Rehabilitation exercise robot

Abstract

The application provides a rehabilitation exercise robot, and belongs to the technical field of medical devices. The rehabilitation exercise robot comprises at least one unilateral training unit. The unilateral training unit comprises a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism and a lower limb training mechanism. The first transmission mechanism is connected to a bed body. The upper limb training mechanism comprises at least a rocker arm part. The rocker arm part is in transmission connection with the first transmission mechanism. The rocker arm part is used for holding hands and can move along a first movement track. The lower limb training mechanism comprises at least a stepping part. The stepping part is in transmission connection with the second transmission mechanism. The stepping part is used for stepping feet and can move along a second movement track. The second transmission mechanism is in linkage cooperation with the first transmission mechanism, so that the rocker arm part and the stepping part move synchronously. The device aims to solve the technical problem that operators cannot perform linkage exercise of upper limbs and lower limbs while lying in bed in the prior art.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of medical devices, and particularly relates to a rehabilitation exercise robot. BACKGROUND

[0002] Rehabilitation training refers to physical activity after injury that is conducive to the recovery or improvement of function.

[0003] At present, for operators who are in bed for a long time, the muscles of the upper limbs and lower limbs will degenerate to different degrees during long-term bed treatment, and the existing training equipment cannot meet the needs of the operators to realize the coordinated exercise of the upper limbs and lower limbs in the bed state. SUMMARY

[0004] The purpose of the present application is to provide a rehabilitation exercise robot, which aims to solve the technical problem that operators cannot exercise the linkage of the upper limbs and lower limbs in the bed state in the prior art.

[0005] The present application is implemented as follows: a rehabilitation exercise robot is arranged on a bed body and comprises at least one unilateral training part, the unilateral training part comprises a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism and a lower limb training mechanism, wherein,

[0006] The first transmission mechanism is connected to the bed body, the upper limb training mechanism comprises at least a rocker arm part, the rocker arm part is in transmission connection with the first transmission mechanism, and the rocker arm part is used for hand holding and can move along a first movement track; the lower limb training mechanism comprises at least a pedal part, the pedal part is in transmission connection with the second transmission mechanism, the pedal part is used for foot stepping and can move along a second movement track, and the second transmission mechanism is in linkage cooperation with the first transmission mechanism to enable the rocker arm part and the pedal part to move synchronously.

[0007] Further, the first movement track is an arc track, and the second movement track is a straight line track extending in the up-down direction.

[0008] Further, the unilateral training part further comprises a fixing structure, the fixing structure comprises at least a fixing part used for connecting with the bed body; and the first transmission mechanism, the upper limb training mechanism, the second transmission mechanism and the lower limb training mechanism are connected with the fixing structure.

[0009] Further, the unilateral training part further comprises a guide structure connected to the fixing structure, the guide structure extends along the second movement track, and the pedal part is in sliding connection with the guide structure and can move along the second movement track.

[0010] Further, the rehabilitation robot further comprises a moving mechanism connected with the fixed structure, the moving mechanism being used for supporting the fixed structure and being capable of moving relative to the ground.

[0011] Further, the first transmission mechanism comprises a main transmission shaft, a transmission assembly connected with the main transmission shaft, and a rocker shaft connected with a power output end of the transmission assembly, one end of the rocker arm part being connected with the rocker shaft and being capable of rotating around an axis of the rocker shaft, and the second transmission mechanism being connected with the main transmission shaft.

[0012] Further, the second transmission mechanism comprises at least a sprocket structure connected with the main transmission shaft and a chain structure connected with the treading part; the chain structure is linked with the sprocket structure and the treading part, so that the rotation of the sprocket structure is synchronized with the up-and-down movement of the treading part.

[0013] Further, the single-side training part further comprises a power mechanism connected with the first transmission mechanism and the second transmission mechanism respectively, and used for controlling the movement of the first transmission mechanism or the second transmission mechanism.

[0014] Further, the single-side training part further comprises a damping mechanism connected with the first transmission mechanism or the second transmission mechanism, and used for providing a damping force for the movement of the first transmission mechanism or the second transmission mechanism.

[0015] Further, the single-side training part further comprises a sensing mechanism arranged on the treading part and a control mechanism electrically connected with the sensing mechanism, the sensing mechanism being used for sensing a treading force received by the treading part, and the control mechanism being used for adjusting the damping force provided by the damping mechanism according to a sensing result of the sensing mechanism.

