A multi-dimensional lower limb rehabilitation device

Abstract

The present invention discloses a multi-dimensional lower limb rehabilitation device, comprising a base plate, a seat is provided on one side of the base plate, a first driving component is provided on the side close to the seat, and a second driving component is provided on the side away from the seat, a slide rail assembly is arranged between the first driving component and the second driving component, one end of the slide rail assembly is connected to the first driving component through a first module component, and the other end of the slide rail assembly is connected to the second driving component through a second module component, and a pedal assembly is installed on the slide rail assembly. Under the drive of the first driving component, the second driving component, the first module component and the second module component, multi-dimensional movement of the pedal assembly is realized, thereby increasing the movement range of the lower limbs, providing sufficient activity space and comfortable angles, and solving the problems of small movement space and single angle of the linear mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of medical rehabilitation equipment, and in particular to a multi-dimensional lower limb rehabilitation device. Background Art

[0002] At present, my country is entering an aging society. Among the elderly, the number of patients with cerebrovascular diseases, neurological diseases, and lower limb motor dysfunction caused by traffic accidents, sports injuries and other accidents is increasing year by year. In addition to affecting the daily life of patients, it will also cause patients to suffer great psychological trauma and seriously affect their physical and mental health. In addition to early surgery and drug treatment, later rehabilitation training also plays an extremely important role in the recovery of lower limb motor function.

[0003] At present, there is a lack of fitness robots specifically for elderly people at home on the market. Elderly people can only exercise their arm and leg muscles through outdoor fitness equipment, indoor spinning bikes, etc., which is a very simple form. Although there are a variety of lower limb rehabilitation training instruments on the market, lower limb rehabilitation trainers, as an automated rehabilitation medical equipment, not only reduce the workload of doctors, but also provide great convenience for patients' rehabilitation at all stages. However, most lower limb rehabilitation trainers have complex structures and are expensive. It is difficult for the elderly to understand the specific uses of fitness equipment when using them. The operation is unreasonable and irregular, which makes it difficult to ensure the safety of the elderly during exercise. Moreover, for the elderly with different limb lengths, the versatility of the product is poor.

[0004] The existing patent application with application number 201810203634.5 discloses a spatial four-degree-of-freedom lower limb rehabilitation trainer, which mainly includes an arc bottom plate, a main arc guide, a left main arc guide, a right main arc guide, an arc rack, an auxiliary arc guide, a left auxiliary arc guide, a right auxiliary arc guide, a leg rehabilitation training mechanism, a square bottom shell, a six-dimensional force sensor, a second hinge seat, a third hinge seat, an ankle joint electric push rod, an intermediate shaft, a fisheye bearing, an active load-bearing slide, a driven load-bearing slide, a reduction motor, a gear, a universal wheel, a lifting foot, a seat, a controller, a left leg training mechanism, a right leg training mechanism, etc. Although the invention can perform multifunctional, multi-posture, and more comprehensive lower limb rehabilitation training, and can meet the flexion and extension movement of the lower limbs in the sagittal plane, as well as the adduction and abduction movement of the hip joint around the human body, can always maintain a large stiffness, improve the stability of the movement, and achieve a better rehabilitation effect, but there are also the following problems:

[0005] (1) The trainer can only help patients perform four-degree-of-freedom exercise training, with limited movement space, and cannot meet the patient's more needs;

[0006] (2) This spatial four-degree-of-freedom lower limb rehabilitation trainer has a relatively complex structure and high manufacturing cost, which cannot meet the purchasing power of consumers. Summary of the invention

[0007] In view of the above-mentioned problems existing in the prior art, it is intended to provide a multi-dimensional lower limb rehabilitation device, which adopts a method of setting up a slide rail assembly and a pedal assembly between a first drive component and a second drive component, thereby increasing the motion range of the lower limbs, providing sufficient activity space and a comfortable angle, solving the problems of small motion space and single angle of the linear mechanism, and capable of multi-dimensional spatial training.

