Lower limb walking training auxiliary support device

Abstract

The application discloses a lower limb walking training auxiliary support device, which comprises a middle vertical rod, a left side mechanism and a right side mechanism. The left side mechanism comprises a left vertical shaft. The upper end and the lower end of the middle vertical rod are respectively hinged to the middle part of an upper horizontal rod and a lower horizontal rod. The left end of the upper horizontal rod is hinged to the upper end of the left vertical shaft, and the left end of the lower horizontal rod is hinged to the lower end of the left vertical shaft. The right end of the upper horizontal rod is hinged to the upper end of a right vertical shaft of the right side mechanism, and the right end of the lower horizontal rod is hinged to the lower end of the right vertical shaft of the right side mechanism. The right end of a left connecting rod is rotatably installed on the left vertical shaft, the left end of the left connecting rod is rotatably connected to a left hinge shaft, the front end of a left connecting arm is fixed on the left hinge shaft, the lower end of the left hinge shaft is fixed with a left pulley two, the left pulley two is connected with a left pulley one through a left synchronous belt to form a belt transmission, the left pulley one is fixed on the left vertical shaft, and the rear end of the left connecting arm is fixed with a pelvic girdle left side. The device realizes the reverse change of the height of the two sides of the pelvic girdle during the walking training of a patient, and the front and back movement of the bilateral connecting arms during the front and back movement of the patient, thereby improving the comfort of the patient during the walking training.

Description

Technical Field

[0001] This invention relates to a lower limb walking training assistive support device, belonging to the field of rehabilitation medical device technology. Background Technology

[0002] Patients with weak lower limb motor muscles need to undergo multiple uninterrupted walking rehabilitation training sessions. During these training sessions, it is necessary to assist the patient's pelvic position and provide support for walking. Current walking rehabilitation training devices provide support by using suspension or multiple linkage mechanisms to fix the patient's pelvic position. When using suspension to support the patient's body weight, the patient's body is not restricted, and the walking posture is subject to significant deformation, making it easy for the patient's body to tilt to one side. When using multiple linkages to fix the patient's waist or pelvic position, multiple transmission mechanisms are used in a segmented manner, resulting in a longer overall structure, a larger cantilever size, greater strength required for the supported parts, and a complex structure. Summary of the Invention

[0003] The purpose of this invention is to provide a lower limb walking training auxiliary support device that uses a parallel four-bar linkage with a virtual constraint rod in the middle for fixing, two connecting rods on both sides that can move up and down for fixing the swinging connecting rod, and a hinge shaft connecting the swinging connecting rod to the patient's waist for hinged shaft, which realizes the forward and backward translation of the waist connecting rod when the patient moves forward and backward through a synchronous driving mechanism.

[0004] The technical solution of the present invention is implemented as follows: A lower limb walking training auxiliary support device includes an upper horizontal bar 1, a middle vertical bar 2, a left side mechanism 3, a lower horizontal bar 4, and a right side mechanism 5. The left side mechanism 3 and the right side mechanism 5 are arranged symmetrically from left to right. The left side mechanism 3 includes a left connecting arm 301, a left connecting rod 304, and a left vertical shaft 305. The upper and lower ends of the middle vertical bar 2 are respectively hinged to the middle parts of the upper horizontal bar 1 and the lower horizontal bar 4. The left end of the upper horizontal bar 1 is hinged to the upper end of the left vertical shaft 305. The left end of the lower horizontal bar 4 is hinged to the lower end of the left vertical shaft 305. The right end of the upper horizontal bar 1 is hinged to the upper end of the right vertical shaft of the right side mechanism 5. The right end of the lower horizontal bar 4 is hinged to the lower end of the right vertical shaft of the right side mechanism 5. The left vertical shaft 305 is rotatably mounted on the right end of the left connecting rod 304. The left end of the left connecting rod 304 is rotatably connected to the left hinge shaft 308. The left hinge shaft 308 fixes the front end of the left connecting arm 301. The lower end of the left hinge shaft 308 is fixed to the second left pulley 307. The second left pulley 307 forms a belt drive with the first left pulley 306 through the left synchronous belt 303. The first left pulley 306 is fixed to the lower part of the left vertical shaft 305. The rear end of the left connecting arm 301 is fixed to the left connecting plate 309. The right connecting plate and the left connecting plate 309 of the right side mechanism 5 are respectively connected to the right and left sides of the pelvic strap.

