted that, the hand training may 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 of the foot training, so that the description is not repeated.
The rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction is restrained, certain movement angles are generated on the ankle joints or the wrist joints at two sides, ankle pump movement is formed, and good ankle joint or wrist joint training effect is achieved. The second support auxiliary tool of the upper limb exercise training mechanism of the rehabilitation training device of the embodiment can be fixed on the second connecting rod 55 at the same position as the second crank 54 to form a revolute pair, and at this time, the second support auxiliary tool is generally in circular revolving motion relative to the second revolving shaft 53, but still located on the second connecting rod 55, so that the second connecting rod 55 and the revolute pair of the second crank 54 still can swing relatively, and have a proper wrist joint movement angle. The rehabilitation training device of the embodiment has 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 be well adapted to the exercise training requirements of different crowds, and the training effect is ensured. The rehabilitation training device of the embodiment has various 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 reform the existing rehabilitation training device and the like so as to have 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 auxiliary tool (the pedal 22 or the supporting plate) and the horizontal direction is larger than or equal to 35 degrees or the maximum included angle between the two first connecting rods 25 on two sides is larger than or equal to 32 degrees, ensure that the first supporting auxiliary tool is enough in inclination angle, and meet the ankle joint training requirement.
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 which are disposed on the base 1. In contrast to the rehabilitation training device of the first embodiment, the configuration is substantially the same except for the use of the different upper limb training mechanism 5, and thus the description will not be repeated.
In this embodiment, the upper limb training mechanism 5 includes a second support member 51, a second support auxiliary tool, a second rotation shaft 53, and a second crank 54, wherein the second support auxiliary tool is a handle 52 (of course, a support plate may be used instead). The second support member 51 is mounted at one end of the horizontal bar section 33 of the support frame 3, the second rotation shaft 53 is rotatably mounted on the second support member 51, the second crank 54 is fixedly connected with the end of the second rotation 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 at two sides of the second supporting member 51. Two second cranks 54 are respectively mounted and fixed to both ends of the second rotating shaft 53, and each handle 52 is rotatably mounted on the second cranks 54 on the same side.
Referring to fig. 4, in this embodiment, the second crank 54 is a rod crank, one end of which is fixedly connected to one end of the second rotating shaft 53, and the other end of which 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 limb and the lower limb cooperatively exercise training, the human body posture is a sitting posture, the lower limb meets the ankle pump movement, and the upper limb performs the common circular movement.
It can be understood that the lower limb training mechanism 2 of the rehabilitation training device of the present embodiment may also be the lower limb training mechanism 2 shown in fig. 6-8, which is described in detail in the fourth embodiment, and will not be described here.
Example III
As shown in fig. 5, this embodiment describes a third rehabilitation training device, which includes a base 1, and a support frame 3 and a lower limb training mechanism 2 disposed on the base 1. In contrast to the first embodiment, the upper limb training mechanism 5 is not provided, and the other structures are substantially the same, so the description will not be 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 with pedal 22 to do gyration motion to satisfy ankle pump motion, possess good ankle joint training effect.
It can be understood that the lower limb training mechanism 2 of the rehabilitation training device of the present embodiment may also be the lower limb training mechanism 2 shown in fig. 6-8, which is described in detail in the fourth embodiment, and will not be described here.
Example IV
As shown in fig. 6, this embodiment describes a fourth rehabilitation training device, which is a modified embodiment of the rehabilitation training device of 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 the description will not be repeated.
The rehabilitation training device comprises a base 1, a support frame 3 arranged on the base 1, a lower limb training mechanism 2 and an upper limb training mechanism 5. The other structures are substantially the same except for the structure of the lower limb training mechanism 2, so the description will not be repeated.
Referring to fig. 1 and 6, the lower limb training mechanism 2 of the present embodiment adopts an equivalent substitution mechanism of a crank-rocker mechanism, and is formed by substituting the combination of the first rocker 26 and the first rocker support member 27 of the lower limb training mechanism 2 of the first embodiment with the combination of the roller or the slider 28, the arc-shaped slide rail 291 and the support 292. The center of the arc-shaped sliding rail 291 is positioned 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 support member 21, a first rotation shaft 23, a first support auxiliary tool, a first crank 24, a first link 25, a roller or slider 28, and an arc-shaped slide rail assembly 29, wherein the arc-shaped slide rail assembly 29 includes an arc-shaped slide rail 291 and a support 292, and the first support auxiliary tool is a pedal 22 (of course, may also be a support plate). The first support member 21 is provided on the base 1; the first rotating shaft 23 is rotatably mounted on the first supporting member 21; the first crank 24 is fixedly connected with the first rotary 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 and the roller or the sliding block 28 form a revolute pair; the arc-shaped sliding rail 291 is mounted on the base 1 through the support 292, and the roller or the sliding block 28 is arranged on the arc-shaped sliding rail 291 and moves along the arc-shaped sliding rail 291.