[0008] The specific technical solutions are as follows:

[0009] A multi-dimensional lower limb rehabilitation device comprises a base plate, a seat is provided on one side of the base plate, a first driving component is provided on the side close to the seat, and a second driving component is provided on the side away from the seat, a slide rail assembly is provided between the first driving component and the second driving component, one end of the slide rail assembly is connected to the first driving component through a first module component, and the other end of the slide rail assembly is connected to the second driving component through a second module component, a pedal assembly is installed on the slide rail assembly, and multi-dimensional movement of the pedal assembly is achieved under the drive of the first driving component, the second driving component, the first module component and the second module component.

[0010] The present invention adopts the method of setting up a slide rail assembly and a pedal assembly between the first driving component and the second driving component to achieve a larger range of motion of the lower limbs, provide sufficient activity space and comfortable angles for the lower limb fitness exercises of the elderly, solve the problem of small motion space and single angle of the linear mechanism, and can perform multi-dimensional space training, which is easy to meet the needs of most people. The device has a simple structure and strong movement flexibility, can realize intelligent fitness exercises, and is used to assist the user's leg muscle training to reduce the body's senile degeneration, improve the physiological functions of the elderly, and improve the physical fitness, thereby achieving the effect of delaying aging and promoting health.

[0011] Specifically, the first driving component includes a mounting plate and power components respectively connected to two sides of the mounting plate and driving the two sides of the mounting plate to move up and down.

[0012] Furthermore, the power component includes a bearing assembly, a movable plate, a linear motor, a guide rail and a bracket, wherein the bracket is fixed on the base plate, the linear motor is vertically provided with a guide rail, the linear motor is fixed on the bracket and connected to the movable plate, the movable plate is slidably connected to the guide rail, and the movable plate is connected to the mounting plate through the bearing assembly.

[0013] Furthermore, the bearing assembly includes a first fisheye ball bearing, a second fisheye ball bearing and a fisheye ball bearing fixing shaft connected between the two bearings, the first fisheye ball bearing is hinged to the mounting plate, and the second fisheye ball bearing is connected to the movable plate.

[0014] When the linear motor is started, the movable plate can move up and down along the slide rail driven by the linear motor. Since the movable plate is connected to the mounting plate through the bearing assembly, the two sides of the mounting plate are driven to move up and down.

[0015] Specifically, the second module component includes a module bracket, an encoder, a unit seat, a module motor and an input shaft. The module bracket is fixedly connected to the mounting plate, the module motor is fixedly connected to one end of the module bracket, the encoder is fixedly connected to the other end of the module bracket, the module bracket cover is arranged outside the unit seat, the input shaft is coaxially connected to the unit seat, and one end of the input shaft is connected to the encoder, and the other end is connected to the module motor. The movement mode of the module motor can be realized by programming, thereby realizing the speed of the forward and backward movement of the pedal assembly and its movement trajectory.

[0016] Specifically, the slide rail assembly includes a slide rail, a slider and a belt. Both ends of the slide rail are respectively connected to the unit seat of the module component. The belt is fixed on the slide rail and connected to the input shaft. The slider is fixed on the belt. The slider is connected to the pedal assembly.

[0017] The pedal assembly comprises a pedal, a pedal base, a pedal shaft and a bearing seat, wherein the pedal is fixed on the pedal base, the pedal base is connected to the pedal shaft, the pedal shaft is connected to the bearing seat, and the bearing seat is fixed on the slider.

[0018] Furthermore, the pedal assembly also includes a limiting assembly, which includes a limiting screw and a rubber sleeve sleeved outside the limiting screw. The limiting screw is fixed on the pedal shaft and is used to limit the pedal shaft so that the pedal moves within a certain range of angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0020] Figure 2 It is a front view of the overall structure of the present invention;

[0021] Figure 3 It is a top view of the overall structure of the present invention;

[0022] Figure 4 It is a structural schematic diagram of the first driving component in the present invention;

[0023] Figure 5 is a schematic structural diagram of a pedal assembly in the present invention;

[0024] Figure 6 is a structural cross-sectional view of the pedal assembly of the present invention;

[0025] Figure 7 It is a structural schematic diagram of the module components in the present invention;

[0026] Figure 8 It is a structural cross-sectional view of the module component in the present invention;

[0027] Fig. 9 It is a schematic structural diagram of the second driving component in the present invention.

