Lower limb walking training weight-reducing device and lower limb walking training system

Abstract

The application discloses a lower limb walking training weight reduction device and a lower limb walking training system, the weight reduction device comprises a first weight reduction mechanism, a second weight reduction mechanism and a synchronization mechanism, a first cable of the first weight reduction mechanism is connected with the synchronization mechanism and a mechanical leg assembly respectively, a second cable of the second weight reduction mechanism is connected with the synchronization mechanism and a patient respectively; wherein the synchronization mechanism comprises a driving unit and a sliding unit, the driving unit is power-connected with the sliding unit, the first cable and the second cable are connected with the sliding unit respectively, the driving unit drives the sliding unit to move downward, and then drives the first cable and the second cable to synchronously pull up the mechanical leg assembly and the patient to perform synchronous weight reduction. The application integrates patient weight reduction and mechanical leg assembly weight reduction into one weight reduction device, the patient can perform synchronous weight reduction on the patient and the mechanical leg assembly during lower limb walking training, and the comfort and safety of lower limb walking rehabilitation training are improved.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and specifically relates to a lower limb walking training weight reduction device and a lower limb walking training system. Background Technology

[0002] The number of patients with lower limb dysfunction is rapidly increasing due to a combination of factors, including population aging, neurological diseases such as stroke, and accidents. Traditional lower limb rehabilitation training, which involves therapists guiding patients through exercises, is inefficient and costly in terms of manpower. With technological advancements, lower limb rehabilitation robotics is gradually being introduced into the medical rehabilitation field. Patients' lower limbs can be strapped to robotic leg components, which guide them through the training. During lower limb walking training, because the patient's lower limbs are insufficient to support their own weight and the weight of the robotic leg components, a specialized weight-reduction system is needed to bear some or all of the weight, helping patients complete rehabilitation training more effectively.

[0003] Currently, common lower limb walking training weight-reduction systems use two separate devices for patient weight reduction and mechanical leg component weight reduction. Patient weight reduction is achieved by a suspension load-reduction mechanism, while the mechanical leg component's weight reduction is achieved by a parallelogram unit passively following the patient's weight reduction using built-in spring elements. The two weight-reduction devices are coupled together by strapping the mechanical leg to the patient's leg. Because the two weight-reduction mechanisms are relatively independent, the patient's center of gravity fluctuates during lower limb walking training. Existing lower limb walking training weight-reduction systems cannot synchronize the mechanical leg component's weight reduction with the patient's in real time. This results in tension between the mechanical leg component and the patient's leg at the strapping point, which is detrimental to the patient's lower limb walking training and affects rehabilitation outcomes. Summary of the Invention

[0004] In view of the problems existing in the prior art, the purpose of this invention is to provide a lower limb walking training weight reduction device that can synchronize the patient's own weight reduction mechanism and the mechanical leg component weight reduction mechanism.

[0005] Another objective of this invention is to provide a lower limb walking training system with a lower limb walking training weight reduction device.

[0006] To achieve the above objectives, a first aspect of the present invention provides a lower limb walking weight reduction device, comprising a first weight reduction mechanism, a second weight reduction mechanism, and a synchronization mechanism. A first cable of the first weight reduction mechanism is connected to the synchronization mechanism and a mechanical leg assembly, respectively. A second cable of the second weight reduction mechanism is connected to the synchronization mechanism and a patient, respectively. The synchronization mechanism includes a drive unit and a sliding unit. The drive unit is poweredly connected to the sliding unit. The first cable and the second cable are connected to the sliding unit, respectively. The drive unit drives the sliding unit to move downward, thereby causing the first cable and the second cable to synchronously pull the mechanical leg assembly and the patient upward for synchronous weight reduction.

[0007] Furthermore, the sliding unit includes a first guide rail and a first slider. The first guide rail is arranged in a vertical direction, and the first slider is slidably disposed on the first guide rail. Limiting mechanisms are respectively provided at both ends of the first guide rail to limit the extreme sliding position of the first slider on the first guide rail.

[0008] Furthermore, the first weight reduction mechanism includes a pulley assembly, a guide assembly, and the first cable. The pulley assembly is disposed above the synchronization mechanism, and the mechanical leg assembly is mounted on the guide assembly. One end of the first cable is connected to the sliding unit and is tensioned and positioned by the pulley assembly, while the other end of the first cable is connected to the guide assembly. Under the guiding action of the guide assembly, the drive unit is kept to pull the mechanical leg assembly vertically upward through the first cable.

