A mechanism capable of achieving precise gait adjustment

Abstract

The present invention discloses a mechanism capable of achieving precise gait adjustment, including a frame, a trajectory generation mechanism, and a trajectory adjustment mechanism with an adjustable link. The trajectory generation mechanism includes a crank and a link. One end of the crank is hinged to the frame, and the other end is hinged to the link. The middle part of the adjustable link of the trajectory adjustment mechanism is hinged to the link. The hinge point of the adjustable link and the link is the gait trajectory input point. The head end of the adjustable link forms a movable and rotatable connection with the frame, and the tail end of the adjustable link can adjustably enlarge or reduce the gait trajectory. The present invention adopts the combination of a crank rocker and a trajectory adjustment mechanism with an adjustable link, realizes precise human gait trajectory movement, changes the training modes of circular, elliptical or human-like gait movement trajectories, conforms to the precise gait trajectory of the foot when a person walks, and the size of the gait trajectory can be adjusted. The adjustment method is simple, the performance is stable, and it meets the needs of users of different heights.

Description

Technical Field

[0001] The present invention relates to a gait training device, in particular to a mechanism and a training device capable of achieving precise gait adjustment. Background Art

[0002] At present, limb training has become a research hotspot. Many training devices widely used on the market only provide simple curved or straight trajectories, including elliptical machines and some sole-driven devices. Their characteristics are low fitting degree between the movement trajectory and the human gait trajectory, and single training mode, so that users cannot achieve good training effects.

[0003] The single-degree-of-freedom trainer has a simple structure, but its movement form is single. It cannot provide gait trajectory training methods of various sizes and cannot precisely adjust the size of the gait trajectory. Although it has universality, it is difficult to meet the personalized and precise training requirements of different users.

[0004] The research on general-purpose upper and lower limb training devices on the market mainly focuses on training a certain training stage of users, and several devices need to be intervened in different training periods to complete a complete training cycle.

[0005] The open-chain exoskeleton rehabilitation training device is expensive, cumbersome to wear, inconvenient to use, and has poor effect manifestation.

[0006] Therefore, it is particularly important to develop a mechanism and a training device capable of achieving precise gait adjustment that are cheap and easy to use. Summary of the Invention

[0007] To overcome the defects of the prior art, the purpose of the present invention is to provide a mechanism capable of achieving precise gait adjustment. This device obtains the precise gait trajectory of the human body through simple mechanism combination and complex optimization calculation, and the enlarged size of the gait trajectory is adjustable. This device has a simple structure, is easy to use, and is safe and reliable.

[0008] The present invention solves the technical problems by adopting the following technical solutions:

[0009] A mechanism capable of achieving precise gait adjustment includes a frame, a trajectory generation mechanism, and a trajectory adjustment mechanism with an adjustable connecting rod. The trajectory generation mechanism includes a crank and a connecting rod. One end of the crank is hinged to the frame, and the other end is hinged to the connecting rod;

[0010] The middle part of the adjustable connecting rod of the trajectory adjustment mechanism is hinged to the connecting rod. The hinge point of the adjustable connecting rod and the connecting rod is the gait trajectory input point. The head end of the adjustable connecting rod forms a movable and rotatable connection with the frame, and the tail end of the adjustable connecting rod can adjustably enlarge or reduce the gait trajectory.

[0011] Preferably, further, the trajectory generation mechanism is composed of a crank-rocker mechanism mounted on the frame. The crank-rocker mechanism includes a crank, a connecting rod, and a rocker. The connecting rod has three hinge points at the three vertices of a triangle. One end of the crank is hinged to the frame, and the other end of the crank is hinged to point A of the connecting rod. One end of the rocker is hinged to point B of the connecting rod, and the other end of the rocker is hinged to the frame. Point C of the connecting rod is the gait trajectory input point, and the connecting rod is hinged to the middle of the adjustable connecting rod at point C.

[0012] Preferably, further, the specific form of the movable and rotatable connection formed between the head end of the adjustable connecting rod and the frame is as follows: A slider is rotatably hinged on the frame, and a free moving pair is formed between the slider and the adjustable connecting rod; The specific form of the end of the adjustable connecting rod being able to adjustably magnify or reduce the gait trajectory is as follows: A support block is provided at the end of the adjustable connecting rod as the trajectory output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod to magnify or reduce the gait trajectory; The specific form of the controllable moving pair is: The distance between the support block and the trajectory input point is a controllable variable S2, the distance between the trajectory input point and the slider is a free variable S1, and (S2 + S1) / S1 = K, where K is a constant, or where K is close to a constant.