Specifically, the arc-shaped sliding rail assembly 29 is mounted at the end of the base 1 far away from the support frame 3 in a rear-mounted manner, that is, the arc-shaped sliding rail 291 is disposed at the end of the base 1 far away from the support frame 3. Of course, as shown in fig. 8, the arc-shaped sliding rail assembly 29 may be mounted at the end of the base 1 where the support frame 3 is disposed, that is, the arc-shaped sliding rail 291 is disposed at the end of the base 1 near the support frame 3. Of course, when the arc-shaped sliding rail 291 is disposed at the rear, the arc-shaped sliding rail 291 may be mounted on the first supporting member 21; when the arc slide rail 291 is forward, the arc 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, so that the height of the arc-shaped slide rail 291 is fixed. Of course, the height of the arc-shaped sliding rail 291 may be adjustable, for example, the support 292 may be a lifting table, 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 slider 28, and the arc-shaped sliding rail assembly 29 include two parts, which are respectively located at two sides of the first supporting member 21. The two first cranks 24 are respectively mounted and fixed at two ends of the first rotating shaft 23, each first crank 24 is rotatably connected with the pedals 22 on the same side, each pedal 22 is fixedly mounted on the first connecting rod 25 on the same side, one end of each first connecting rod 25 and the roller or the sliding block 28 on the same side form a revolute pair, each roller or sliding block 28 is mounted on an arc-shaped sliding rail 291 of the arc-shaped sliding rail assembly 29 on the same side, and the two arc-shaped sliding rail assemblies 29 are mounted on the base 1. The maximum included angle between the support plane (i.e. tread) of the pedal 22 and the horizontal direction is greater than or equal to 35 degrees, thereby ensuring that the pedal 22 has a sufficient inclination angle and meeting the ankle training requirement.
In fig. 6, the first crank 24 and the pedal 22 form a revolute pair, and of course, as shown in fig. 7, the first crank 24 and the first link 25 may also form a revolute pair. Specifically, as shown in fig. 7, the first crank 24 is rotatably connected to one end of the first connecting rod 25, the other end of the first connecting rod 25 forms a revolute pair with the roller or the slider 28, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the foothold 22 has a sufficient inclination angle, to satisfy the ankle training requirement, it is necessary to satisfy either one of the constraint conditions that the maximum angle of the support plane of the first link 25 or the foothold 22 with the horizontal direction is greater than or equal to 35 ° or that the maximum angle of 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, a motor, or a combination of a motor and a reduction gear, or a flywheel.
In this embodiment, the lower limb training mechanism 2 further includes a first resistance member disposed within the first support member 21, the first resistance member including a friction assembly, a magnetic control 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 installed on the first rotating shaft 23, the friction plate seat is installed at one end, close to the first rotating shaft 23, of the first supporting part 21, and the friction plate seat are controlled to be screwed or loosened through a human-computer interaction device 6 to be described later to adjust the movement resistance. 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 mounted on the first rotating shaft 23, the permanent magnet assembly is mounted at one end, close to the first rotating shaft 23, of the first supporting component 21, the magnetic control resistance generator cuts magnetic induction lines between permanent magnets through the aluminum disc flywheel to generate eddy current to form resistance, and the man-machine interaction device 6 adjusts the distance between the aluminum disc and the permanent magnet to achieve adjustment of the resistance.
It will be appreciated that the first support member 21 may also include only a first resistance member (not shown) without providing a first driving member, and the first resistance member may be manually adjusted or controlled by the man-machine interaction device 6.
It will be appreciated that the first drive member may also be employed directly as the first resistance member without the addition of a friction pack or a magnetically controlled resistance generator as the first resistance member. By taking a driving device with a motor or a combination of the motor and a speed reducer as an example, the motor can generate resistance when in a power generation mode, and the magnitude of the resistance moment can be controlled by controlling the magnitude of induced current.