[0005] Preferably, the middle vertical rod 2 has an outwardly extending upper cylindrical protrusion 202 on both the front and rear sides of its upper middle side, and the right connecting rod of the right side mechanism 5 has a right cylindrical protrusion on both the front and rear sides. A tension spring 8 connects the upper cylindrical protrusion 202 and the right cylindrical protrusion on the same side. The middle vertical rod 2 has an outwardly extending lower cylindrical protrusion 201 on both the front and rear sides of its lower middle side, and the left connecting rod 304 has an outwardly extending left cylindrical protrusion 302 on both the front and rear sides. A tension spring 8 connects the lower cylindrical protrusion 201 and the right cylindrical protrusion on the same side.

[0006] Preferably, the upper horizontal bar 1 and the lower horizontal bar 4 are both horizontally arranged along the left and right directions, and the left vertical axis 305, the middle vertical bar 2, and the right vertical axis of the right side mechanism 5 are all vertically arranged along the up and down directions. The upper horizontal bar 1, the lower horizontal bar 4, the left vertical axis 305, and the right side mechanism 5 form a parallel four-bar linkage, and the middle vertical bar 2 is a virtual constraint bar of the parallel four-bar linkage.

[0007] Preferably, a limiting block 6 is fixed at the lower part of the middle vertical rod 2. The left and right sides of the limiting block 6 are located on the left and right sides of the middle vertical rod 2, respectively. An adjusting bolt 7 is screwed into the threaded holes on the left and right sides of the limiting block 6. The adjusting bolt 7 is set along the vertical direction. The lower end of the adjusting bolt 7 is used to limit the left and right swing range of the lower horizontal rod 4.

[0008] Preferably, the intermediate vertical rod 2 is fixed on the support frame or the bracket of the traveling trolley.

[0009] Preferably, the left pulley 306 and the left pulley 307 have the same number of teeth.

[0010] Compared with the prior art, the present invention has the following advantages: The system employs a parallel four-bar linkage with a virtual constraint bar in the middle, fixed to a support frame or the bracket of a walking trolley. The two connecting rods move in opposite directions, lifting and lowering the patient's lower limbs. The connecting rods on both sides of the parallel four-bar linkage are connected to the hinge shaft via a single connecting rod and belt drive, ensuring that the connecting arm, fixed to this connecting rod, remains aligned in the forward-backward direction during movement, preventing compression of the patient's pelvis. Tension springs are installed between the ends of the horizontal connecting rods fixed to the vertical connecting rods on both sides of the parallel four-bar linkage and the middle virtual constraint bar. These springs provide a restoring force during pelvic height changes and forward-backward movement during walking training, facilitating post-walking repositioning. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of the lower limb walking training auxiliary support device.

[0012] Figure 2 This is a schematic diagram of the connection structure between the left-side mechanism and the middle parallel four-bar linkage.

[0013] Figure 3 This is a schematic diagram of the synchronous belt drive section in the mechanism on the left.

[0014] Figure 4 This is a schematic diagram of a structure with a left connecting plate on the left connecting arm.

[0015] Explanation of reference numerals in the attached drawings: 1-Upper horizontal bar, 2-Middle vertical bar, 3-Left side mechanism, 4-Lower horizontal bar, 5-Right side mechanism, 6-Limit block, 7-Adjusting bolt, 201-Lower cylindrical protrusion, 202-Upper cylindrical protrusion, 301-Left connecting arm, 302-Left cylindrical protrusion, 303-Left synchronous belt, 304-Left connecting rod, 305-Left vertical shaft, 306-Left pulley one, 307-Left pulley two, 308-Left hinge shaft, 309-Left connecting disc. Implementation

[0016] Combination Figure 1-4 This invention discloses a lower limb walking training auxiliary support device, comprising an upper horizontal bar 1, a middle vertical bar 2, a left side mechanism 3, a lower horizontal bar 4, a right side mechanism 5, a limiting block 6, an adjusting bolt 7, a tension spring 8, and a pelvic strap. The left side mechanism 3 includes a left connecting arm 301, a left cylindrical protrusion 302, a left synchronous belt 303, a left connecting rod 304, a left vertical shaft 305, a left pulley 1 306, a left pulley 2 307, a left hinge shaft 308, and a left connecting plate 309. The vertical, forward, backward, and left-right directions of this application are defined by the vertical, forward, backward, and left-right directions of the patient undergoing lower limb walking training. The middle vertical bar 2 has a bilaterally symmetrical structure. The left side mechanism 3 and the right side mechanism 5 are symmetrically arranged about the bilaterally symmetrical plane of the middle vertical bar 2. The upper and lower ends of the middle vertical bar 2 are respectively hinged to the upper horizontal bar 1 and the lower horizontal bar 4. The lower horizontal bar 4 is located in the middle. The left end of the upper horizontal bar 1 is hinged to the upper end of the left vertical shaft 305, and the left end of the lower horizontal bar 4 is hinged to the lower end of the left vertical shaft 305. The right end of the upper horizontal bar 1 is hinged to the upper end of the right vertical shaft of the right side mechanism 5, and the right end of the lower horizontal bar 4 is hinged to the lower end of the right vertical shaft of the right side mechanism 5. The upper horizontal bar 1 and the lower horizontal bar 4 are both horizontally arranged in the left-right direction. The left vertical shaft 305, the middle vertical bar 2, and the right vertical shaft of the right side mechanism 5 are all vertically arranged in the up-down direction. The upper horizontal bar 1, the lower horizontal bar 4, the left vertical shaft 305, and the right side mechanism 5 form a parallel four-bar linkage. The middle vertical bar 2 is a virtual constraint bar of this parallel four-bar linkage. That is, any two horizontally arranged bars and any two vertically arranged bars among the upper horizontal bar 1, the lower horizontal bar 4, the left vertical shaft 305, the right side mechanism 5, and the middle vertical bar 2 form a parallel four-bar linkage.

