A stroke patient rehabilitation training device for foot movement posture change

Abstract

The application discloses a stroke patient rehabilitation training device for foot movement posture change, which comprises a left mechanism and a right mechanism, wherein the left mechanism and the right mechanism are symmetrically arranged left and right, a left upper rotating shaft of the left mechanism is fixed with a left handle rod and a friction wheel, a left lower rotating shaft is fixed with a left lower friction wheel, the left lower rotating shaft drives a one-way transmission shaft to rotate in one direction through a gear transmission mechanism and a left one-way needle bearing, the one-way transmission shaft drives a left slider to reciprocate along the front and back directions through a crank slider mechanism, the left slider is hinged with a left connecting rod, the left connecting rod is hinged with a left foot pedal, a left foot swing rod is fixed with the left lower rotating shaft, the left foot swing rod is hinged with the left foot pedal, a middle friction wheel is located between the left mechanism and the right mechanism, a right upper friction wheel of the right mechanism is adjustable at a fixed position on a right upper rotating shaft of the right mechanism, and the left upper friction wheel, the left lower friction wheel, the right upper friction wheel and the right lower friction wheel are all in friction contact transmission with the middle friction wheel, so that the gait four-limb movement rehabilitation training of the lower limbs and the foot movement posture change is realized.

Description

Technical Field

[0001] This invention relates to a rehabilitation training device for stroke patients that involves changes in foot movement posture, belonging to the field of rehabilitation medical device technology. Background Technology

[0002] Stroke patients typically exhibit limited motor function on one side of their limbs, or even complete inability to move independently. Improving the quality of life through rehabilitation exercise training is a safe and effective approach. However, current limb rehabilitation trainers cannot simulate various lower limb movement postures in daily life, thus affecting the rehabilitation effect. Furthermore, the range of motion in the lower limbs remains unchanged during exercise, and the repetitive movements in the same posture make the exercise process monotonous and tedious.

[0003] In addition, the upper and lower limb movements of limb rehabilitation training devices usually require gait movements. On the one hand, the gait movements are achieved when the upper and lower limbs on the same side move in opposite directions, and when the upper and lower limbs on both sides move in opposite directions. Using a linkage mechanism to achieve this has low transmission efficiency, and the force changes with the angle of the linkage. When using gear transmission, the range of motion of the upper limb with motor dysfunction is limited, and the range of motion of the healthy upper limb is also limited. That is, the range of motion of the upper limbs on both sides cannot be adjusted, which affects the comfort of the movement of the healthy upper limb. Summary of the Invention

[0004] The purpose of this invention is to provide a rehabilitation training device for stroke patients that enables gait rehabilitation training of the other limb through friction wheel transmission, with adjustable transmission ratio of upper limb movement, a unidirectional transmission shaft driven by a unidirectional needle roller bearing that always rotates in one direction, and a crank-slider mechanism that changes the position of the fulcrum of a connecting rod connected to the left foot pedal to change the posture of the lower limb.

[0005] The technical solution of the present invention is implemented as follows: A rehabilitation training device for stroke patients with foot movement posture changes includes a base 2, a left side mechanism 3, a right side mechanism 4, a middle mechanism 5, a synchronous shaft 6, and a one-way transmission shaft 7. The base 2 has a left-right symmetrical structure. The left side mechanism 2 and the right side mechanism 4 are symmetrically arranged about the left-right symmetrical plane of the base 2. The left side mechanism 3 includes a lower left rotating shaft 306, an upper left rotating shaft 311, an upper left friction wheel 316, and a lower left friction wheel 317. The lower end of the left handle rod 308 is fixed to the left end of the upper left rotating shaft 311, and the left handle 309 is fixed to the upper end of the left handle rod 308. The upper left friction wheel 316 is fixed to the right end of the upper left rotating shaft 311, the lower left friction wheel 317 is fixed to the right end of the lower left rotating shaft 306, and the left rear gear 305 is fixed to the left end of the lower left rotating shaft 306.

[0006] The left rear gear 305 meshes with the left front gear 307. The left front gear 307 is mounted on the left end of the one-way drive shaft 7 via a left one-way needle roller bearing. The left one-way needle roller bearing and the right one-way needle roller bearing in the right side mechanism 4 are mounted in the same direction on the one-way drive shaft 7. The one-way drive shaft 7 passes through the left front gear 307 to the left and then fixes the left fixing ring 319. The left fixing ring 319 is provided with a boss extending outward from the left fixing ring 319. The boss fixes the front end of the left hinge shaft rotatably connected to the left drive rod 304. The rear end of the left drive rod 304 is rotatably mounted on the left end of the synchronous shaft 6. The left part of the synchronous shaft 6 is fixed on the left slider 312. The left slider 312 is slidably mounted on the left guide rail 302. The left guide rail 302 is horizontally arranged along the front-back direction and is fixed on the base 2. The left lower rotating shaft 306, the left upper rotating shaft 311, the synchronous shaft 6, and the one-way drive shaft 7 are all horizontally arranged along the left-right direction.