[0016] The training device can realize the joint and coordinated exercise of the upper and lower limbs of the operator on the bed, the upper limb of the operator can follow the forward and backward push-pull movement of the rocker arm part by holding the rocker arm part, the upper limb is exercised, meanwhile, the lower limb of the operator can follow the up-and-down movement of the treading part by fixing the foot of the operator with the treading part, the lower limb is curved and stretched, the lower limb is exercised, the linkage of the upper and lower limbs is realized, and the coordination between the upper and lower limbs is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments of the present application or the prior art description. Obviously, the following described drawings are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0018] Figure 1 is a whole structure schematic diagram of a rehabilitation exercise robot provided by the embodiment of the present application;

[0019] Figure 2 is Figure 1 a structure schematic diagram of the rehabilitation exercise robot in the upper part of the bed body;

[0020] Figure 3 is Figure 1 a structure schematic diagram in the second support;

[0021] Figure 4 is Figure 2 a side structure schematic diagram after removing the second support and the rocker arm part in the

[0022] Figure 5 is Figure 4 a structure schematic diagram in which the first transmission mechanism is connected with the upper limb training mechanism, the power mechanism and the damping mechanism;

[0023] Figure 6 is Figure 1 a structure schematic diagram of the fixed part in the

[0024] Mark explanation: 1, upper limb training mechanism; 101, rocker arm part; 102, handle; 2, lower limb training mechanism; 201, pedal part; 3, second transmission mechanism; 301, chain wheel structure; 302, chain structure; 4, damping mechanism; 401, belt transmission structure; 402, electromagnetic damper; 5, power mechanism; 6, emergency stop mechanism; 601, first emergency stop button; 602, second emergency stop button; 7, first transmission mechanism; 701, main transmission shaft; 702, transmission assembly; 7021, primary transmission gear; 7022, secondary transmission gear set; 7023, tertiary transmission gear set; 7024, quaternary transmission gear; 703, rocker arm shaft; 8, fixed structure; 801, fixed part; 8011, fixed plate; 8012, lock column; 8013, clamping plate; 8014, rotating handle; 802, fixed frame; 8021, first support; 8022, second support; 9, guide structure; 901, guide rod; 902, sliding table; 10, control mechanism; 11, locking structure; 12, display; 13, moving mechanism; 1301, first moving frame; 1302, second moving frame; 1303, roller. DETAILED DESCRIPTION

[0025] The embodiments of the present application will be described in detail below with reference to the drawings, in which the same or similar components have the same or similar designations and functions throughout. The embodiments described below are exemplary and are intended to explain the present application, and are not to be understood to limit the present application.

[0026] In the description of the present application, it is to be understood that the terms "length", "width", "upper", "lower", "upward", "vertical", "horizontal", "bottom", "inner", "outer", "inward", "outward", and the like, indicate relative or positional relationships based on the orientation or position shown in the drawings, and are merely used to facilitate the description of the present application and simplify the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0027] In addition, the terms "first", "second", etc. are used only for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise explicitly specified and limited.

[0028] In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through an intermediate medium, can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] In order to make the purpose, technical scheme and advantages of the present application more clear, the present application will be further described in detail below with reference to the drawings and examples.

[0030] Please refer to Figure 1 and Figure 2As shown, the rehabilitation exercise robot provided by the embodiment of the present application is arranged on a bed body, and the rehabilitation exercise robot at least comprises a set of unilateral training units, each of which comprises a first transmission mechanism 7, an upper limb training mechanism 1, a second transmission mechanism 3 and a lower limb training mechanism 2. The first transmission mechanism 7 is connected to the bed body. The upper limb training mechanism 1 at least comprises a rocker arm 101, which is in transmission connection with the first transmission mechanism 7. The rocker arm 101 is used for holding a hand and can move along a first movement track. The first movement track is an arc track. Specifically, the first movement track movement is an arc reciprocating pushing and pulling movement of the rocker arm 101 relative to an operator. The lower limb training mechanism 2 at least comprises a stepping part 201, which is in transmission connection with the second transmission mechanism 3. The stepping part 201 is used for stepping a foot and can move along a second movement track. The second movement track is a straight line track extending in an up-down direction. Specifically, the second movement track movement is a straight line reciprocating movement of the stepping part relative to the operator. The second transmission mechanism 3 is in linkage cooperation with the first transmission mechanism 7, so that the rocker arm 101 and the stepping part 201 move synchronously.