[0013] Preferably, further, the implementation method of the controllable variable S2 is as follows: A linear slide is provided on the lower half of the adjustable connecting rod, the support block is driven by a motor, and the speed of the motor is controlled by a controller so that a controllable moving pair is formed between the support block and the linear slide. A footrest forming a rotating pair with the support block is installed on the support block.

[0014] A training device capable of realizing precise gait adjustment includes a support device, a trajectory generation mechanism, a trajectory adjustment mechanism with an adjustable connecting rod, and a transmission mechanism. The support device includes a base and frames symmetrically arranged on both sides of the base. The trajectory generation mechanism includes a crank and a connecting rod. One end of the crank is hinged to the frame, and the other end is hinged to the connecting rod;

[0015] The middle of the adjustable connecting rod of the trajectory adjustment mechanism is hinged to the connecting rod. The hinge point of the adjustable connecting rod and the connecting rod is the gait trajectory input point. The head end of the adjustable connecting rod forms a movable and rotatable connection with the frame, and the end of the adjustable connecting rod can adjustably magnify or reduce the gait trajectory;

[0016] The transmission mechanism is arranged on the base to drive the crank to make a full rotation. Specifically, it includes a motor provided on the base and a driving sprocket driven by the motor. The shaft of the driven sprocket is fixedly connected to the shaft of the crank. The output rotation of the motor shaft is transmitted to the shaft of the crank through chain drive between the driving sprocket and the driven sprocket. The number of motors is one to three.

[0017] Preferably, further, the trajectory generation mechanism is composed of a crank-rocker mechanism installed on the frame. The crank-rocker mechanism includes a crank, a connecting rod, and a rocker. The connecting rod has three hinge points at the three vertices of a triangle. One end of the crank is hinged to the frame, and the other end of the crank is hinged to point A of the connecting rod. One end of the rocker is hinged to point B of the connecting rod, and the other end of the rocker is hinged to the frame. Point C of the connecting rod is the gait trajectory input point, and the connecting rod is hinged to the middle part of the adjustable connecting rod at point C.

[0018] Preferably, further, the specific connection between the head end of the adjustable connecting rod and the frame, which allows for movement and rotation, is as follows: A slider is rotatably hinged on the frame, and a free moving pair is formed between the slider and the adjustable connecting rod; The ability of the end of the adjustable connecting rod to adjustably enlarge or reduce the gait trajectory is specifically as follows: A support block is provided at the end of the adjustable connecting rod as the trajectory output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod to enlarge or reduce the gait trajectory; The controllable moving pair is specifically: The distance between the support block and the trajectory input point is a controllable variable S2, and the distance between the trajectory input point and the slider is a free variable S1, (S2 + S1) / S1 = K, where K is a constant, or where K is close to a constant.

[0019] Preferably, further, the implementation method of the controllable variable S2 is as follows: A linear slide is provided on the lower half of the adjustable connecting rod. The support block is driven by a motor, and the speed of the motor is controlled by a controller so that a controllable moving pair is formed between the support block and the linear slide. A footrest that forms a rotating pair with the support block is installed on the support block.

[0020] Preferably, further, the training device further includes a gravity elimination mechanism. The gravity elimination mechanism includes a support plate and rollers. The support plate is installed on the base and has a hollow groove on the support plate. The rollers are provided at the trajectory input point of the connecting rod and the rollers are located in the groove. The contour curve of the groove is the envelope curve of the rollers.

[0021] Preferably, further, handrails are provided on the frames symmetrically arranged on both sides of the support device. The handrails are fixed handrails or training handrails linked to the gait trajectory points. Straps are provided on the handrails to further provide a weight loss function for the user.

[0022] Compared with the prior art, the beneficial effects of the present invention are reflected in:

[0023] The present invention adopts a combination of a crank rocker and a trajectory adjustment mechanism with an adjustable connecting rod, realizing precise human gait trajectory movement, changing the training modes of circular, elliptical or quasi-human gait movement trajectories, conforming to the precise gait trajectory of the foot during human walking, with the size of the gait trajectory adjustable, few degrees of freedom during movement, simple adjustment method, stable performance, convenient use, high safety, and can meet the needs of users of different heights.

[0024] By adopting a weight reduction mechanism, the driving load is greatly reduced, power consumption is saved, and the manufacturing cost and use cost of the equipment are reduced.