[0007] The left slider 312 is hinged to the lower end of the left connecting rod 303, the upper end of the left connecting rod 303 is hinged to the lower rear end of the left foot pedal 310, the left part of the lower left pivot 306 is fixed to the lower end of the left foot swing rod 315, and the upper end of the left foot swing rod 315 is hinged to the lower front end of the foot pedal 310.

[0008] The intermediate mechanism 5 includes an intermediate friction wheel 503. A rotating support structure for the intermediate friction wheel 503 is provided on the base 2. The axis of the intermediate friction wheel 503 is set along the vertical direction. The intermediate friction wheel 503 is located between the left mechanism 3 and the right mechanism 4. A semi-circular movable plate 5031 is provided on the upper right side of the intermediate friction wheel 503. The position of the semi-circular movable plate 5031 along the upward direction can be adjusted. The fixed position of the upper right friction wheel 416 of the right mechanism 4 on the upper right rotating shaft 411 of the right mechanism 4 can be adjusted.

[0009] The upper left friction wheel 316 and the lower left friction wheel 317 are in frictional contact with the middle friction wheel 503. The upper left friction wheel 316 and the lower left friction wheel 317 are located above the left side and below the left side of the middle friction wheel 503, respectively. The upper right friction wheel in the right mechanism 4 is in frictional contact with the semi-circular movable plate 5031, and the lower right friction wheel in the right mechanism 4 is in frictional contact with the lower right side of the middle friction wheel 503.

[0010] The base 2 is provided with a rotation support structure consisting of a lower left rotating shaft 306, an upper left rotating shaft 311, and a one-way transmission shaft 7.

[0011] Preferably, the semi-circular movable plate 5031 has an adjustable position along the upward direction as follows: a semi-circular cavity 5033 is provided on the upper right side of the intermediate friction wheel 503; the movable plate 5031 is adapted to the shape of the cavity 5033; two guide grooves 5032 are provided on the semi-circular diameter side of the movable plate 5031, and the two guide grooves 5032 are symmetrically arranged about the center of the semi-circle of the movable plate 5031; a third guide groove 5032 is provided in the middle of the circular outline edge of the movable plate 5031; and the cavity 5033 is positioned to correspond with the movable plate 5031. A guide protrusion 5034 and a movable plate 5031 are located inside a cavity 5033 and slide along the guide protrusion 5034 in the up-down direction via a guide groove 5032. A threaded cylinder 5036 is provided at the center of the movable plate 5031. The thread in the inner hole of the threaded cylinder 5036 engages with a lead screw 505. A receiving groove 5035 is provided at the center of the intermediate friction wheel 503. The diameter of the receiving groove 5035 is larger than the diameter of the threaded cylinder 5036. A handwheel 504 is fixed at the upper end of the lead screw 505, and the lower end of the lead screw 505 is rotatably connected to the lower end of the intermediate friction wheel 503 at the center.

[0012] Preferably, the structure in which the fixed position of the upper right friction wheel 416 on the upper right rotating shaft 411 is adjustable is as follows: the upper right friction wheel 416 is a fan-shaped friction wheel, the upper right friction wheel 416 is located above the movable plate 5031, and a threaded hole is opened on the hub of the fan-shaped notch of the upper right friction wheel 416, which extends from the outside to the inner hole. The screw part of the locking handle 420 is screwed into the threaded hole, so as to realize the sliding adjustment position or fixation of the upper right friction wheel 416 on the upper right rotating shaft 411 by loosening or tightening the locking handle 420.

[0013] Preferably, the left foot swing arm 315 has a rearwardly extending curved section 3152 in the middle, which is used to avoid the upper left pivot 311 when the upper end of the left foot swing arm 315 swings forward. The curved section 3152 is shaped like a square rod extending backward a certain distance, and then connected to a rearwardly protruding semi-circular arc square rod. The other end of the semi-circular arc square rod is connected to a square rod extending forward a certain distance. The left foot swing arm 315 parts connected to both ends of the curved section 3152 are on the same straight line.

[0014] Preferably, the one-way drive shaft 7 is located in front of the lower left rotating shaft 306 and is higher than the lower left rotating shaft 306.

[0015] Preferably, the base 2 is provided with a rotating support structure of a lower left rotating shaft 306 and an upper left rotating shaft 311, wherein the lower end of the left column 301 is fixed on the base 2, the upper end of the left column 301 is rotatably mounted on the middle part of the upper left rotating shaft 311, and the middle part of the left column 301 is rotatably mounted on the middle part of the lower left rotating shaft 306.

[0016] Preferably, the rotating support structure of the one-way drive shaft 7 on the base 2 is as follows: the left part of the one-way drive shaft 7 is rotatably installed in the inner hole of the left bearing seat 318, and the right part of the one-way drive shaft 7 is rotatably installed in the inner hole of the right bearing seat of the right side mechanism 4. The left bearing seat 318 and the right bearing seat are fixed on the bearing bracket 8, and the bearing bracket 8 is fixed on the base 2.