[0017] The right end of the left connecting rod 304 is rotatably mounted in the middle of the left vertical shaft 305. The left end of the left connecting rod 304 is rotatably connected to the middle of the left hinge shaft 308. The left hinge shaft 308 fixes the front end of the left connecting arm 301. The lower end of the left hinge shaft 308 fixes the second left pulley 307. The second left pulley 307 forms a belt drive with the first left pulley 306 through the left synchronous belt 303. The first left pulley 306 is fixed to the lower part of the left vertical shaft 305.

[0018] The left pulley 306 and the left pulley 307 have the same number of teeth.

[0019] The left connecting arm 301 has a left connecting plate 309 fixed at its rear end, and the right connecting plate of the right side mechanism 5 is connected to the right side and the left side of the pelvic strap, respectively.

[0020] The lower part of the middle vertical rod 2 is fixed with a limiting block 6. The left and right sides of the limiting block 6 are located on the left and right sides of the middle vertical rod 2, respectively. An adjusting bolt 7 is screwed into the threaded hole on the left and right sides of the limiting block 6. The adjusting bolt 7 is set along the vertical direction. The lower end of the adjusting bolt 7 is used to limit the left and right swing range of the lower horizontal rod 4.

[0021] The intermediate vertical rod 2 is fixed on the support frame or the bracket of the traveling trolley.

[0022] The middle vertical rod 2 has an outwardly extending upper cylindrical protrusion 202 on both the front and rear sides of its upper middle side. The right connecting rod of the right-side mechanism 5 has a right cylindrical protrusion on both its front and rear sides. A tension spring 8 connects the front upper cylindrical protrusion 202 to the front right cylindrical protrusion, and a tension spring 8 connects the rear upper cylindrical protrusion 202 to the rear right cylindrical protrusion. In other words, a tension spring 8 connects the upper cylindrical protrusion 202 and the right cylindrical protrusion on the same side. The middle vertical rod 2 has an outwardly extending lower cylindrical protrusion 201 on both the front and rear sides of its lower middle side. The left connecting rod 304 has an outwardly extending left cylindrical protrusion 302 on both the front and rear sides. A tension spring 8 is connected between the front lower cylindrical protrusion 201 and the front left cylindrical protrusion 302, and a tension spring 8 is connected between the rear lower cylindrical protrusion 201 and the rear left cylindrical protrusion. That is, a tension spring 8 is connected between the lower cylindrical protrusion 201 and the right cylindrical protrusion on the same side.

[0023] When a patient undergoes lower limb walking training, the patient is positioned between the left connecting arm 301 and the right connecting arm of the right mechanism 5. The pelvic strap is tightly secured to the patient's pelvis. During walking, the pelvic height changes from side to side. Since the middle vertical bar 2 is fixed to the support frame or the support of the walking trolley, when fixed to the stationary support frame, the patient performs stationary stepping rehabilitation training. When fixed to the support of the walking trolley, walking rehabilitation training is performed by the patient's forward force or with the assistance of medical staff. When the pelvic height changes on both sides, the upper horizontal bar 1, lower horizontal bar 4, left vertical axis 305, and right mechanism 5 form a parallel four-bar linkage, with the middle vertical bar 2 serving as a virtual constraint bar for this parallel four-bar linkage. For example, if the left pelvis rises, the left connecting bar 304 rises, and both the upper horizontal bar 1 and lower horizontal bar 4 rise to the left, while the right connecting bar of the right mechanism 5 lowers. Because the pelvic strap has a certain amount of deformation, it adapts to the change in the patient's pelvis, which is higher on the right and lower on the left. Alternatively, the left connecting plate 309 and the left side of the pelvic strap are connected by a spherical... The hinged connection, with the connecting plate and the right side of the pelvic strap hinged via a ball joint, improves comfort. At this time, the tension spring 8 connecting the lower cylindrical protrusion 201 and the right cylindrical protrusion on the same side, and the tension spring 8 connecting the upper cylindrical protrusion 202 and the right cylindrical protrusion on the same side, are both stretched, providing a restoring force and flexible damping for the patient to return to a standing position. When the patient takes a forward step, for example, when the left thigh moves forward, the left connecting arm 301 moves forward, and the left link 304... When the left end swings forward, the left pulley 2 307 forms a belt drive with the left pulley 1 306 through the left synchronous belt 303, while the left pulley 1 306 does not rotate. The left connecting arm 301 moves forward in the front-back direction without swinging. The tension spring 8 connected between the front lower cylindrical protrusion 201 and the front left cylindrical protrusion 302 is stretched, while the tension spring 8 connected between the rear lower cylindrical protrusion 201 and the rear left cylindrical protrusion 302 is relaxed, providing forward flexible damping and standing posture recovery force.

