A crank mechanism, gait rehabilitation training equipment and limb training machine

Abstract

The present application relates to the technical field of sports rehabilitation, in particular to a crank mechanism, a gait rehabilitation training device and a limb training machine, the crank mechanism comprising a driving shaft, a crank member connected with the driving shaft, a sliding member slidingly arranged on the crank member and having an adjustable distance from the driving shaft, a first connecting rod having one end hingedly connected with the sliding member, and a first driving assembly, the first driving assembly comprising a linkage mechanism coaxially arranged with the crank member, the linkage mechanism being configured to convert its rotation into movement of the sliding member in the radial direction of the driving shaft, and the present application has the technical effect of automatically adjusting the working length of the crank while the device is not stopped.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation fitness, in particular to a crank mechanism, a gait rehabilitation training device and a limb training machine. BACKGROUND

[0002] The crank mechanism is widely used in the technical field of rehabilitation fitness; different people need different personalized training requirements, such as changeable motion trajectory and amplitude, etc., and there is currently a lack of adjustable crank mechanisms.

[0003] The conventional crank mechanism has poor adjustability or cannot be adjusted, and even if it can be adjusted, it can only be adjusted manually and cannot automatically adjust the crank working length of the crank mechanism. On the one hand, manual adjustment is troublesome, and on the other hand, especially when the device with the crank mechanism is in use, the working length of the crank must be adjusted due to changes in the use requirements, but the automatic adjustment of the crank working length cannot be performed, which will interrupt the normal use rhythm of the device.

[0004] Therefore, how to provide a crank mechanism with automatically adjustable crank working length is a technical problem to be solved in the prior art. SUMMARY

[0005] In view of the above shortcomings of the prior art, the purpose of the present application is to provide a crank mechanism, a gait rehabilitation training device and a limb training machine to solve the technical problem that the crank working length of the conventional crank mechanism cannot be automatically adjusted.

[0006] To achieve the above and other related purposes, the present application provides a crank mechanism, comprising: a drive shaft;

[0007] a crank member connected with the drive shaft;

[0008] a sliding member slidingly arranged on the crank member and having an adjustable distance from the drive shaft;

[0009] a first connecting rod having one end hingedly connected with the sliding member;

[0010] a first drive assembly, the first drive assembly comprising:

[0011] a linkage mechanism coaxially arranged with the crank member, the linkage mechanism being configured to convert its rotation into movement of the sliding member in the radial direction of the drive shaft.

[0012] As one of the embodiments of the present application, the first drive assembly further comprises a limiting assembly arranged between the linkage mechanism and the crank member, the limiting assembly being configured to enable the linkage mechanism and the crank member to switch between the following two working positions:

[0013] The linkage mechanism and the curved member are kept in a synchronous rotating state in the first station.

[0014] The linkage mechanism and the curved member are kept in a relative rotating state in the second station.

[0015] As one of the embodiments of the present application, the limiting assembly comprises:

[0016] A first clamping part;

[0017] A second clamping part, one of the first clamping part and the second clamping part is arranged on the curved member, and the other is arranged on the linkage mechanism;

[0018] A second driving assembly arranged on the linkage mechanism, the second driving assembly is configured to drive the first clamping part and the second clamping part to be close to each other to be clamped or to be away from each other to be unclamped.

[0019] As one of the embodiments of the present application, the curved member is provided with a first limiting groove, and the linkage mechanism is provided with a second limiting groove.

[0020] One of the first limiting groove and the second limiting groove is an arc-shaped groove, and the other is a straight groove, and

[0021] The distance between one end of the two grooves to the other end of the two grooves gradually increases from the driving shaft;

[0022] The first limiting groove and the second limiting groove always have an intersection point, and the sliding member is located at the intersection point.

[0023] As one of the embodiments of the present application, the linkage mechanism comprises:

[0024] A first gear or worm gear connected with the driving shaft, and the first limiting groove is arranged on the first gear or worm gear;

[0025] A first driving member in transmission connection with the first gear or worm gear.

[0026] As one of the embodiments of the present application, the curved member, the sliding member, the first connecting rod and the first driving assembly are provided with two groups, and the two groups of curved members are in transmission connection with the same driving shaft.

[0027] As one of the embodiments of the present application, the first clamping part comprises a rack arranged on the curved member.

[0028] The second engaging part comprises a clamping piece movably arranged on the linkage mechanism and connected with the second driving assembly; the clamping piece is configured to be engaged with the teeth on the rack by approaching the rack or disengaged from the rack by moving away from the rack under the driving of the second driving assembly.

[0029] As one of the embodiments of the present application, the second driving assembly comprises:

[0030] Arc-shaped limiting blocks are radially slidably arranged on the first gear or worm wheel and are provided with a plurality of arc-shaped limiting blocks to form a circular ring, and gaps are provided between adjacent arc-shaped limiting blocks.

[0031] A first reset piece is arranged on the circular ring, and the first reset piece is configured to reset the circular ring with a reduced diameter when the force is less than a set force value.