[0017] Preferably, the lower end of the turntable frame 502 is fixed on the base 2, and the upper end of the turntable frame 502 is rotatably mounted with the rotating disk 501, and the rotating disk 501 is coaxially fixed with the intermediate friction wheel 503.

[0018] Preferably, the upper left friction wheel 316 is located at the middle position between the middle part of the middle friction wheel 503 and the left edge, and the lower left friction wheel 317 is located directly below the upper left friction wheel 316.

[0019] Preferably, the left rear gear 305 and the left front gear 307 have the same number of teeth, and both are cylindrical gears.

[0020] Compared with the prior art, the present invention has the following advantages:

[0021] This application employs a four-limb rehabilitation training device that uses a friction wheel driven by a movement mechanism on one side of the upper limb to rotate a middle friction wheel, which in turn drives the friction wheel on the other side to move the other upper limb in the opposite direction. The left and right sides above the middle friction wheel drive the friction wheels connected to the left and right upper limbs to rotate, while the left and right sides below the middle friction wheel drive the friction wheels connected to the left and right lower limbs to rotate, thus realizing gait movement of the four limbs. The design is ingenious. The position of the friction wheel on one side of the upper limb can be adjusted left and right. During adjustment, the area corresponding to the middle friction wheel adopts a split structure, and the split part can be adjusted up and down, which facilitates the adjustment of the position of the friction wheel corresponding to the split part, reducing wear and even damage to the friction wheel during the position adjustment process. The two friction wheels below the middle friction wheel are connected to a one-way drive shaft through gear transmission and one-way needle roller bearings, realizing the one-way rotation of the one-way drive shaft. The one-way drive shaft drives the slider to reciprocate in the front and back direction through a crank-slider mechanism. The slider is connected to the rear end of the foot pedal through a connecting rod. The front end of the foot pedal is fixedly connected to the lower rotating shaft through a swing arm. The friction wheel fixed to the lower rotating shaft rotates, realizing the position change of the foot movement posture and improving the rehabilitation effect. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of a rehabilitation training device for stroke patients that involves changes in foot movement posture.

[0023] Figure 2 This is a structural diagram of the left-side mechanism, the right-side mechanism, and the middle mechanism.

[0024] Figure 3This is a schematic diagram of the left slider of the left-side mechanism connecting to the one-way drive shaft. Figure 1 .

[0025] Figure 4 This is a structural diagram of the mechanism on the left.

[0026] Figure 5 This is a schematic diagram of the left slider of the left-side mechanism connecting to the one-way drive shaft. Figure 2 .

[0027] Figure 6 This is a schematic diagram of a structure where the left and right mechanisms are simultaneously connected to the middle mechanism. Figure 1 .

[0028] Figure 7 This is a schematic diagram of a structure where the left and right mechanisms are simultaneously connected to the middle mechanism. Figure 2 .

[0029] Figure 8 This is a structural diagram of the intermediate mechanism.

[0030] Figure 9 This is a schematic diagram of the connection between the upper right friction wheel and the upper right rotating shaft.

[0031] Figure 10 This is a schematic diagram of the left foot swing arm.

[0032] Explanation of reference numerals in the attached diagram: 1-Seat, 2-Base, 3-Left side mechanism, 4-Right side mechanism, 5-Intermediate mechanism, 6-Synchronous shaft, 7-One-way drive shaft, 8-Bearing bracket, 301-Left column, 302-Left guide rail, 303-Left connecting rod, 3031-Rear axle of pedal, 304-Left drive rod, 305-Left rear gear, 306-Lower left pivot, 307-Left front gear, 308-Left handle lever, 309-Left handle, 310-Left foot pedal, 311-Upper left pivot, 312-Left slider, 313-Left hinge shaft. 315-Left foot lever, 3151-Pedal front axle, 3152-Bent section, 316-Upper left friction wheel, 317-Lower left friction wheel, 318-Left bearing seat, 319-Left fixing ring, 411-Upper right shaft, 420-Locking handle, 501-Rotating disc, 502-Rotating disc frame, 503-Middle friction wheel, 5031-Moving plate, 5032-Guide groove, 5033-Cavity, 5034-Guide protrusion, 5035-Receiving groove, 5036-Threaded cylinder, 504-Handwheel, 505-Lead screw. Detailed Implementation