[0031] In addition, the stepping part 201 is provided with a pedal for stepping a foot. In addition, the side of the pedal is provided with a locking structure 11, which comprises a locking plate and a locking belt. The locking plate is located on the side of the pedal, and the lower limb is fixed on the locking plate through the locking belt.

[0032] It should be noted that, in the above and below descriptions about the direction, “front, back”, “up, down” are defined based on that the operator lies on the bed body and the front direction is defined as the front direction when the eyes are straight, and the opposite direction is defined as the back direction, the head direction is defined as the up direction, and the foot direction is defined as the down direction. The above direction definition is only used for convenient description, and cannot be understood as the limitation of the technical solution.

[0033] Before work, the operator is in a lying or sitting position on the upper part of the bed body, and the whole training device is placed on the bed. First, the position of the training device is adjusted, so that the feet of the operator can be fixed on the pedal during the movement of the stepping part 201. Then, the training device is fixed on the bed body through the fixing part 801. At the same time, the operator holds one end of the rocker arm 101.

[0034] In use, the operator steps on the pedal with force, the pedal moves along the up-down direction of the human body, driving the second transmission mechanism 3 to work, and then driving the first transmission mechanism 7 to work, the first transmission mechanism 7 transmits power to the rocker arm part 101 of the upper limb training mechanism 1, so that the rocker arm part 101 generates a back-and-forth reciprocating arc-shaped pushing and pulling motion, the operator holds the rocker arm part 101 and then follows the motion of the rocker arm part 101, so as to realize the stretching exercise of the upper limb; correspondingly, the operator can first apply power to the upper limb training mechanism 1, the operator holds the rocker arm part 101, so that the rocker arm part 101 swings first, the motion of the rocker arm part 101 is transmitted to the second transmission mechanism 3 through the first transmission mechanism 7, and the second transmission mechanism 3 transmits power to the lower limb training mechanism 2, so that the stepping part 201 moves up and down, the operator's feet are fixed with the stepping part 201 through the locking structure 11, so that the operator's feet follow the stepping part 201 to move up and down, and then the stretching and bending of the lower limbs are realized, and the lower limbs are exercised; in addition, the upper limbs and the lower limbs of the operator can exert force at the same time, the upper limb training mechanism 1 and the lower limb training mechanism 2 are linked through the first transmission mechanism 7 and the second transmission mechanism 3, so as to realize the simultaneous exercise of the upper limbs and the lower limbs of the operator.

[0035] The beneficial effects of the embodiment are that, compared with the prior art, the training device can realize the linkage exercise of the upper and lower limbs of the operator on the bed, the upper limbs of the operator can follow the back-and-forth pushing and pulling motion of the rocker arm part 101 by holding the rocker arm part 101, so as to exercise the upper limbs; at the same time, the lower limbs of the operator can follow the up-down motion of the stepping part 201 to bend and stretch by fixing the feet of the operator with the stepping part 201, so as to exercise the lower limbs of the operator; the upper limb training mechanism 1 can drive the lower limb training mechanism 2 to work, and the lower limb training mechanism 2 can also drive the upper limb training mechanism 1 to work, the operator can select the upper limbs and / or the lower limbs as the power input to exercise; the coordinated exercise of the upper and lower limbs is realized, which is beneficial to enhancing the coordination of the movement between the upper and lower limbs.

[0036] Further, as a preferred embodiment of the embodiment, as shown in Figure 1 and Figure 2 , the unilateral training part further comprises a fixing structure 8, the fixing structure 8 at least comprises a fixing part 801 for connecting with the bed body; the first transmission mechanism 7, the upper limb training mechanism 1, the second transmission mechanism 3 and the lower limb training mechanism 2 are connected with the fixing structure 8.

[0037] Specifically, the fixing structure 8 further comprises a fixing frame 802, the fixing frame 802 comprises a first support 8021 arranged along the side of the bed body and a second support 8022 arranged perpendicularly relative to the first support 8021, and the first transmission mechanism 7 is arranged on the second support 8022; the fixing part 801 is provided with two, respectively located at both ends of the first support 8021, i.e. the fixing part 801 is arranged along the side of the bed body at intervals, the fixing part 801 comprises a fixing plate 8011 connected to the first support 8021, a clamping plate 8013 arranged opposite to the fixing plate 8011, and a lock column 8012 connected to the fixing plate 8011 and the clamping plate 8013 respectively, the clamping plate 8013 is fixed to the lock column 8012, one end of the lock column 8012 is threadedly connected to the fixing plate 8011, and the other end of the lock column 8012 is provided with a handle 8014, the clamping plate 8013 is moved towards the fixing plate 8011 by rotating the lock column 8012 through the handle 8014, the side of the bed body is clamped between the fixing plate 8011 and the clamping plate, and the rehabilitation exercise robot is fixed with the bed body.