[0032] A rope is wound around the circular ring, and the rope is configured to tighten or loosen to adjust the diameter of the circular ring surrounded by the arc-shaped limiting blocks.

[0033] The inner diameter of the circular ring is reduced to press the clamping piece to disengage the clamping piece from the rack, and the diameter of the circular ring is reset to engage the clamping piece with the rack.

[0034] As one of the embodiments of the present application, the second engaging part comprises:

[0035] A second reset piece is arranged at the clamping piece, and the second reset piece is configured to engage the clamping piece with the rack when the circular ring is reset.

[0036] One end of the clamping piece is provided with a roller, and the other end is provided with a clamping tooth matched with the teeth on the rack, and the middle part of the clamping piece is rotatably arranged on the crank mechanism.

[0037] To achieve the above-mentioned and other related purposes, the present application provides a gait rehabilitation training device comprising the crank mechanism, further comprising:

[0038] A training part is arranged on the first connecting rod.

[0039] A moving piece is arranged at the other end of the first connecting rod.

[0040] A guide piece is arranged below the moving piece and is used to guide the movement of the moving piece.

[0041] To achieve the above-mentioned and other related purposes, the present application provides a limb training machine comprising the crank mechanism; further comprising:

[0042] A second connecting rod is hingedly connected to the other end of the first connecting rod.

[0043] limb fixing mechanism, arranged on the second connecting rod or the first connecting rod;

[0044] slide rail, the other end of the second connecting rod is movably arranged on the slide rail.

[0045] To achieve the above object and other related objects, the present application further provides another limb training machine, comprising the crank mechanism; further comprising:

[0046] third connecting rod, one end of which is hingedly connected with the other end of the first connecting rod;

[0047] driving component;

[0048] fourth connecting rod, one end of which is connected with the output end of the driving component, and the other end of which is hingedly connected with the third connecting rod;

[0049] training mechanism, arranged on the third connecting rod or the first connecting rod.

[0050] In summary, the present application can realize the crank connecting rod movement of the first connecting rod by driving the crank member to rotate through the driving shaft, and can realize the adjustable sliding of the sliding member on the crank member by controlling the rotating speed relationship of the linkage mechanism and the crank member, so as to realize the distance adjustment between the sliding member and the driving shaft, and further realize the adjustment of the movement track of the first connecting rod of the crank mechanism; the first driving assembly can realize the automatic adjustment of the position of the sliding member on the crank member, without the need of manually adjusting the position of the sliding member, thereby improving the convenience of the adjustment of the crank mechanism; meanwhile, the first driving assembly can realize the accurate adjustment of the position of the sliding member, so that the crank mechanism can be applied to precision equipment, which is conducive to improving the use performance of the corresponding equipment. BRIEF DESCRIPTION OF DRAWINGS

[0051] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor based on these drawings.

[0052] Figure 1 It is a main structure schematic diagram of the crank mechanism of the present application;

[0053] Figure 2 It is an internal structure schematic diagram of the crank mechanism of the present application;

[0054] Figure 3 It is Figure 2 the enlarged view of structure A;

[0055] Figure 4 It is related toFigure 2 Another embodiment;

[0056] Figure 5 This is a schematic diagram of the overall structure of the present invention;

[0057] Figure 6 This is a schematic diagram showing the connection between the linkage mechanism and the sliding component of the present invention;

[0058] Figure 7 This is a schematic diagram of the sliding component structure of the present invention;

[0059] Figure 8 This is a schematic diagram of the crank structure of the present invention;

[0060] Figure 9 This is a schematic diagram of the overall structure of the double crank structure of the present invention;

[0061] Figure 10 This is a schematic diagram of the internal structure of the double crank structure of the present invention;

[0062] Figure 11 This is a schematic diagram showing the connection between the double crank structure and the dual output shaft drive motor of the present invention;

[0063] Figure 12 This is a schematic diagram of the gait rehabilitation training device of the present invention;

[0064] Figure 13 This is a schematic diagram of the limb training machine of the present invention;

[0065] Figure 14 This is a schematic diagram of another limb training machine according to the present invention;

[0066] Component labeling: Drive shaft 1, Dual output shaft drive motor 11, Housing 12, Crank assembly 2,

[0067] First limiting groove 201

[0068] Sliding component 21, first link 22, training section 23, moving component 231, guide component 24, second link 25, slide rail 26, third link 27, training mechanism 271, driving component 28, fourth link 29, first driving assembly 3, linkage mechanism 31, first gear 311, second limiting groove 3111, circular groove 3112, rope hole 3113, first driving component 312, driving motor 3121, second gear 3122, limiting assembly 32, first engaging part 321, rack 3211, second engaging part 322, second driving assembly 323, engaging component 3221, second resetting component 3222, roller 3223, ring 3231, arc-shaped limiting block 32311, first resetting component 3232, rope body 3233. Detailed Implementation

[0069] Following, the embodiments of the present application are illustrated by specific examples, and other advantages and effects of the present application can be easily understood by those skilled in the art from the disclosure of the present specification. The present application can also be implemented or applied by other different specific embodiments, and various modifications or changes can be made to the details in the present specification based on different views and applications without departing from the spirit of the present application. It should be noted that the following examples and features in the examples can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present application are for describing specific specific embodiments, not for limiting the protection scope of the present application. The test methods in the following examples are not specified, and are generally carried out under conventional conditions or under the conditions recommended by the manufacturers.