[0009] Furthermore, the guide assembly includes a second guide rail and a second slider. The second guide rail is arranged in a vertical direction, and the second slider is slidably disposed on the second guide rail. The other end of the first cable is connected to the second slider.

[0010] Furthermore, the second weight-reduction mechanism includes a pulley assembly, a hanger, and a second cable. The pulley assembly is disposed above the synchronization mechanism. One end of the second cable is connected to the sliding unit and is tensioned and positioned by the pulley assembly. The other end of the second cable is connected to the hanger. The hanger is provided with an interface for connection to the patient's wearable structure.

[0011] Furthermore, the second weight reduction mechanism also includes an adjustment component, which includes a drive unit and a movable pulley group. The drive end of the drive unit is poweredly connected to the movable pulley group. The second cable is connected to the hanger via the pulley assembly and the movable pulley group for positioning and guidance. The drive unit drives the movable pulley group to move in the horizontal direction, thereby tightening or releasing the second cable passing through the movable pulley group, and thus adjusting the suspension height of the hanger.

[0012] Furthermore, a first tension sensor is provided at the connection between the drive unit and the sliding unit, and a second tension sensor is provided at the connection between the second cable and the synchronization mechanism. The compatibility of the mechanical leg assembly with the patient can be assessed based on the relationship between the tension data sensed by the first tension sensor and the second tension sensor and the weight of the mechanical leg assembly.

[0013] A second aspect of the present invention provides a lower limb walking training system, comprising a support frame, a mechanical leg assembly, and a lower limb walking weight reduction device as described in the first aspect. The lower limb walking weight reduction device is disposed on the support frame, and the mechanical leg assembly is disposed in the walking area of ​​the support frame and connected to a first weight reduction mechanism of the lower limb walking weight reduction device. A second cable of the second weight reduction mechanism of the lower limb walking weight reduction device is suspended in the walking area and connected to a patient in the walking area. The synchronization mechanism operates by simultaneously pulling up the mechanical leg assembly and the patient through the first and second weight reduction mechanisms to achieve synchronous weight reduction.

[0014] Furthermore, a ramp is provided between the walking area and the ground.

[0015] Furthermore, it also includes a walking training device, which is set in the walking area, and the patient performs walking training in the walking area using the walking training device.

[0016] This invention integrates patient weight reduction and mechanical leg component weight reduction into a single weight reduction device. During lower limb walking training, the patient and the mechanical leg component can undergo simultaneous weight reduction, improving the comfort and safety of lower limb walking rehabilitation training.

[0017] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit the invention. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the structure of a lower limb walking training system according to an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the synchronization mechanism of a lower limb walking training weight reduction device according to an embodiment of the present invention;

[0021] Figure 3 This is a schematic diagram of the weight-reduction mechanism of a lower limb walking training weight-reduction device according to an embodiment of the present invention;

[0022] Figure 4 This is a schematic diagram of the connection between the first weight-reducing mechanism and the mechanical leg assembly of a lower limb walking training weight-reducing device according to an embodiment of the present invention. Detailed Implementation

[0023] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, they are provided so that the invention will be more thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art.

[0024] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the term "connected" should be interpreted broadly. For example, it can refer to a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0025] Throughout the text, the terms “top,” “bottom,” “above,” “below,” “on,” “left-right,” and “up-down” refer to the relative positions of components within the device, such as the relative positions of the top and bottom substrates inside the device. It is understood that the device is multifunctional and independent of its spatial orientation.

[0026] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or the number of technical features indicated. Therefore, the defined "first" and "second" features may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0027] To make the objectives, technical solutions, and advantages of the present invention clearer, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0028] like Figure 1 As shown, the lower limb walking training system of the present invention includes a support frame 1, a mechanical leg assembly 2, and a lower limb walking weight reduction device. The lower limb walking weight reduction device is disposed on the support frame 1. The mechanical leg assembly 2 is disposed in the walking area of ​​the support frame 1 and connected to the first weight reduction mechanism 3 of the lower limb walking weight reduction device. The second cable 41 of the second weight reduction mechanism 4 of the lower limb walking weight reduction device is suspended in the walking area and connected to the patient in the walking area. The synchronization mechanism 5 operates by simultaneously pulling the mechanical leg assembly 2 and the patient upwards through the first weight reduction mechanism 3 and the second weight reduction mechanism 4 to achieve synchronous weight reduction. In practical applications, the support frame 1 consists of a base 11, an upper support 12, a left support 13, and a right support 14. The walking area is located on the base 11, and the lower limb walking weight reduction device is fixedly installed on the upper support 12 and the left support 13.