[0038] In the embodiment, by arranging the fixing structure 8, the first transmission mechanism 7, the upper limb training mechanism 1, the second transmission mechanism 3 and the lower limb training mechanism 2 are connected to the fixing frame 802, the training device is modularized, and the installation and carrying of the training device are more convenient; and then the fixing frame 802 and the bed body are fixed through the fixing part 801, the training device is fixed as a whole on the bed body, and the use is more firm, reliable and safe.

[0039] Further, as a preferred embodiment of the present embodiment, as shown in Figure 1 and Figure 2 The rehabilitation exercise robot comprises two groups of unilateral training parts, the two groups of unilateral training parts are arranged opposite at intervals and are used for being connected with the left limb and the right limb of the human body respectively.

[0040] In the embodiment, the two groups of unilateral training parts can exercise the left and right limbs of the human body, the movement directions of the left and right unilateral training parts can be the same or different, and the operator preferably performs the coordinated exercise with the movement directions of the left and right limbs opposite during the exercise. Specifically, the rocker arm part 101 on the left side swings forward, the left pedal part 201 moves downward, the rocker arm part 101 on the right side swings backward, and the right pedal part 201 moves upward, so that the coordinated exercise of the left and right limbs can be realized.

[0041] Further, as a preferred embodiment of the present embodiment, as shown in Figure 3 and Figure 4As shown, the first transmission mechanism 7 comprises a main transmission shaft 701, a transmission assembly 702 connected with the main transmission shaft 701, and a rocker shaft 703 connected with the power output end of the transmission assembly 702, one end of the rocker arm part 101 is connected with the rocker shaft 703 and can rotate around the axis of the rocker shaft 703, and the second transmission mechanism 3 is connected with the main transmission shaft 701; the second transmission mechanism 3 at least comprises a sprocket structure 301 connected with the main transmission shaft 701 and a chain structure 302 connected with the stepping part 201; the sprocket structure 301 is linked with the chain structure 302 and the stepping part 201 to make the rotation of the sprocket structure 301 synchronous with the up and down movement of the stepping part 201.

[0042] Specifically, as shown in Figure 5 and Figure 6 , the transmission assembly 702 comprises a first-stage transmission gear 7021, a second-stage transmission gear set 7022, a third-stage transmission gear set 7023 and a fourth-stage transmission gear 7024 in sequence, the first-stage transmission gear 7021 is connected with the main transmission shaft 701, and the fourth-stage transmission gear 7024 is connected with the rocker shaft 703; the second-stage transmission gear set 7022 and the third-stage transmission gear set 7023 each comprise two coaxially fixed gears, and the specific connection relationship is that the main transmission shaft 701 is engaged with the first-stage gear, the first-stage transmission gear 7021 is engaged with the large gear of the second-stage transmission gear set 7022, the small gear of the second-stage transmission set is engaged with the large gear of the third-stage transmission set, and the small gear of the third-stage transmission set is engaged with the fourth-stage transmission gear 7024, so that the transmission ratio of the transmission assembly 702 reaches (20:1)~(35:1).

[0043] Specifically, as shown in Figure 4 and Figure 5 , the sprocket structure 301 comprises a first sprocket and a second sprocket, the first sprocket is fixedly arranged on the main transmission shaft 701, and the second sprocket is arranged on the fixed frame 802; the chain structure 302 comprises a chain engaged with the first sprocket and the second sprocket respectively, and the stepping part 201 is fixedly connected with one side of the chain; when the main transmission shaft 701 rotates, the first sprocket drives the chain to rotate, so that the stepping part 201 moves up and down with the chain.

[0044] In this embodiment, the first transmission mechanism 7 and the second transmission mechanism 3 are linked through the main transmission shaft 701, the swing limit of the rocker arm part 101 is made consistent with the up and down movement limit of the stepping part 201 by designing the size, position and transmission ratio of each gear in the transmission assembly 702 and the stroke of the stepping part 201, so that the swing of the rocker arm part 101 is consistent with the up and down movement of the stepping part 201, and the coordination of the upper limbs and the lower limbs during exercise is realized.