[0025] The present invention integrates the advantages of a high degree of trajectory reproduction of a lower limb exoskeleton type and the advantages of a safe and reliable ankle joint end traction type closed-chain mechanism, can meet the requirements of precise gait training, and greatly improves the training effect of users.

[0026] During training, if the K value is appropriately adjusted, the shape of the trajectory can be correspondingly changed, so as to meet the personalized training needs. Brief Description of the Drawings

[0027] Figure 1 is a schematic diagram of the trajectory generation mechanism and the trajectory adjustment mechanism of the present invention provided on the frame Figure 1 ;

[0028] Figure 2 is a schematic diagram of the trajectory generation mechanism and the trajectory adjustment mechanism of the present invention provided on the frame Figure 2 ;

[0029] Figure 3 is a schematic diagram of the training device of the present invention;

[0030] Figure 4 is a schematic diagram of the upper and lower limb linkage training device of the present invention;

[0031] Figure 5 is a schematic diagram of the structure of the trajectory adjustment mechanism of the present invention;

[0032] Figure 6 is a schematic diagram of the output trajectory of the present invention.

[0033] Reference numerals in the figures: 1 frame, 2 crank, 3 connecting rod, 4 adjustable connecting rod, 5 rocker, 6 support block, 7 linear slide, 8 footrest, 9 base, 10 driving sprocket, 11 driven sprocket, 12 chain, 13 roller, 14 support plate, 16 handrail.

[0034] The following further describes the present invention through specific embodiments in conjunction with the drawings. Specific Embodiments

[0035] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0036] Embodiment 1. A mechanism capable of achieving precise gait adjustment includes a frame 1, a trajectory generation mechanism, and a trajectory adjustment mechanism with an adjustable link. Among them, the trajectory generation mechanism includes a crank 2 and a link 3. One end of the crank 2 is hinged to the frame 1, and the other end is hinged to the link 3 to form a revolute pair.

[0037] The middle part of the adjustable link 4 of the trajectory adjustment mechanism is hinged to the link 3 to form a revolute pair. The hinge point between the adjustable link 4 and the link 3 is the gait trajectory input point. The head end of the adjustable link 4 is movably and rotatably connected to the frame. The tail end of the adjustable link 4 can adjustably enlarge or reduce the gait trajectory.

[0038] More specifically, the trajectory generation mechanism is composed of a crank-rocker mechanism installed on the frame. The crank-rocker mechanism includes a crank 2, a link 3, and a rocker 5. The link 3 has three hinge points at the three vertices of a triangle. One end of the crank 2 is hinged to the frame 1, and the other end of the crank 2 is hinged to point A of the link. One end of the rocker 5 is hinged to point B of the link, and the other end of the rocker is hinged to the frame. Point C of the link is the gait trajectory input point. The link is hinged to the middle part of the adjustable link 4 at point C.

[0039] Specifically, the head end of the adjustable link 4 is movably and rotatably connected to the frame as follows: A slider is rotatably hinged on the frame 1, and a free sliding pair is formed between the slider and the adjustable link; the specific structure of the tail end of the adjustable link 4 being able to adjustably enlarge or reduce the gait trajectory is: A support block 6 is provided at the tail end of the adjustable link 4 as the trajectory output point, and a controllable sliding pair is formed between the support block and the adjustable link 4 to enlarge or reduce the gait trajectory; the controllable sliding pair is specifically: The distance between the support block 6 and the trajectory input point is a controllable variable S2, and the distance between the trajectory input point and the slider is a free variable S1, (S2 + S1) / S1 = K, where K is a constant, or where K is close to a constant. Among them, the implementation method of the controllable variable S2 is: A linear slide 7 is provided on the lower half of the adjustable link 4. The support block 6 is driven by a motor, and the speed of the motor is controlled by a controller so that a controllable sliding pair is formed between the support block 6 and the linear slide 7. A foot pedal 8 forming a revolute pair with it is installed on the support block 6. During training, the hinge axis between the support block and the foot pedal is at the ankle of the human body.