[0033] Combination Figure 1-10The present invention relates to a rehabilitation training device for stroke patients with foot movement posture changes, comprising a seat 1, a base 2, a left-side mechanism 3, a right-side mechanism 4, a middle mechanism 5, a synchronous shaft 6, a one-way transmission shaft 7, and a bearing bracket 8. The up-down, left-right, and front-back directions of this application are defined according to the patient's vertical, horizontal, and vertical directions, respectively, for the purpose of describing this application. The seat 1 is fixed to the rear end of the base 2. The base 2 has a symmetrical structure. The left-side mechanism 2 and the right-side mechanism 4 are symmetrically arranged about the left-right symmetrical plane of the base 2. The left-side mechanism 3 includes a left column 301, a left guide rail 302, a left connecting rod 303, a left drive rod 304, a left rear gear 305, a left lower rotating shaft 306, a left front gear 307, a left handle rod 308, and a left handle 309. The system includes a left foot pedal 310, a left upper rotating shaft 311, a left slider 312, a left hinge shaft 313, a left foot swing arm 315, a left upper friction wheel 316, a left lower friction wheel 317, a left bearing seat 318, a left fixing ring 319, and a left one-way needle roller bearing. The lower end of the left column 301 is fixed to the base 2. The upper end of the left column 301 is rotatably mounted on the middle part of the left upper rotating shaft 311. The left end of the left upper rotating shaft 311 is fixed to the lower end of the left handle rod 308. The upper end of the left handle rod 308 is fixed to the left handle 309. The right end of the left upper rotating shaft 311 is fixed to the left upper friction wheel 316. The middle part of the left lower rotating shaft 306 is rotatably mounted on the middle part of the left column 301. The right end of the left lower rotating shaft 306 is fixed to the left lower friction wheel 317. The left end of the left lower rotating shaft 306 is fixed to the left rear gear 305.

[0034] The left rear gear 305 meshes with the left front gear 307. Both the left rear gear 305 and the left front gear 307 are cylindrical gears. The outer ring of the left one-way needle roller bearing is fixed in the inner hole of the left front gear 307. The inner ring of the left one-way needle roller bearing is fixed to the left end of the one-way drive shaft 7. The one-way drive shaft 7 passes through the left front gear 307 to the left and is then fixed to the left retaining ring 319. The left retaining ring 319 is provided with a boss extending outward from the left retaining ring 319. The right end of the left hinge shaft 313 is fixed on the boss. The left end of the left hinge shaft 313 is rotatably connected to the front end of the left drive rod 304. The one-way transmission shaft 7 is located in front of the lower left rotating shaft 306 and is higher than the lower left rotating shaft 306. The left end of the synchronous shaft 6 is rotatably installed in the round hole at the rear end of the left drive rod 304. The left part of the synchronous shaft 6 is fixed to the rear side of the left slider 312. The left slider 312 is slidably installed on the left guide rail 302. The left guide rail 302 is horizontally set along the front-back direction and is fixed on the base 2.

[0035] The front end of the left slider 312 is hinged to the lower end of the left connecting rod 303. The upper end of the left connecting rod 303 is provided with a pedal rear axle 3031 extending to the right. The pedal rear axle 3031 is rotatably mounted on the lower rear end of the left foot pedal 310. The left part of the lower left rotating shaft 306 is fixed to the lower end of the left foot swing arm 315. The left foot swing arm 315 is located between the left column 301 and the lower left friction wheel 317. The upper end of the left foot swing arm 315 is provided with a pedal front axle 3151 extending to the left. The pedal front axle 3151 is rotatably mounted on the lower front end of the left foot pedal 310.

[0036] The right end of the synchronous shaft 6 is rotatably mounted in the round hole at the rear end of the right drive rod of the right mechanism 4, and the right side of the synchronous shaft 6 is fixed to the rear side of the right slider of the right mechanism 4.

[0037] The left part of the one-way drive shaft 7 is rotatably installed in the inner hole of the left bearing housing 318, and the right part of the one-way drive shaft 7 is rotatably installed in the inner hole of the right bearing housing of the right side mechanism 4. The left bearing housing 318 and the right bearing housing are fixed on the bearing bracket 8, and the bearing bracket 8 is fixed on the base 2. The right end of the one-way drive shaft 7 is fixed to the inner ring of the right one-way needle roller bearing of the right side mechanism 4, and the outer ring of the right one-way needle roller bearing is fixed to the inner hole of the right front gear of the right side mechanism 4. The left one-way needle roller bearing and the right one-way needle roller bearing are installed in the same direction on the one-way drive shaft 7, that is, the rotation of the left front gear 307 and the right front gear drives the one-way drive shaft 7 to rotate in the same direction through the left one-way needle roller bearing and the right one-way needle roller bearing, respectively.