[0028] In the attached drawings, 1-mounting plate, 2-mounting plate fixing screw, 3, 5-fisheye ball bearing, 4-fisheye ball bearing fixed shaft, 6-connecting plate fixed shaft, 7-connecting plate, 8-moving plate, 9-linear motor, 10-bracket, 11-fixed plate bearing, 12-pedal, 13-pedal base, 14-bearing seat, 15-pedal shaft, 16-limiting screw, 17, 19-limiting screw rubber sleeve, 18, 20-limiting screw, 21, 25-pedal shaft Bearing, 22, 24, 26- elastic retaining ring, 23- pedal shaft sleeve, 27- seat, 28- slide rail, 29- slider cover, 30- slider, 31- foot, 32- module bracket, 33- motor seat, 34- module motor, 35- encoder, 36- encoder bracket, 37, 40- input shaft bearing, 38- input shaft sleeve, 39- unit seat, 41- elastic retaining ring for input shaft, 42- input shaft, 43- bottom plate, 44- belt. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] like Figures 1 to 3As shown, a multi-dimensional lower limb rehabilitation device is shown, including a base plate 43, four feet 31 for stabilizing the base plate are fixedly installed at the lower part of the base plate 43 by nuts, and the overall shape of the base plate 43 is L-shaped, and the shape of its main surface is rectangular, and a seat 27 for patient support is arranged on the short side of the base plate 43, and the front two feet of the seat 27 are fixed to the base plate 43 by screws. A first driving component is provided on the side of the base plate 43 close to the seat 27, and a second driving component is provided on the side away from the seat 27. A slide rail assembly is arranged between the first driving component and the second driving component. One end of the slide rail assembly is connected to the first driving component through a first module component, and the other end of the slide rail assembly is connected to the second driving component through a second module component. A pedal assembly is installed on the slide rail assembly. When performing rehabilitation exercises, the patient steps on the pedal assembly with both feet, and the pedal assembly can slide along the slide rail assembly. The first driving component and the second driving component can realize the up and down movement of both sides of the slide rail assembly. The first driving component and the second driving component can move simultaneously to realize the side-to-side movement of the slide rail assembly, thereby realizing the high and low movement of the pedal assembly, and finally realizing the multi-dimensional movement of the rehabilitation device, which is convenient for the user's lower limb fitness exercise.

[0031] like Figure 4 , is a first driving component fixed on the bottom plate 43 on the side of the seat 27, including a mounting plate 1, and power members connected to both sides of the mounting plate 1, that is, there are two power members, which are respectively located at both ends of the mounting plate 1, and play a role in supporting the mounting plate 1. Under the action of the power member, both sides of the mounting plate 1 can move up and down. Specifically, the power member includes a bearing assembly, a moving plate 8, a linear motor 9, a guide rail and a bracket 10, wherein the bracket 10 is fixed to the bottom plate 43 by screws, the linear motor 9 is fixed to the bracket 10 by screws, and the output shaft of the linear motor 9 is connected to the moving plate 8, and a guide rail is also vertically arranged on the linear motor 9. The moving plate 8 can move up and down along the guide rail under the power drive of the linear motor 9. A connecting plate 7 is also provided on the movable plate 8, and the connecting plate 7 is connected to the mounting plate 1 through a bearing assembly. The bearing assembly includes a first fisheye ball bearing 3, a second fisheye ball bearing 5 and a fisheye ball bearing fixing shaft 4 connected between the two bearings. The first fisheye ball bearing 3 is hinged to the mounting plate 1, and the second fisheye ball bearing 5 is connected to the connecting plate 7 through a connecting plate fixing shaft 6.

[0032] The second driving component has a similar structure to the first driving component, wherein one end of the first driving component uses a fixed plate bearing 11 instead of the original second fisheye ball bearing 5 as the fixed end of the four movable ends, while the second driving component uses the second fisheye ball bearing 5, and the rest of the structure is the same, such as Fig. 9 .