[0040] Embodiment 2. A training device capable of achieving precise gait adjustment includes a support device, a trajectory generation mechanism, a trajectory adjustment mechanism with an adjustable connecting rod, and a transmission mechanism. The support device includes a base 9 and frames 1 symmetrically arranged on both sides of the base. The trajectory generation mechanism includes a crank 2 and a connecting rod 3. One end of the crank 2 is hinged to the frame 1, and the other end is hinged to the connecting rod 3;

[0041] The middle of the adjustable connecting rod 4 of the trajectory adjustment mechanism is hinged to the connecting rod 3. The hinge point of the adjustable connecting rod 4 and the connecting rod 3 is the gait trajectory input point. The head end of the adjustable connecting rod 4 is movably and rotatably connected to the frame, and the tail end of the adjustable connecting rod 4 can adjustably magnify or reduce the gait trajectory;

[0042] The transmission mechanism includes a motor provided on the base and a driving sprocket 10 driven by the motor. The shaft of the driven sprocket 11 is fixedly connected to the shaft of the crank 2. The driving sprocket 10 and the driven sprocket 11 are driven by a chain 12 to transmit the output rotation of the motor shaft to the shaft of the crank 12. Of course, in order to drive the crank to rotate, the transmission mechanism can also adopt forms such as belt drive or gear drive.

[0043] Among them, the trajectory generation mechanism and the trajectory adjustment mechanism are as described above and will not be elaborated further.

[0044] The training device further includes a gravity elimination mechanism. The gravity elimination mechanism includes a support plate 14 and rollers 13. The support plate 14 is installed on the base 9 and has a hollow groove on the support plate. The rollers 13 are provided at the trajectory input point of the connecting rod 3 and the rollers are in the groove. The contour curve of the groove is the envelope of the rollers. The groove and the rollers actually constitute a cam mechanism.

[0045] Handrails 16 are provided on the frames symmetrically arranged on both sides of the support device. The handrails are fixed handrails or training handrails linked to the gait trajectory points. Straps are provided on the handrails to further provide a weight loss function for the user.

[0046] It should be noted that the parts not elaborated in the present invention belong to the well-known technologies in the art or can be directly purchased from the market. Those skilled in the art can obtain them without creative labor. Their specific connection methods have extremely wide applications in the art or in daily life and will not be elaborated here.

[0047] In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be construed as a limitation to the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A mechanism capable of achieving precise gait adjustment, comprising a frame (1), a trajectory generating mechanism and a trajectory adjusting mechanism with an adjustable connecting rod, characterized in that: The trajectory generation mechanism includes a crank (2) and a connecting rod (3). One end of the crank (2) is hinged to the frame (1), and the other end is hinged to the connecting rod (3). The middle part of the adjustable connecting rod (4) of the trajectory adjustment mechanism is hinged to the connecting rod (3). The hinge point between the adjustable connecting rod (4) and the connecting rod (3) is the gait trajectory input point. The head end of the adjustable connecting rod (4) forms a movable and rotatable connection with the frame, and the tail end of the adjustable connecting rod (4) can adjustably magnify or reduce the gait trajectory. The head end of the adjustable connecting rod (4) forms a movable and rotatable connection with the frame specifically as follows: A slider is rotatably hinged on the frame (1), and a free moving pair is formed between the slider and the adjustable connecting rod. The tail end of the adjustable connecting rod (4) can adjustably magnify or reduce the gait trajectory specifically as follows: A support block (6) is arranged at the tail end of the adjustable connecting rod (4) as the trajectory output point, and a controllable moving pair is formed between the support block and the adjustable connecting rod (4) to magnify or reduce the gait trajectory. The controllable moving pair specifically is: The distance between the support block (6) and the trajectory input point is a controllable variable S2, the distance between the trajectory input point and the slider is a free variable S1, and (S2 + S1) / S1 = K, where K is a constant or K is close to a constant.

2. The mechanism for achieving precise gait adjustment according to claim 1, wherein, The trajectory generation mechanism is composed of a crank-rocker mechanism installed on the frame. The crank-rocker mechanism includes a crank (2), a connecting rod (3) and a rocker (5). The connecting rod (3) has three hinge points at the three vertices of a triangle. One end of the crank (2) is hinged to the frame (1), the other end of the crank (2) is hinged to point A of the connecting rod. One end of the rocker (5) is hinged to point B of the connecting rod, the other end of the rocker is hinged to the frame, and point C of the connecting rod is the gait trajectory input point. The connecting rod is hinged to the middle part of the adjustable connecting rod (4) at point C.

3. The mechanism for precisely adjusting gait according to claim 1, wherein The realization method of the controllable variable S2 is: A linear slide (7) is arranged on the lower half section of the adjustable connecting rod (4). The support block (6) is driven by a motor, and the speed of the motor is controlled by a controller so that a controllable moving pair is formed between the support block (6) and the linear slide (7). A footrest (8) forming a rotating pair with it is installed on the support block (6).

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