[0045] Further, as a preferred embodiment of the present embodiment,Figure 1 and Figure 2 As shown in the figure, the rocker arm part 101 at least comprises a rocker arm rod body, one end of the rocker arm rod body is fixedly connected with the rocker shaft 703, and the other end of the rocker arm rod body is provided with a handle 102, which is arranged to be bent relative to the rocker arm rod body, so as to facilitate the operator to hold when exercising.

[0046] Specifically, the rocker arm rod body adopts a telescopic design, the rocker arm rod body adopts a sleeve rod structure which is nested in sequence, the adjacent sleeve rods are fixedly connected through a bolt assembly, and preferably, the rocker arm rod body adopts a two-stage nested sleeve rod, the rod body of the sleeve rod is provided with spaced and correspondingly arranged threaded holes, and the rod bodies are fixedly connected through bolts and threaded holes.

[0047] Alternatively, the nested adjacent sleeve rods can also be clamped through an elastic clamping piece.

[0048] In this embodiment, the length of the rocker arm rod body can be flexibly adjusted according to the arm length of the operator, the design is more humanized, and the application range is wider.

[0049] Further, as a preferred embodiment of the present embodiment, the unilateral training part further comprises a power mechanism 5, the power mechanism 5 is connected with the first transmission mechanism 7 and the second transmission mechanism 3 respectively, and is used for controlling the movement of the first transmission mechanism 7 or the second transmission mechanism 3.

[0050] In this embodiment, by additionally arranging the power mechanism 5, the active operation of the device is realized, which is suitable for the passive movement of the operator, that is, the operator does not input power, but drives the operator to passively exercise through the active movement of the device, which is suitable for patients who need to improve the body strength of the upper and lower limbs.

[0051] Further, as a preferred embodiment of the present embodiment, the unilateral training part further comprises a control mechanism 10 which is electrically connected with the power mechanism 5.

[0052] Specifically, the power mechanism 5 preferably adopts a motor, the power output shaft of the motor is connected with the main transmission shaft 701 through a shaft coupling, the control mechanism 10 is electrically connected with the power mechanism 5, the control mechanism 10 controls the movement and stop of the motor, and can control the power output direction of the motor; the control mechanism 10 is arranged on the first support 8021; the control mechanism 10 preferably adopts a computer.

[0053] In use, first, the motor is started through the control mechanism 10, power is transmitted to the main transmission shaft 701 through the power output shaft, power is transmitted to the first transmission mechanism 7 and the second transmission mechanism 3 through the main transmission shaft 701 respectively, and finally transmitted to the upper limb training mechanism 1 and the lower limb training mechanism 2 respectively, so that the rocker lever body performs forward and backward reciprocating arc-shaped push-pull movement, and the pedal performs up and down reciprocating movement; the control mechanism 10 can control the rotation direction of the motor, the swing angle of the rocker lever body and the movement distance of the pedal are set through the control mechanism 10, when the rocker lever body swings to the limit position and the pedal moves to the limit position, the motor reverses, so that the rocker lever body reverses and the pedal reverses, when the rocker lever body swings to the reverse limit position and the pedal moves to the reverse limit position, the rotation direction of the motor changes again, and the process is repeated, so that the rocker lever body swings back and forth, and the upper limbs are stretched for exercise, and the pedal moves up and down, and the lower limbs are stretched for exercise.

[0054] Specifically, when the motor starts to rotate, the first sprocket simultaneously rotates, and then drives the chain to rotate, so that the stepping part 201 simultaneously moves up or down; when the rocker lever body swings to the limit position, the stepping part 201 simultaneously moves to the limit position (the uppermost part or the lowermost part), the motor reverses, the chain reverses to drive the stepping part 201 to move reversely; when the rocker lever body swings to the reverse limit position, the stepping part 201 simultaneously moves to the reverse limit position (the uppermost part or the lowermost part), the rotation direction of the motor changes again, and the process is repeated, so that the stepping part 201 moves up and down, and the lower limbs are stretched for exercise.