[0038] The intermediate mechanism 5 includes a rotating disk 501, a rotating disk frame 502, an intermediate friction wheel 503, a handwheel 504, and a lead screw 505. The lower end of the rotating disk frame 502 is fixed to the base 2, and the rotating disk 501 is rotatably mounted on the upper end of the rotating disk frame 502. The intermediate friction wheel 503 is coaxially fixed to the rotating disk 501. The intermediate friction wheel 503 is located between the left mechanism 3 and the right mechanism 4. A semi-circular cavity 5033 is provided on the upper right side of the intermediate friction wheel 503. The movable plate 5031 is adapted to the shape of the cavity 5033. Two guide grooves 5032 are provided on the semi-circular diameter side of the movable plate 5031. The two guide grooves 5032 are symmetrically arranged about the center of the semi-circle of the movable plate 5031. A third guide groove 5032 is provided in the middle of the contour edge. A guide protrusion 5034 is provided at the position of the cavity 5033 and the movable plate 5031. The movable plate 5031 is located in the cavity 5033 and slides up and down along the guide protrusion 5034 through the guide groove 5032. A threaded cylinder 5036 is provided at the center of the movable plate 5031. The thread in the inner hole of the threaded cylinder 5036 is screwed into the lead screw 505. A receiving groove 5035 is provided at the center of the intermediate friction wheel 503. The diameter of the receiving groove 5035 is larger than the diameter of the threaded cylinder 5036. A handwheel 504 is fixed at the upper end of the lead screw 505. The lower end of the lead screw 505 is rotatably connected to the lower end of the intermediate friction wheel 503 at the center.

[0039] The upper left friction wheel 316 is in frictional contact with the upper part of the middle friction wheel 503, and the lower left friction wheel 317 is in frictional contact with the lower part of the middle friction wheel 503. The upper left friction wheel 316 is located in the middle position between the middle part and the left edge of the middle friction wheel 503, and the lower left friction wheel 317 is located directly below the upper left friction wheel 316.

[0040] The fixed position of the upper right friction wheel 416 on the upper right rotating shaft 411 of the right side mechanism 4 is adjustable. The upper right friction wheel 416 is a fan-shaped friction wheel. The upper right friction wheel 416 is located above the movable plate 5031. The hub of the fan-shaped notch of the upper right friction wheel 416 has a threaded hole that runs from the outside to the inside. The screw of the locking handle 420 is screwed into the threaded hole. The upper right friction wheel 416 can be slidably adjusted or fixed on the upper right rotating shaft 411 by loosening or tightening the locking handle 420.

[0041] The left foot swing arm 315 has a backward-extending curved section 3152 in the middle, which is used to avoid the upper left pivot 311 when the upper end of the left foot swing arm 315 swings forward. The curved section 3152 is shaped like a square rod extending backward a certain distance, for example, 30 centimeters, and then connecting to a backward-protruding semi-circular arc square rod. The other end of the semi-circular arc square rod is connected to a square rod extending forward a certain distance. The left foot swing arm 315 parts connected to both ends of the curved section 3152 are on the same straight line.

[0042] The left mechanism 3 is symmetrical to the right mechanism 4. The right mechanism 4 has an additional locking handle 420 compared to the left mechanism. The upper right friction wheel 416 is a fan-shaped friction wheel, while the upper left friction wheel 316 is cylindrical.

[0043] The stroke patient has movement on one side of their body, but motor function is impaired on the other side. The stroke patient sits on seat 1. The initial positions of the left and right handles of the stroke patient rehabilitation training device, which involves changes in foot movement posture, are such that the distances from the rear end of the base 2 or the seat 1 are the same, meaning the front-to-back positions of the left and right handles are identical. At this time, the movable plate 5031 is located on the right half of the intermediate friction wheel 503. The stroke patient's left foot is placed on the left foot pedal 310, which has a left foot strap to secure it. The right foot is placed on the right foot pedal, which also has a right foot strap to secure it. The left hand grasps the left handle 309, which has a left hand strap to secure it. A right-hand strap is provided on the right handle. When the right hand is secured, if the patient can move one limb (e.g., the left upper limb or left lower limb), and depending on the patient's condition, if it is necessary for both upper limbs to have the same range of forward and backward pushing / pulling motion, the handwheel 504 is rotated, causing the lead screw 505 to rotate and the threaded cylinder 5036 to move downwards. This disengages the upper right friction wheel 416 from the movable plate 5031. The locking handle 420 is then loosened, and the position of the upper right friction wheel 416 on the upper right rotating shaft is adjusted so that the center distance between the upper right friction wheel 416 and the center of the middle friction wheel 503 is equal to the center distance between the upper left friction wheel and the center of the middle friction wheel 503. This ensures that the left and right upper limbs have the same range of forward and backward pushing / pulling motion. Finally, the locking handle 420 is tightened to fix the upper right friction wheel 416 on the upper right rotating shaft. On shaft 411, with locking handle 420 facing upwards, the screw portion of locking handle 420 is set vertically, so that when the right handle is pushed and pulled forward and backward to its limit position, the fan-shaped area of ​​the upper right friction wheel 416 is always in contact with the movable plate 5031. The central angle of the fan-shaped area of ​​the upper right friction wheel 416 is 120 degrees. When the right handle is pushed and pulled forward and backward to its limit position, the upper right friction wheel 416 rotates less than half a turn, and the handwheel 504 is rotated in the opposite direction, the screw 505 rotates, causing the threaded cylinder 5036 to move upwards, causing the movable plate 5031 to move upwards and rub against the upper right friction wheel 416. The fixed position of the lower right friction wheel on the lower right rotating shaft does not need to be adjusted. The range of motion of the lower limbs in the stroke rehabilitation training device with changes in foot movement posture is not large. In stroke patients, the range of motion on the affected side of the lower limb is usually the same as that on the healthy side. When the patient pushes the left handle 309 forward with their left upper limb, the left handle rod 308 swings, causing the upper left shaft 311 to rotate and the upper left friction wheel 316 to rotate. This drives the middle friction wheel 503 to rotate, which in turn drives the lower left friction wheel 317, the upper right friction wheel 416 of the right-side mechanism 4, and the lower right friction wheel to rotate. This achieves movement of the right upper limb in the opposite direction to the left upper limb, and movement of the left foot swing rod 315 in the opposite direction to the right foot swing rod of the right-side mechanism. It also achieves rotation of the upper left shaft 311 in the opposite direction to the lower left shaft 306, and movement of the upper right shaft 411 of the right-side mechanism in the opposite direction to the lower right shaft. This allows stroke patients to perform gait rehabilitation training.Improve the comfort of patients during rehabilitation training.