[0029] In one embodiment of the present invention, such as Figures 2-4 As shown, the lower limb walking weight reduction device includes a first weight reduction mechanism 3, a second weight reduction mechanism 4, and a synchronization mechanism 5. The first cable 31 of the first weight reduction mechanism 3 is connected to the synchronization mechanism 5 and the mechanical leg assembly 2, respectively. The second cable 41 of the second weight reduction mechanism 4 is connected to the synchronization mechanism 5 and the patient, respectively.

[0030] like Figure 2 As shown, the synchronization mechanism 5 includes a drive unit 51 and a sliding unit 52. The drive unit 51 is poweredly connected to the sliding unit 52. The first cable 31 and the second cable 41 are respectively connected to the sliding unit 52. The drive unit 51 drives the sliding unit 52 to move downward, thereby driving the first cable 31 and the second cable 41, which are close to the mechanical leg assembly 2 and the patient, to pull the mechanical leg assembly 2 and the patient upward synchronously for synchronous weight reduction.

[0031] In one embodiment of the present invention, the drive unit 51 includes a drive motor 511 and a take-up roller 512. The drive motor 511 and the take-up roller 512 are poweredly connected, and the drive motor 511 can drive the take-up roller 512 to rotate for take-up or unwinding operations. A third cable 53 is wound on the take-up roller 512, and one end of the third cable 53 is connected to the sliding unit 52. The drive motor 511 drives the take-up roller 512 to reverse, and the take-up roller 512 drives the third cable 53 to take up the cable, thereby driving the sliding unit 52 to move downward. The downward movement of the sliding unit 52 can drive the first cable 31 and the second cable 41 near the mechanical leg assembly 2 and the patient to simultaneously pull the mechanical leg assembly 2 and the patient upward for synchronous weight reduction. It should be noted that the structure of the drive unit 51 of the present invention is not limited to this, and it can also adopt other drive structures such as motors and lead screws. The present invention is not limited thereto.

[0032] In one embodiment of the present invention, the sliding unit 52 includes a first guide rail 521 and a first slider 522. The first guide rail 521 is arranged vertically, and the first slider 522 is slidably disposed on the first guide rail 521. Limiting mechanisms are respectively provided at both ends of the first guide rail 521 to limit the extreme sliding position of the first slider 522 on the first guide rail 521, thereby preventing the first slider 522 from slipping off the first guide rail 521 when it rises or falls. In this embodiment, the limiting mechanism includes an upper limit block 61, a proximity switch 62, a lower limit block 63, and a proximity switch 64. The upper limit block 61 is disposed at the top of the first guide rail 521 to limit the extreme position of the first slider 522 rising, and the lower limit block 63 is disposed at the bottom of the first guide rail 521 to limit the extreme position of the first slider 522 falling. In addition, to prevent the first slider 522 from colliding with the upper limit block 61 and the lower limit block 63 and causing damage to the equipment, proximity switches 62 and 64 are also provided at the upper and lower ends of the first guide rail 521. When the proximity switches 62 and 64 detect that the first slider 522 is close, they will cut off the power supply and the drive unit will de-energize and hold the brake to avoid the first slider 522 colliding with the upper limit block 61 and the lower limit block 63.

[0033] like Figure 3 and Figure 4 As shown, the first weight reduction mechanism 3 includes a pulley assembly 32, a guide assembly 33, and a first cable 31. The pulley assembly 32 is disposed above the synchronization mechanism 5, and the mechanical leg assembly 2 is mounted on the guide assembly 33. One end of the first cable 31 is connected to the first slider 522 of the sliding unit 52, and is tensioned and positioned by the pulley assembly 32. The other end of the first cable 31 is connected to the guide assembly 33. Under the guidance of the guide assembly 33, the drive unit 51 is kept to pull the mechanical leg assembly 2 vertically upward through the first cable 31.

[0034] In one embodiment of the present invention, such as Figure 4As shown, the guide assembly 33 includes a second guide rail 331 and a second slider 332. The second guide rail 332 is arranged vertically, and the second slider 332 is slidably disposed on the second guide rail 331. The other end of the first cable 31 is connected to the second slider 332. In this embodiment, limiting mechanisms can also be provided at both ends of the second guide rail 331. For example, an upper limit block 333 can be provided at the top of the second guide rail 331 to limit the extreme position of the second slider 332's upward movement, and a lower limit block 334 can be provided at the bottom of the second guide rail 331 to limit the extreme position of the second slider 332's downward movement, preventing the second slider 332 from slipping off the second guide rail 331 when it slides on the second guide rail 331. The mechanical leg assembly 2 can be fixed to the second slider 332 with screws, and can move the mechanical leg assembly 2 upward when the first cable 31 pulls the second slider 332 upward to reduce the weight of the mechanical leg assembly.