[0055] In the embodiment, the power mechanism 5 and the control mechanism 10 are additionally arranged, so that the operator can perform passive training, and the control mechanism 10 is controlled, especially for patients who need passive exercise due to limb injury; the training device drives the upper limb training mechanism 1 and the lower limb training mechanism 2 to work simultaneously through a set of motor mechanism, the overall structure is more compact, and cost is saved.

[0056] In addition, the control mechanism 10 can control the two groups of unilateral training parts to work coordinately; the control mechanism 10 is provided with three control switches for controlling the work of the two groups of unilateral training parts, which are a first control switch, a second control switch and a third control switch.

[0057] Specifically, when the first control switch or the second control switch is started, only one group of unilateral training parts works, that is, only the left unilateral training part or only the right unilateral training part works; when the third control switch is started, the two groups of unilateral training parts work, and the rotation directions of the motors on the two sides are opposite, so that the operator's left and right limbs move coordinately. The training device can be started on one side or on both sides, and is more humanized in design and has a wider application range.

[0058] Further, as a preferred embodiment of the present embodiment, as shown in Figure 3 the unilateral training part further comprises a damping mechanism 4 connected with the first transmission mechanism 7 or the second transmission mechanism 3 and used for providing damping force for the movement of the first transmission mechanism 7 or the second transmission mechanism 3.

[0059] Specifically, the damping mechanism 4 comprises an electromagnetic damper 402 and a belt transmission structure 401 connected with the main transmission shaft 701, the belt transmission structure 401 comprising a first pulley fixed to the output end of the electromagnetic damper 402, a second pulley fixed to the output shaft of the motor, and a belt cooperating with the first pulley and the second pulley.

[0060] In the present embodiment, the damping mechanism 4 is mainly used for active training of the operator. In the active movement mode, the upper limbs and lower limbs of the operator actively output force, the upper limbs hold the handle 102 and push and pull the rocker lever body with force, the lower limbs step on the pedal part 201 with force, the upper limb training mechanism 1 and the lower limb training mechanism 2 are linked, and active exercise of the upper limbs and the lower limbs is realized.

[0061] Further, as a preferred embodiment of the present embodiment, the resistance of the electromagnetic damper can be adjusted and set through the control mechanism 10, the adjustment and setting of the resistance comprising constant resistance setting, stepwise increasing resistance setting, and low resistance-high resistance cyclic resistance setting; the constant resistance setting sets the resistance through the control mechanism 10 (computer coding) and makes the electromagnetic damper provide constant resistance in the movement process; the stepwise increasing resistance setting makes the electromagnetic damper provide resistance that increases in steps with the movement time through computer coding, and the resistance gradually increases in the movement process; the low resistance-high resistance cyclic resistance setting makes the electromagnetic damper provide resistance that cyclically changes between low resistance and high resistance with time through computer coding, so that low resistance and high resistance are cyclically performed in the movement process.

[0062] In the present embodiment, the operator can select a suitable resistance setting mode according to the health status or the exercise purpose of the operator, purposefully perform exercise, improve the exercise effect, and be beneficial to shorten the rehabilitation time and design more humanized.

[0063] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3 the unilateral training part further comprises a sensing mechanism arranged on the stepping part 201 and a control mechanism electrically connected with the sensing mechanism, the control mechanism being the control mechanism 10 of the power mechanism 5, the sensing mechanism being used for sensing the stepping force received by the stepping part 201, and the control mechanism 10 being used for adjusting the damping force provided by the damping mechanism 4 through the sensing result of the sensing mechanism.

[0064] Specifically, the sensing mechanism comprises at least a pressure sensor arranged on the pedal part 201. When the operator performs active exercise, the lower limbs press the pedal part 201, the force is transmitted to the pressure sensor from the pedal part 201, and the pressure sensor transmits a signal to the control mechanism 10. The control mechanism 10 can control the damping mechanism 4 to adjust the resistance.

[0065] In use, the operator performs active exercise. The operator presses the pedal part 201 with the lower limbs. During the movement of the pedal part 201, the electromagnetic damper gradually increases the resistance setting until the operator can only complete the pedal movement once with force. At this time, the maximum resistance of the operator's lower limbs can be measured. Thereafter, during the training process, the training resistance can be set according to the percentage of the maximum resistance.

[0066] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3 , the lower limb training mechanism 2 further comprises a guide structure 9 connected to the fixed structure 8. The guide structure extends along the second movement track. The pedal part 201 is slidingly connected to the guide structure and can move along the second movement track, i.e. the pedal part 201 moves up and down along the length direction of the human body. The guide structure 9 comprises a guide rod 901 and a sliding table 902 slidingly connected to the guide rod 901. The pedal part 201 is connected to the side of the sliding table 902.