Claims

1. A lower limb walking training auxiliary support device, characterized in that: It includes an upper horizontal bar (1), a middle vertical bar (2), a left side mechanism (3), a lower horizontal bar (4), and a right side mechanism (5). The left side mechanism (3) and the right side mechanism (5) are arranged symmetrically. The left side mechanism (3) includes a left connecting arm (301), a left connecting rod (304), and a left vertical shaft (305). The upper and lower ends of the middle vertical bar (2) are respectively hinged to the middle of the upper horizontal bar (1) and the lower horizontal bar (4). The left end of the upper horizontal bar (1) is hinged to the upper end of the left vertical shaft (305), the left end of the lower horizontal bar (4) is hinged to the lower end of the left vertical shaft (305), the right end of the upper horizontal bar (1) is hinged to the upper end of the right vertical shaft of the right side mechanism (5), and the right end of the lower horizontal bar (4) is hinged to the lower end of the right vertical shaft of the right side mechanism (5). The left vertical shaft (305) is rotatably mounted on the right end of the left connecting rod (304). The left end of the left connecting rod (304) is rotatably connected to the left hinge shaft (308). The left hinge shaft (308) fixes the front end of the left connecting arm (301). The lower end of the left hinge shaft (308) is fixed to the second left pulley (307). The second left pulley (307) forms a belt drive with the first left pulley (306) through the left synchronous belt (303). The first left pulley (306) is fixed to the lower part of the left vertical shaft (305). The rear end of the left connecting arm (301) is fixed to the left connecting plate (309). The right connecting plate and the left connecting plate (309) of the right side mechanism (5) are respectively connected to the right side and the left side of the pelvic strap. The upper horizontal bar (1) and lower horizontal bar (4) are both horizontally arranged along the left and right directions. The left vertical axis (305), the middle vertical bar (2), and the right vertical axis of the right side mechanism (5) are all vertically arranged along the up and down directions. The upper horizontal bar (1), lower horizontal bar (4), left vertical axis (305), and right side mechanism (5) form a parallel four-bar linkage, and the middle vertical bar (2) is the virtual constraint bar of the parallel four-bar linkage.

2. The lower limb walking training auxiliary support device according to claim 1, characterized in that: The middle vertical rod (2) has an outwardly extending upper cylindrical protrusion (202) on both the front and rear sides of the upper middle side, and the right connecting rod of the right side mechanism (5) has a right cylindrical protrusion on both the front and rear sides. A tension spring (8) connects the upper cylindrical protrusion (202) and the right cylindrical protrusion on the same side. The middle vertical rod (2) has an outwardly extending lower cylindrical protrusion (201) on both the front and rear sides of the lower middle side, and the left connecting rod (304) has an outwardly extending left cylindrical protrusion (302) on both the front and rear sides. A tension spring (8) connects the lower cylindrical protrusion (201) and the right cylindrical protrusion on the same side.

3. The lower limb walking training auxiliary support device according to claim 1, characterized in that: The lower part of the middle vertical rod (2) is fixed with a limiting block (6). The left and right sides of the limiting block (6) are located on the left and right sides of the middle vertical rod (2), respectively. The threaded holes on the left and right sides of the limiting block (6) are screwed with an adjusting bolt (7). The adjusting bolt (7) is set along the vertical direction. The lower end of the adjusting bolt (7) is used to limit the left and right swing range of the lower horizontal rod (4).

4. The lower limb walking training auxiliary support device according to any one of claims 1-3, characterized in that: The intermediate vertical rod (2) is fixed on the support frame or the bracket of the traveling trolley.

5. The lower limb walking training auxiliary support device according to any one of claims 1-3, characterized in that: The number of teeth on the left pulley one (306) and the left pulley two (307) is the same.

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