[0033] The mounting plate 1 of the first driving component is connected to the first module component, and the mounting plate 1 of the second driving component is connected to the second module component. Figure 7 and Figure 8 The second module component includes a module bracket 32, an encoder 35, a unit seat 39, a module motor 34 and an input shaft 42. The module bracket 32 ​​is fixedly connected to the mounting plate 1, and the module motor 34 is fixedly connected to one end of the module bracket 32 ​​through the motor seat 33. Similarly, the encoder 35 is fixedly connected to the other end of the module bracket 32 ​​through the encoder bracket 36. The module bracket 32 ​​is covered outside the unit seat 39. The input shaft 42 is coaxially connected to the unit seat 39 through input shaft bearings 37, 40, input shaft sleeve 38 and input shaft elastic retaining ring 41, and one end of the input shaft 42 is connected to the encoder 35 and the other end is connected to the module motor 34. The motion mode of the module motor 34 can be realized by programming.

[0034] The first module component has the same structure as the second module component, wherein the first module component does not have a module motor component and an encoder component.

[0035] A slide rail assembly is arranged between the first module component and the second module component, and the slide rail assembly includes a slide rail 28, a slider 30, a belt 44 and a slider cover 29. Both sides of the slide rail 28 are connected to the unit seat 39 by screws, respectively. The slider 30 is fixed to the belt 44 by screws, and the belt 44 is fixed to the slide rail 28 and connected to the input shaft 42. The slider cover 29 is fixed to the slider 30 by screws to protect the slider 30 and prevent the slider 30 from being dusty and affecting the sliding. Figure 5 and Figure 6 The slide rail 28 is slidably connected with a pedal assembly, which includes a pedal 12, a pedal base 13, a pedal shaft 15, a bearing seat 14 and a limit assembly, wherein the pedal 12 is fixed to the pedal base 13 by screws, the pedal base 13 is connected to the pedal shaft 15 and fixed by screws, the pedal shaft 15 is connected to the bearing seat 14 by pedal shaft bearings 21, 25 and the pedal shaft sleeve 23, and the positions of the bearings on both sides are fixed by elastic retaining rings 22, 24, 26. The bearing seat 14 is fixed to the slider cover 29 by screws. The limit assembly is arranged on the bearing seat 14, and is used to limit the pedal shaft 15, so that the pedal 12 moves within a certain range of angles. Specifically, the limit assembly includes a limit screw 16, and a limit screw rubber sleeve 17, 19 is arranged outside the limit screw 16 to protect the limit screw 16 and extend its service life.

[0036] The slide rail structure in the present invention can be replaced by other devices capable of achieving linear motion, such as linear guide rails, ball screws, hydraulic rods or pneumatic devices, etc. The motor used for driving can be an AC motor, a DC motor, a servo motor, a stepper motor, etc.

[0037] When the rehabilitation device is in use, the user first sits on the seat 27, which provides support for the user, and then the user places his feet on the pedal 12, starts the device, and the linear motor 9 in the first drive component and the second drive component drives the moving plate 8 to move up and down, thereby driving the installation plate 1 to move up and down, and finally driving the up and down movement of both sides of the slide rail 28. The first drive component and the second drive component can move at the same time to achieve the rollover movement of the slide rail 28, thereby achieving the high and low movement of the left and right pedals 12. The second module component can drive the pedal 12 to move linearly. The simultaneous movement of the first module component and the second module component can achieve the movement of the pedal 12 in multiple dimensions, which is more convenient for the user's lower limb fitness training. Specifically, in the second module component, the module motor 34 can drive the movement of the input shaft 42, and the input shaft 42 drives the movement of the belt 44. Since the slider 30 is fixed to the belt 44 by screws, the movement of the slider 30 is achieved, and finally the linear movement of the pedal 12 on the slide rail 28 is achieved. Because the encoder 35 is connected to the input shaft 42 of the module component, the movement mode of the module motor 34 can be realized by programming, thereby realizing the speed and movement trajectory of the linear motion of the pedal 12. Therefore, driven by the first driving component, the second driving component, the first module component and the second module component, the multi-dimensional motion of the user's lower limbs can be realized, a larger range of motion of the lower limbs can be achieved, and sufficient activity space and comfortable angles are provided for the lower limb fitness exercises of the elderly, solving the problem of small motion space and single angle of the linear mechanism, and being able to carry out multi-dimensional space training, which is easy to meet the needs of most people, thereby improving the physiological functions and physical fitness of the elderly.