[0067] Specifically, the pedal part 201 comprises a pedal. The pedal is fixed to the side of the sliding table 902 and moves with the sliding table 902. The guide rod 901 is arranged in parallel with the movement direction of the lower limbs. Both ends of the guide rod 901 are fixed to the fixed frame 802.

[0068] In use, the operator's lower limbs press the pedal. The pedal drives the sliding table 902 to slide along the guide rod 901. The guide structure 9 stabilizes and guides the movement of the pedal, so that the movement is more stable.

[0069] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3 , the rehabilitation exercise robot further comprises a distance measuring structure. The distance measuring structure is connected to the guide rod 901 and is used to measure the distance of the movement of the pedal part 201.

[0070] Specifically, the distance measuring structure comprises a scale provided with a scale. The scale is arranged along the movement direction of the pedal, i.e. the scale is arranged along the length direction of the rod body of the guide rod 901. The scale is fixed to the rod body of the guide rod 901.

[0071] Alternatively, the distance measuring structure is a guide rod 901 provided with a scale. The distance of the movement of the pedal is measured by the distance of the movement of the sliding table 902 relative to the guide rod 901.

[0072] In the embodiment, the sliding distance of the lower limbs can be conveniently observed and calculated, and the health condition of the operator can be obtained through data.

[0073] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3 , the rehabilitation exercise robot further comprises a moving mechanism 13 connected with the fixed structure 8, and the moving mechanism 13 is used for supporting the fixed structure 8 and can move relative to the ground.

[0074] In the embodiment, the moving mechanism 13 can mainly solve the problem that the rehabilitation exercise robot is not easy to carry. Although the device is arranged on the bed body for use, the device has a large overall volume and weight due to many components, which brings great difficulty to carrying. Through the moving mechanism, the device as a whole can move on the ground, so that the position transfer of the device is more convenient and fast, which is beneficial to saving manpower and physical labor and improving work efficiency.

[0075] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3 , the moving mechanism comprises a first moving frame 1301 connected with the fixed structure 8, a second moving frame 1302 connected with the lower part of the first moving frame 1301, and a roller 1303 arranged at the lower part of the second moving frame 1302; the height of the first moving frame 1301 is adjustable.

[0076] Specifically, the first moving frame 1301 is mainly used for connecting with the fixed frame 802 of the fixed structure 8, and the first moving frame 1301 at least comprises a column body which is telescopic along the length direction of the column body. The telescopic structure can adopt the form of inner and outer rod bodies sleeved, the inner and outer sleeved rod bodies are locked by elastic lock buttons, or can adopt the way of hydraulic jacking, which is not limited here. The upper part of the column body is connected with the fixed frame 802, and the lower part of the column body is connected with the second moving frame 1302. The second moving frame 1302 is transversely arranged on the ground, and is mainly used for supporting the upper part of the whole device on the ground. The lower part of the second moving frame 1302 is provided with the roller 1303, so as to realize the movement of the whole device. The roller 1303 has a locking function, which can prevent the roller 1303 from moving accidentally, and is more safe.

[0077] Further, as a preferred embodiment of the present embodiment, as shown in Figure 2 and Figure 3As shown, the rehabilitation exercise robot further comprises a display 12 which is integrated with the control mechanism 10, the display 12 can display the exercise mode, for example, when the motor outputs power, it is displayed as passive mode, and when the motor does not output power, it is displayed as active mode; the display 12 can also display the size of the resistance, in active mode, when the pressure sensor senses the pedal pressure, the pressure data and the motor speed data are calculated by computer coding calculation, and the power size can be displayed; the display 12 can also display the exercise speed, when the upper and lower limbs are exercised, the exercise information is transmitted to the motor, and the exercise time can be displayed by motor coding calculation; the display 12 can also display the exercise time, and the start and end time and interval of the exercise can be recorded and displayed.

[0078] Further, as a preferred embodiment of the present embodiment, the rehabilitation exercise robot further comprises an emergency stop mechanism 6, which is provided with a first emergency stop button 601 and a second emergency stop button 602, the first emergency stop button 601 is arranged on one side of the fixed frame 802 (specifically, the first support 8021) close to the handle 102, and the second emergency stop button 602 is arranged on the outside of the second support 8022 or the shell outside the motor, when an emergency occurs during use by the operator, the operator or accompanying personnel can immediately press any one of the emergency stop buttons, the device will immediately be powered off, stop providing power and resistance, and then take measures according to the operator's condition.