[0044] If the patient's right upper limb range of motion is less than that of the healthy upper limb (i.e., the right upper limb range of motion is less than that of the left upper limb), then move the left and right handles of the stroke patient rehabilitation training device (foot movement posture change) to their initial positions, i.e., the distances of the left and right handles from the rear end of the base 2 or the seat 1 are the same. Turn the handwheel 504, causing the lead screw 505 to rotate, which lowers the threaded cylinder 5036, disengaging the upper right friction wheel 416 from the movable plate 5031. Loosen the locking handle 420 and adjust the position of the upper right friction wheel 416 on the upper right rotating shaft 411 so that the center distance between the upper right friction wheel 416 and the center of the middle friction wheel 503 is less than the center distance between the upper left friction wheel and the middle friction wheel 503. The center distance of 03 refers to adjusting the upper right friction wheel 416 a certain distance towards the center of the middle friction wheel 503. The adjustment distance is adjusted according to the patient's condition. If the range of motion of the right upper limb is much different from that of the left upper limb, the distance adjusted from the upper right friction wheel 416 towards the center of the middle friction wheel 503 is larger, and vice versa. Tighten the locking handle 420 to fix the upper right friction wheel 416 on the upper right rotating shaft 411. Rotate the handwheel 504 in the opposite direction, and the screw 505 rotates, causing the threaded cylinder 5036 to move upward, causing the movable plate 5031 to move upward and rub against the upper right friction wheel 416, so that the range of motion of the left and right upper limbs can be kept within a comfortable range for rehabilitation training. If a stroke patient has left-sided limb motor dysfunction, and the right limb actively moves to drive the left limb, the range of motion of the left upper limb will be smaller than that of the right upper limb. In this case, move the left and right handles of the stroke patient rehabilitation training device (which changes the foot movement posture) to their initial positions, i.e., the distances of the left and right handles from the rear end of the base 2 or the seat 1 are the same. Turn the handwheel 504, and the screw 505 will rotate, causing the threaded cylinder 5036 to move downwards. This will disengage the upper right friction wheel 416 from the movable plate 5031. Loosen the locking handle 420 and adjust the position of the upper right friction wheel 416 on the upper right rotating shaft 411 so that the center distance from the upper right friction wheel 416 to the center of the middle friction wheel 503 is greater than the center distance from the upper left friction wheel to the middle friction wheel 503. The center distance of the friction wheel 503 is adjusted by moving the upper right friction wheel 416 a certain distance away from the center of the middle friction wheel 503. The adjustment distance is adjusted according to the patient's condition. If the range of motion of the right upper limb is much larger than that of the left upper limb, the distance adjusted towards the center of the upper right friction wheel 416 away from the center of the middle friction wheel 503 is larger, and vice versa. The locking handle 420 is locked to fix the upper right friction wheel 416 on the upper right rotating shaft 411. The handwheel 504 is rotated in the opposite direction, the screw 505 rotates, and the threaded cylinder 5036 moves upward, causing the movable plate 5031 to move upward and rub against the upper right friction wheel 416, so that the range of motion of both the left and right upper limbs is within a comfortable range for rehabilitation training.