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 cooperatively exercise and train, the human body posture is a sitting posture, the lower limb meets the motion of an ankle pump, and the upper limb rotates along with the handle 52 to enable the wrist joint to have a certain training movement angle.
The rehabilitation training device of the embodiment may also include three training modes, namely a passive training mode, a power-assisted training mode and an active training mode, and the detailed training mode is described in the first embodiment and is not described herein.
The rehabilitation training device can eliminate local degrees of freedom, so that abnormal joint reaction is restrained, certain movement angles are generated on the ankle joints or the wrist joints at two sides, ankle pump movement is formed, and good ankle joint or wrist joint training effect is achieved. The rehabilitation training device of the embodiment has 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 be well adapted to the exercise training requirements of different crowds, and the training effect is ensured. The rehabilitation training device of the embodiment has various 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 reform the existing rehabilitation training device and the like so as to have 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 auxiliary tool (the pedal 22 or the supporting plate) and the horizontal direction is larger than or equal to 35 degrees or the maximum included angle between the two first connecting rods 25 on two sides is larger than or equal to 32 degrees, ensure that the first supporting auxiliary tool is enough in inclination angle, and meet the ankle joint training requirement.
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 will not be described here.
It will be appreciated that the rehabilitation training device of the present embodiment may be similar to that shown in fig. 5 without the upper limb training device 5.
It should be noted that, the first link 25, the roller or the slider 28 and the arc-shaped slide rail assembly 29 of the present embodiment may be used as a training assembly product for a lower limb or an upper limb training mechanism of a sitting or prone rehabilitation training device. Of course, the first link 25, the roller or the slider 28, the arc-shaped slide rail assembly 29 and the first support auxiliary tool of the present embodiment can also be used as a training assembly product for the lower limb or the upper limb training mechanism of the sitting or prone rehabilitation training machine.
Example five
As shown in fig. 9, this embodiment describes a fifth rehabilitation training device, which includes a base 1, and a support frame 3 and an upper limb training mechanism 5 disposed on the base 1. In comparison with the first embodiment, the configuration is substantially the same except that the lower limb training mechanism 2 and the base 1 are not provided, and thus the description will not be repeated.
The rehabilitation training device of the embodiment can only perform upper limb training, and has a certain training movement angle of the wrist joint when the upper limb rotates along with the handle 52 during training, and good wrist joint training effect.
Example six
In this embodiment, a sixth rehabilitation training device is described, unlike in the first embodiment, the pedals 22 (first supporting auxiliary tool) are directly and fixedly mounted on the first rocker 26, at this time, the first crank 24 is rotatably connected to one end of the first connecting rod 25, and in order to meet the ankle training requirement, the maximum included angle between the supporting plane of the pedals 22 and the horizontal direction is greater than or equal to 35 °. Other structures are substantially the same as those of the first embodiment, and thus will not be described again.
The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.
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, components, methods, components, materials, parts, and so forth. In other instances, well-known structures, materials, or operations are not specifically 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 particular 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 all embodiments, of the present invention. Thus, the appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily all 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 will be appreciated 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 invention.
It will also be appreciated that one or more of the elements shown in the figures may also be implemented in a more separated or integrated manner, or even removed because of inoperability in certain circumstances or provided because it may be useful depending on the particular application.
In addition, any labeled arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise specifically indicated. Furthermore, the term "or" as used herein is generally intended to mean "and/or" unless specified otherwise. Combinations of parts 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, unless otherwise indicated, "a", "an", and "the" include plural references. Also, as used in the description herein and throughout the claims that follow, unless otherwise indicated, the meaning of "in …" includes "in …" and "on …".
The above description of illustrated embodiments of the invention, including what is described in the abstract, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. Although 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 noted, these modifications can 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 being helpful in understanding the details of the present invention. Furthermore, various specific details have been set forth in order 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, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.
Thus, although the 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. Therefore, 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 should be determined only by the following claims.