[0035] The second weight-reducing mechanism 4 includes a pulley assembly 42, a hanger 43, and a second cable 41. The pulley assembly 42 is positioned above the synchronization mechanism 5. One end of the second cable 41 is connected to the sliding unit 52, tensioned and positioned by the pulley assembly 42, and the other end of the second cable 41 is connected to the hanger 43. The hanger 43 has an interface for connecting to the patient's wearing structure. In practical applications, the patient's wearing structure, such as a sling worn by the patient, is connected to the hanger 43. When the second cable 41 pulls the hanger 43 upward, it can move the patient upward to reduce the patient's weight. The pulley assembly 42 includes fixed pulleys 421, 422, and 423, which tension and position the passing second cable 41. It should be noted that the number of fixed pulleys used in the pulley assembly is not limited to this; it can be adjusted according to actual needs, and this invention is not limited thereto.

[0036] In one embodiment of the present invention, the second weight-reducing mechanism 4 further includes an adjustment component 44, which includes a drive unit 441 and a movable pulley group 442. The drive end of the drive unit 441 is poweredly connected to the movable pulley group 442. The second cable 41 is positioned and guided by the pulley assembly 42 and the movable pulley group 442 and connected to the hanger 43. The drive unit 441 drives the movable pulley group 442 to move horizontally, thereby tightening or releasing the second cable 41 passing on the movable pulley group 442, and thus adjusting the suspension height of the hanger 43. Since patients have different heights, the height of the hanger also needs to be adjusted accordingly. In practical applications, the drive unit 441 can be a linear motor. The end of the linear motor's electric actuator is connected to the movable pulley group 442. By changing the length of the electric actuator, the hanger at one end of the second cable 41 is adjusted to a suitable height. Then, the electric actuator of the linear motor is locked, and finally, the mechanical leg assembly 2 is bound and fixed to the patient's leg. At this time, the first cable 31 and the second cable 41 are tensioned simultaneously, and the drive unit 51 can drive the first cable 31 and the second cable 41 to pull synchronously to reduce the weight of the patient and the mechanical leg assembly.

[0037] In one embodiment of the present invention, such as Figure 2 As shown, a first tension sensor 531 is provided at the connection between the drive unit 51 and the sliding unit 52, and a second tension sensor 411 is provided at the connection between the second cable 41 and the synchronization mechanism 5. The compatibility of the mechanical leg assembly 2 with the patient can be assessed based on the relationship between the tension data sensed by the first tension sensor 531 and the second tension sensor 411 and the weight of the mechanical leg assembly 2. The first tension sensor 531 monitors the weight loss F in real time, and the control unit controls the drive unit 51 to rotate, ensuring that the weight loss value remains constant even when the patient's center of gravity fluctuates up and down while walking. A second tension sensor 411 is installed between the second cable 41 and the first slider 522. The tension sensor 411 monitors the patient's weight loss F1 in real time. Since the weight of the mechanical leg assembly is a fixed value F2, if the mechanical leg assembly is correctly bound to the patient's leg and no pulling occurs, then F1 + F2 = F. If F1 + F2 < F, then the mechanical leg assembly is not correctly bound to the patient's leg and pulling occurs. In this case, the first cable 31 bears the weight of the mechanical leg assembly and part of the patient's weight, while the second cable 41 does not bear the entire weight of the patient. By adding sensors 531 and 441, the correctness of the binding between the mechanical leg assembly and the patient can be assessed, avoiding incorrect binding.

[0038] In one embodiment of the present invention, a ramp 7 is provided between the walking area and the ground, which allows the patient to be easily moved to the walking area for walking training. It should be noted that the ramp can also be omitted when the bottom base of the support frame is omitted or the base is low.

[0039] In one embodiment of the present invention, the lower limb walking training system further includes a walking training device 8, which is disposed in the walking area. The patient performs walking training within the walking area using the walking training device 8. The walking training device 8 may include a treadmill 81 and handrails 82 disposed on the walking area. The patient can use the treadmill 81 to perform various walking training modes during lower limb walking training. Furthermore, the handrails 82 provided on the walking area further improve the safety of the patient during walking training. It should be noted that the walking training device can be selectively installed as needed, and the present invention is not limited thereto.