[0045] During the forward and backward movement of the left upper limb and the reverse forward and backward movement of the right upper limb, the left lower rotating shaft 306 of the left mechanism 3 drives the left rear gear 305 to rotate, which in turn drives the left front gear 307 to rotate. The left front gear 307 is connected to the one-way transmission shaft 7 via a left one-way needle roller bearing. Meanwhile, the right lower rotating shaft of the right mechanism 4 drives the right rear gear to rotate, which in turn drives the right front gear to rotate. The right front gear is also connected to the one-way transmission shaft 7 via a right one-way needle roller bearing. Furthermore, the right front gear rotates in the opposite direction to the left front gear 307. Therefore, during the forward and backward movement of the left and right upper limbs, the one-way transmission shaft 7 always rotates in one direction, the left fixed ring 319 rotates in one direction, and the left drive rod 304 drives the left slider 312 to move forward and backward. The left mechanism 3 and the right mechanism 4 are symmetrical. The right drive rod of mechanism 4 drives the right slider to move back and forth, and the left slider 312 moves synchronously with the right slider. The left rear gear 305 and the left front gear 307 have the same number of teeth. After the patient's left or right upper limb moves back and forth multiple times, the left rear gear 305 and the left front gear 307 can rotate one revolution. The left slider 312 slides back and forth with the right slider. If the left foot swing rod 315 is at the front limit position and the left slider 312 is at the rear limit position, the sum of the distance from the pedal front axle 3151 to the pedal rear axle 3031 plus the distance from the pedal rear axle 3031 to the rear end of the left connecting rod 303 is greater than the distance from the pedal front axle 3151 to the rear end of the left connecting rod 303 on the left foot swing rod 315. This prevents the left foot swing rod 315 from swinging forward and the left foot pedal 310 from being collinear with the left connecting rod 303, thus preventing the phenomenon of jamming. One state of movement for stroke patients: When the left slider 312 and the right slider are in the rear position, if the left foot lever 315 swings forward to its limit, the patient's left foot is in a steep uphill position and the right foot is in a gentle downhill position; if the left foot lever 315 swings backward to its limit, the left foot is in a gentle downhill position and the right foot is in a steep uphill position. Another state: When the left slider 312 and the right slider are in the front position, if the left foot lever 315 swings forward to its limit, the patient's left foot is in a gentle uphill position and the right foot is on flat ground; if the left foot lever 315 swings backward to its limit, the left foot is walking on flat ground and the right foot is in a gentle uphill position. This allows the patient's lower limbs to change between uphill, downhill, and flat ground states during movement, achieving multiple changes in foot movement posture, which is similar to the walking state of healthy people in daily life, thus improving rehabilitation effects.

Claims

1. A rehabilitation training device for stroke patients with foot movement posture changes, characterized in that: The system includes a base (2), a left-side mechanism (3), a right-side mechanism (4), a middle mechanism (5), a synchronous shaft (6), and a one-way transmission shaft (7). The base (2) has a left-right symmetrical structure. The left-side mechanism (3) and the right-side mechanism (4) are symmetrically arranged about the left-right symmetrical plane of the base (2). The left-side mechanism (3) includes a lower left rotating shaft (306), an upper left rotating shaft (311), an upper left friction wheel (316), and a lower left friction wheel (317). The lower end of the left handle rod (308) is fixed to the left end of the upper left rotating shaft (311), and the left handle rod (309) is fixed to the upper end of the left handle rod (308). The upper left friction wheel (316) is fixed to the right end of the upper left rotating shaft (311), and the lower left friction wheel (317) is fixed to the right end of the lower left rotating shaft (306). The left rear gear (305) is fixed to the left end of the lower left rotating shaft (306). The left rear gear (305) meshes with the left front gear (307). The left front gear (307) is mounted on the left end of the one-way drive shaft (7) via a left one-way needle roller bearing. The left one-way needle roller bearing and the right one-way needle roller bearing in the right-side mechanism (4) are mounted in the same direction on the one-way drive shaft (7). The one-way drive shaft (7) passes through the left front gear (307) to the left and then fixes the left fixing ring (319). The left fixing ring (319) is provided with a boss extending outward from the left fixing ring (319). The left hinge shaft is fixed on the boss. The front end of the left drive rod (304) is dynamically connected, and the rear end of the left drive rod (304) is rotatably mounted on the left end of the synchronous shaft (6). The left part of the synchronous shaft (6) is fixed on the left slider (312), and the left slider (312) is slidably mounted on the left guide rail (302). The left guide rail (302) is horizontally arranged along the front-back direction and is fixed on the base (2). The lower left rotating shaft (306), the upper left rotating shaft (311), the synchronous shaft (6), and the one-way transmission shaft (7) are all horizontally arranged along the left-right direction. The left slider (312) is hinged to the lower end of the left connecting rod (303), the upper end of the left connecting rod (303) is hinged to the lower rear end of the left foot pedal (310), the left part of the left lower pivot (306) is fixed to the lower end of the left foot swing rod (315), and the upper end of the left foot swing rod (315) is hinged to the lower front end of the left foot pedal (310). The intermediate mechanism (5) includes an intermediate friction wheel (503). A rotating support structure for the intermediate friction wheel (503) is provided on the base (2). The axis of the intermediate friction wheel (503) is set along the vertical direction. The intermediate friction wheel (503) is located between the left mechanism (3) and the right mechanism (4). A semi-circular movable plate (5031) is provided on the upper right side of the intermediate friction wheel (503). The position of the semi-circular movable plate (5031) along the upward direction can be adjusted. The fixed position of the upper right friction wheel (416) of the right mechanism (4) on the upper right rotating shaft (411) of the right mechanism (4) can be adjusted. The upper left friction wheel (316) and lower left friction wheel (317) are in frictional contact with the middle friction wheel (503). The upper left friction wheel (316) and lower left friction wheel (317) are located above the left side and below the left side of the middle friction wheel (503), respectively. The upper right friction wheel in the right mechanism (4) is in frictional contact with the semi-circular movable plate (5031), and the lower right friction wheel in the right mechanism (4) is in frictional contact with the lower right side of the middle friction wheel (503). The base (2) is provided with a rotating support structure consisting of a lower left rotating shaft (306), an upper left rotating shaft (311), and a one-way transmission shaft (7).