[0079] The above only describes the preferred embodiments of the present application, and only describes the technical principles of the present application, and these descriptions are only for the purpose of explaining the principles of the present application, and cannot be explained as limiting the protection scope of the present application in any way. Based on the explanation here, any modification, equivalent replacement and improvement made within the spirit and principles of the present application, and other specific embodiments of the present application which can be conceived by those skilled in the art without creative labor, should be included in the protection scope of the present application.

Claims

1. A rehabilitation exercise robot for being disposed on a bed body, characterized by, At least one unilateral training unit comprises a first transmission mechanism, a second transmission mechanism, an upper limb training mechanism, and a lower limb training mechanism, The first transmission mechanism is connected to the bed body, the upper limb training mechanism comprises at least a rocker arm part which is in transmission connection with the first transmission mechanism and is used for holding hands and moving along a first movement track, the lower limb training mechanism comprises at least a pedal part which is in transmission connection with the second transmission mechanism and is used for stepping with feet and moving along a second movement track, the second transmission mechanism is in linkage cooperation with the first transmission mechanism to make the rocker arm part and the pedal part move synchronously, the first movement track is an arc track, the second movement track is a straight track extending in the up-down direction, the unilateral training unit further comprises a fixing structure which comprises a fixing part connected to the bed body and a fixing frame connected to the fixing part, the first transmission mechanism, the upper limb training mechanism, the second transmission mechanism, and the lower limb training mechanism are connected to the fixing structure, the fixing frame comprises a first support arranged along the side of the bed body and a second support arranged perpendicularly relative to the first support, the first transmission mechanism is arranged on the second support, the fixing part comprises a fixing plate connected to the first support, a clamping plate arranged opposite to the fixing plate, and a lock post connected to the fixing plate and the clamping plate respectively, the clamping plate is fixed to the lock post, one end of the lock post is in screw connection with the fixing plate, the other end of the lock post is provided with a handle, the clamping plate is moved to the fixing plate by rotating the lock post through the handle to clamp the side of the bed body between the fixing plate and the clamping plate.

2. The rehabilitation exercise robot according to claim 1, wherein The unilateral training unit further comprises a guide structure connected to the fixing structure, the guide structure extends along the second movement track, the pedal part is in sliding connection with the guide structure and can move along the second movement track.

3. The rehabilitation exercise robot according to claim 1, wherein The rehabilitation robot further comprises a moving mechanism connected to the fixing structure, the moving mechanism is used for supporting the fixing structure and can move relative to the ground.

4. A rehabilitation exercise robot according to any one of claims 1 to 3, wherein The first transmission mechanism comprises a main transmission shaft, a transmission assembly connected to the main transmission shaft, and a rocker arm shaft connected to the power output end of the transmission assembly, one end of the rocker arm part is connected to the rocker arm shaft and can rotate around the axis of the rocker arm shaft, the second transmission mechanism is connected to the main transmission shaft.

5. The rehabilitation exercise robot according to claim 4, wherein The second transmission mechanism comprises at least a sprocket structure connected to the main transmission shaft and a chain structure connected to the pedal part, the chain structure is in linkage with the sprocket structure and the pedal part to make the rotation of the sprocket structure and the up-down movement of the pedal part be synchronous.

6. A rehabilitation exercise robot according to any one of claims 1 to 3, wherein The unilateral training unit further comprises a power mechanism connected to the first transmission mechanism and the second transmission mechanism respectively and used for controlling the movement of the first transmission mechanism or the second transmission mechanism.

7. A rehabilitation exercise robot according to any one of claims 1 to 3, wherein The single-side training part further comprises a damping mechanism connected with the first transmission mechanism or the second transmission mechanism, and configured to provide a damping force for the movement of the first transmission mechanism or the second transmission mechanism.

8. The rehabilitation exercise robot according to claim 7, wherein The single-side training part further comprises a sensing mechanism arranged on the pedaling part and configured to sense a pedaling force received by the pedaling part, and a control mechanism electrically connected with the sensing mechanism and configured to adjust the damping force provided by the damping mechanism according to the sensing result of the sensing mechanism.

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