[0038] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-dimensional lower limb rehabilitation device, comprising a bottom plate (43), characterized in that: A seat (27) is provided on one side of the base plate (43), a first driving component is provided on a side close to the seat (27), and a second driving component is provided on a side away from the seat (27), a slide rail assembly is arranged between the first driving component and the second driving component, one end of the slide rail assembly is connected to the first driving component via a first module component, and the other end of the slide rail assembly is connected to the second driving component via a second module component, a pedal assembly is installed on the slide rail assembly, and multi-dimensional movement of the pedal assembly is achieved under the drive of the first driving component, the second driving component, the first module component and the second module component; The first driving component comprises a mounting plate (1), and a power component respectively connected to two sides of the mounting plate (1) and driving the two sides of the mounting plate (1) to move up and down; The power component comprises a bearing assembly, a movable plate (8), a linear motor (9), a guide rail and a bracket (10), wherein the bracket (10) is fixed on a base plate (43), a guide rail is vertically arranged on the linear motor (9), the linear motor (9) is fixed on the bracket (10) and connected to the movable plate (8), the movable plate (8) is slidably connected to the guide rail, and the movable plate (8) is connected to the mounting plate (1) via the bearing assembly; The second module component comprises a module bracket (32), an encoder (35), a unit seat (39), a module motor (34) and an input shaft (42); the module bracket (32) is fixedly connected to the mounting plate (1); the module motor (34) is fixedly connected to one end of the module bracket (32); the encoder (35) is fixedly connected to the other end of the module bracket (32); the module bracket (32) is covered outside the unit seat (39); the input shaft (42) is coaxially connected to the unit seat (39); one end of the input shaft (42) is connected to the encoder (35) and the other end is connected to the module motor (34); The slide rail assembly comprises a slide rail (28), a slider (30) and a belt (44); both ends of the slide rail (28) are respectively connected to a unit seat (39) of a module component; the belt (44) is fixed on the slide rail (28) and connected to an input shaft (42); the slider (30) is fixed on the belt (44); and a pedal assembly is connected to the slider (30); The first module component has the same structure as the second module component, wherein the first module component does not have a module motor component and an encoder component; The first driving component and the second driving component can realize the up and down movement of both sides of the slide rail assembly. The first driving component and the second driving component can move simultaneously to realize the rollover movement of the slide rail assembly.

2. The multi-dimensional lower limb rehabilitation device according to claim 1, characterized in that: The bearing assembly comprises a first fisheye ball bearing (3), a second fisheye ball bearing (5) and a fisheye ball bearing fixing shaft (4) connected between the two bearings, the first fisheye ball bearing (3) being hinged to the mounting plate (1), and the second fisheye ball bearing (5) being connected to the moving plate (8).

3. The multi-dimensional lower limb rehabilitation device according to claim 2, characterized in that: The second fisheye ball bearing (5) is connected to the moving plate (8) via a connecting plate (7).

4. The multi-dimensional lower limb rehabilitation device according to claim 1, characterized in that: The pedal assembly comprises a pedal (12), a pedal base (13), a pedal shaft (15) and a bearing seat (14); the pedal (12) is fixed on the pedal base (13); the pedal base (13) is connected to the pedal shaft (15); the pedal shaft (15) is connected to the bearing seat (14); and the bearing seat (14) is fixed on a slider (30).

5. The multi-dimensional lower limb rehabilitation device according to claim 4, characterized in that: The slider (30) is provided with a slider cover (29), and the bearing seat (14) is fixed on the slider cover (29).

6. The multi-dimensional lower limb rehabilitation device according to claim 5, characterized in that: The pedal assembly also includes a limiting assembly, which includes a limiting screw (16) and a rubber sleeve (17, 19) sleeved outside the limiting screw, and the limiting screw (16) is fixed on the pedal shaft (15).

Images