[0040] In summary, this invention integrates patient weight reduction and mechanical leg component weight reduction into a single weight reduction device, allowing for simultaneous weight reduction for both the patient and the mechanical leg component during lower limb walking training, thereby improving the comfort and safety of lower limb walking rehabilitation training.

[0041] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0042] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A lower limb walking weight reduction device, characterized in that, The device includes a first weight-reduction mechanism, a second weight-reduction mechanism, and a synchronization mechanism. The first cable of the first weight-reduction mechanism is connected to the synchronization mechanism and the mechanical leg assembly, respectively. The second cable of the second weight-reduction mechanism is connected to the synchronization mechanism and the patient, respectively. The synchronization mechanism includes a drive unit and a sliding unit. The drive unit is poweredly connected to the sliding unit. The first cable and the second cable are connected to the sliding unit, respectively. The drive unit drives the sliding unit to move downward, thereby causing the first cable and the second cable to synchronously pull the mechanical leg assembly and the patient upward for synchronous weight reduction.

2. The lower limb walking weight reduction device as described in claim 1, characterized in that, The sliding unit includes a first guide rail and a first slider. The first guide rail is arranged in a vertical direction, and the first slider is slidably disposed on the first guide rail. Limiting mechanisms are respectively provided at both ends of the first guide rail to limit the extreme sliding position of the first slider on the first guide rail.

3. The lower limb walking weight reduction device as described in claim 1, characterized in that, The first weight reduction mechanism includes a pulley assembly, a guide assembly, and a first cable. The pulley assembly is disposed above the synchronization mechanism, and the mechanical leg assembly is mounted on the guide assembly. One end of the first cable is connected to the sliding unit and is tensioned and positioned by the pulley assembly, while the other end of the first cable is connected to the guide assembly. Under the guiding action of the guide assembly, the drive unit is kept to pull the mechanical leg assembly vertically upward through the first cable.

4. The lower limb walking weight reduction device as described in claim 3, characterized in that, The guide assembly includes a second guide rail and a second slider. The second guide rail is arranged in a vertical direction, and the second slider is slidably disposed on the second guide rail. The other end of the first cable is connected to the second slider.

5. The lower limb walking weight reduction device as described in claim 1, characterized in that, The second weight-reduction mechanism includes a pulley assembly, a hanger, and a second cable. The pulley assembly is positioned above the synchronization mechanism. One end of the second cable is connected to the sliding unit and is tensioned and positioned by the pulley assembly. The other end of the second cable is connected to the hanger. The hanger is provided with an interface for connection to the patient's wearable structure.

6. The lower limb walking weight reduction device as described in claim 5, characterized in that, The second weight reduction mechanism also includes an adjustment component, which includes a drive unit and a movable pulley group. The drive end of the drive unit is poweredly connected to the movable pulley group. The second cable is positioned and guided by the pulley assembly and the movable pulley group and connected to the hanger. The drive unit drives the movable pulley group to move in the horizontal direction, thereby tightening or releasing the second cable passing through the movable pulley group, and thus adjusting the suspension height of the hanger.

7. The lower limb walking weight reduction device as described in claim 1, characterized in that, A first tension sensor is provided at the connection between the drive unit and the sliding unit, and a second tension sensor is provided at the connection between the second cable and the synchronization mechanism. The fit of the mechanical leg assembly to the patient can be assessed based on the relationship between the tension data sensed by the first tension sensor and the second tension sensor and the weight of the mechanical leg assembly.

8. A lower limb walking training system, characterized in that, The device includes a support frame, a mechanical leg assembly, and a lower limb walking weight reduction device as described in any one of claims 1-7. The lower limb walking weight reduction device is disposed on the support frame, and the mechanical leg assembly is disposed in the walking area of ​​the support frame and connected to a first weight reduction mechanism of the lower limb walking weight reduction device. A second cable of the second weight reduction mechanism of the lower limb walking weight reduction device is suspended in the walking area and connected to a patient in the walking area. The synchronization mechanism operates by simultaneously pulling up the mechanical leg assembly and the patient through the first weight reduction mechanism and the second weight reduction mechanism to achieve synchronous weight reduction.

9. The lower limb walking training system as described in claim 8, characterized in that, A ramp is also provided between the walking area and the ground.

10. The lower limb walking training system as described in claim 8, characterized in that, It also includes a walking training device, which is set in the walking area, and the patient performs walking training in the walking area using the walking training device.

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