2. The rehabilitation training device for stroke patients with foot movement posture changes according to claim 1, characterized in that: The semi-circular movable plate (5031) has an adjustable position along the upward direction as follows: a semi-circular cavity (5033) is provided on the upper right side of the intermediate friction wheel (503). The movable plate (5031) is adapted to the shape of the cavity (5033). Two guide grooves (5032) are provided on the semi-circular diameter side of the movable plate (5031). The two guide grooves (5032) are symmetrically arranged about the center of the semi-circle of the movable plate (5031). A third guide groove (5032) is provided in the middle of the circular outline edge of the movable plate (5031). A guide protrusion (5033) is provided at a position that corresponds to the movable plate (5031). 034), the movable plate (5031) is located in the cavity (5033) and slides up and down along the guide protrusion (5034) through the guide groove (5032). A threaded cylinder (5036) is provided at the center of the movable plate (5031). The thread in the inner hole of the threaded cylinder (5036) is screwed into the lead screw (505). A receiving groove (5035) is provided at the center of the intermediate friction wheel (503). The diameter of the receiving groove (5035) is larger than the diameter of the threaded cylinder (5036). A handwheel (504) is fixed at the upper end of the lead screw (505). The lower end of the lead screw (505) is rotatably connected to the lower end of the intermediate friction wheel (503).

3. The rehabilitation training device for stroke patients with foot movement posture changes according to claim 1, characterized in that: The structure in which the fixed position of the upper right friction wheel (416) on the upper right rotating shaft (411) is adjustable is as follows: the upper right friction wheel (416) is a fan-shaped friction wheel, the upper right friction wheel (416) is located above the movable plate (5031), and the hub of the fan-shaped notch of the upper right friction wheel (416) is provided with a threaded hole that runs from the outside to the inner hole. The screw part of the locking handle (420) is screwed into the threaded hole, so as to realize the sliding adjustment position or fixation of the upper right friction wheel (416) on the upper right rotating shaft (411) by loosening or tightening the locking handle (420).

4. The rehabilitation training device for stroke patients with foot movement posture changes according to claim 1, characterized in that: The left foot swing arm (315) is provided with a backward-extending curved section (3152) in the middle, which is used to avoid the upper left pivot (311) when the upper end of the left foot swing arm (315) swings forward. The curved section (3152) is shaped as a square rod extending backward a certain distance, and then connected to a semi-circular arc square rod protruding backward. The other end of the semi-circular arc square rod is connected to a square rod extending forward a certain distance. The left foot swing arm (315) connected to both ends of the curved section (3152) is on the same straight line.

5. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The one-way drive shaft (7) is located in front of the lower left rotating shaft (306) and is higher than the lower left rotating shaft (306).

6. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The base (2) is provided with a rotating support structure for a lower left rotating shaft (306) and an upper left rotating shaft (311): the lower end of the left column (301) is fixed on the base (2), the upper end of the left column (301) is rotatably mounted on the middle part of the upper left rotating shaft (311), and the middle part of the left column (301) is rotatably mounted on the middle part of the lower left rotating shaft (306).

7. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The base (2) is provided with a rotating support structure for a one-way drive shaft (7): the left part of the one-way drive shaft (7) is rotatably installed in the inner hole of the left bearing seat (318), and the right part of the one-way drive shaft (7) is rotatably installed in the inner hole of the right bearing seat of the right side mechanism (4). The left bearing seat (318) and the right bearing seat are fixed on the bearing bracket (8), and the bearing bracket (8) is fixed on the base (2).

8. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The lower end of the turntable frame (502) is fixed on the base (2), and the upper end of the turntable frame (502) is rotatably mounted with a rotating disk (501). The rotating disk (501) is coaxially fixed with the intermediate friction wheel (503).

9. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The upper left friction wheel (316) is located between the middle of the middle friction wheel (503) and the left edge, and the lower left friction wheel (317) is located directly below the upper left friction wheel (316).

10. The rehabilitation training device for stroke patients with foot movement posture changes according to any one of claims 1-4, characterized in that: The left rear gear (305) and the left front gear (307) have the same number of teeth and are both cylindrical gears.

Images