Claims (13)
1. A rehabilitation training device, comprising:
A base;
the support 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 rotary shaft is rotatably arranged on the first supporting component;
the first crank is fixedly connected with the first rotary shaft;
the first crank is rotationally connected with one end of the first connecting rod or the first supporting auxiliary tool;
the first supporting auxiliary tool 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 component and the supporting frame, and the idler wheels or the sliding blocks are arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail;
The first upper limb training mechanism comprises a second supporting part, a second supporting auxiliary tool, a second rotating shaft, a second crank, a second connecting rod and a second rocker; the second supporting component is arranged on the supporting frame, the second rotating shaft is rotatably arranged on the second supporting component, 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 component form a revolute pair, and the second supporting auxiliary tool is arranged on the second connecting rod;
The length of the first connecting rod, the specification and the size of the first crank, the length of the second connecting rod and the specification and the size of the second crank are adjustable.
2. The rehabilitation training device according to claim 1, wherein the arc-shaped sliding rail is disposed at one end of the base far from the support frame or one end close to the support frame.
3. The rehabilitation training device of claim 1 wherein the first upper limb training mechanism is replaced with a second upper limb training mechanism comprising a second support member, a second support aid, a second swivel axis and a second crank; the second support part is arranged on the support frame, the second rotary shaft is rotatably arranged on the second support part, the second crank is fixedly connected with the second rotary shaft, and the second support auxiliary tool is rotatably arranged on the second crank.
4. The rehabilitation training device according to claim 1, characterized in that the first upper limb training mechanism further comprises a second rocker supporting member mounted at one end of the second supporting member remote from the second swivel axis, and wherein one end of the second rocker not connected to the second connecting rod forms a revolute pair with the second rocker supporting member.
5. The rehabilitation training device of claim 4 wherein the second rocker is adjustable in the position of the centre of oscillation.
6. The rehabilitation training device of claim 1 wherein the first upper limb training mechanism further comprises a second drive component disposed within the second support component, the second drive component being coupled to the second swivel axis.
7. The rehabilitation training device of claim 1 further comprising an armrest, wherein the armrest is mounted on the support frame.
8. The rehabilitation training device of claim 1 wherein the lower limb training mechanism further comprises a first drive component disposed within the first support component, the first drive component being coupled to the first swivel axis.
9. The rehabilitation training device according to claim 1, characterized in 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 first connecting rods positioned at two sides of the first rotating shaft is greater than or equal to 32 degrees.
10. The rehabilitation training device of claim 1 wherein said rehabilitation training device comprises a training component;
The training assembly includes:
The first connecting rod is provided with a fixedly connected part which is used for being fixedly connected with a first supporting auxiliary tool of the rehabilitation training device, and one end of the first connecting rod is used as a rotating end which forms a revolute pair with a first crank of the rehabilitation training device;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
11. The rehabilitation training device of claim 1 wherein said rehabilitation training device comprises a training component;
The training assembly includes:
One end of the first connecting rod is used as a connecting end fixedly connected with a first supporting auxiliary tool of the rehabilitation training device;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
12. The rehabilitation training device of claim 1 wherein said rehabilitation training device comprises a training component;
The training assembly includes:
one end of the first connecting rod is used as a rotating end forming a revolute pair with a first crank of the rehabilitation training device;
the first supporting auxiliary tool is fixedly arranged on the connecting rod;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
13. The rehabilitation training device of claim 1 wherein said rehabilitation training device comprises a training component;
The training assembly includes:
the first support auxiliary tool is provided with a rotating part which forms a revolute pair with a first crank of the rehabilitation training device;
one end of the first connecting rod is fixedly connected with the supporting auxiliary tool;
The arc-shaped sliding rail is provided with an installation part which is fixedly connected with the rehabilitation training device;
the roller or the sliding block is arranged on the arc-shaped sliding rail and can move along the arc-shaped sliding rail, and a revolute pair is formed between the roller or the sliding block and the other end of the first connecting rod.
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| CN2021107789441 | 2021-07-09 | ||
| CN2021215604993 | 2021-07-09 | ||
| CN202110778944.1A CN113398528A (en) | 2021-07-09 | 2021-07-09 | Rehabilitation training device |
| CN202121560499 | 2021-07-09 |
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| CN113730874A CN113730874A (en) | 2021-12-03 |
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| CN202111188818.7A Active CN113730874B (en) | 2021-07-09 | 2021-10-12 | Training assembly and rehabilitation training device |
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| CN113730874A (en) | 2021-12-03 |
| CN216497276U (en) | 2022-05-13 |
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