[0070] Please refer to Figures 1 to 14 It should be noted that the structures, proportions, sizes, etc. shown in the drawings of the present specification are only used to illustrate the content disclosed in the present specification, to enable those skilled in the art to understand and read, and are not used to limit the conditions under which the present application can be implemented, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size, without affecting the effects and purposes that can be achieved by the present application, should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" used in the present specification are only for the convenience of clear description, not for limiting the scope of the present application, and the change or adjustment of the relative relationship, without substantially changing the technical content, is also considered as the scope of the present application.

[0071] When the embodiments give numerical ranges, it should be understood that, unless otherwise stated by the present application, each numerical range and any number between the two endpoints can be selected. Unless otherwise defined, all technical and scientific terms used in the present application and the mastery of the prior art by those skilled in the art and the description of the present application can also use any method, equipment and material of the prior art similar or equivalent to the method, equipment, material described in the embodiments of the present application to realize the present application.

[0072] Please refer to Figures 1-4 The present application provides a crank mechanism, comprising: a drive shaft 1; a crank member 2, fixedly connected with the drive shaft 1;

[0073] A sliding member 21 is slidably arranged on the crank member 2, and the distance between the drive shaft 1 is adjustable;

[0074] A first connecting rod 22 is hingedly connected to one end of the sliding member 21;

[0075] A first drive assembly 3, the first drive assembly 3 comprises:

[0076] Linkage mechanism 31, with the crank member 2 coaxial rotation set, the linkage mechanism 31 is configured to be able to rotate itself into the slider 21 along the drive shaft 1 in the radial direction of movement.

[0077] Need to explain, the drive shaft 1 is driven by motor rotation, drive shaft 1 rotation drive crank member 2 rotation, crank member 2 for rod or circular, rotating crank member 2 through the slider 21 drive the first connecting rod 22 crank linkage motion; Because the slider 21 and crank member 2 center of rotation spacing adjustable, so as to change the first connecting rod 22 motion trajectory, in many application crank mechanism equipment, because the motion trajectory of crank mechanism adjustable, so as to make the device using range, function application will be more widely; And the slider 21 on the position of crank member 2 adjustable, is through the first drive assembly 3 drive adjustment;

[0078] When the first drive assembly 3 does not contain the limiting component 32, the crank mechanism can also complete the crank linkage motion, by controlling the relationship between the linkage mechanism 31 and the rotational speed of the drive shaft 1, can make the radial distance of the slider 21 to the drive shaft 1 change, if the rotational speed of the crank member 2 and the linkage mechanism 31 is the same, then can make the linkage mechanism 31 and the crank member 2 keep synchronous rotation state, can keep the effective rotation radius of the crank member 2 unchanged, if the rotational speed of the crank member 2 and the linkage mechanism 31 is different, then can continuously or intermittently change the effective rotation radius of the crank member 1.

[0079] As one of the embodiments of the application, the first drive assembly 3 further comprises a limiting component 32, the limiting component 32 is arranged between the linkage mechanism 31 and the crank member 2, the limiting component 32 is configured to enable the linkage mechanism 31 and the crank member 2 to switch between the following two stations:

[0080] Station one, the linkage mechanism 31 and the crank member 2 keep synchronous rotation state;

[0081] Station two, the linkage mechanism 31 and the crank member 2 keep relative rotation state.

[0082] It needs to be further explained that the first driving assembly 3 further comprises the limiting assembly 32. When the limiting assembly 32 switches the linkage mechanism 31 and the crank assembly 2 to the second working position, that is, the linkage mechanism 31 and the crank assembly 2 keep the relative rotation state, at this time, the linkage mechanism 31 is driven to rotate by itself, when the linkage mechanism 31 rotates with the same rotation center as the driving shaft 1, the linkage mechanism 31 can convert the rotation of itself into the movement of the sliding piece 21 along the radial direction of the driving shaft 1, so as to realize the adjustment of the distance between the sliding piece 21 and the rotation center of the crank assembly 2. When the distance between the sliding piece 21 and the rotation center of the crank assembly 2 is adjusted, the limiting assembly 32 adjusts the linkage mechanism 31 and the crank assembly 2 to the first working position, so as to avoid the change of the position of the sliding piece 21 on the crank assembly 2 caused by the relative rotation state of the linkage mechanism 31 and the crank assembly 2. When it is needed to continuously adjust the position of the sliding piece 21 on the crank assembly 2, the limiting assembly 32 is not needed to adjust the linkage mechanism 31 and the crank assembly 2 to the first working position.

[0083] The limiting assembly 32 switches the linkage mechanism 31 and the crank assembly 2 between the first working position and the second working position, that is, in the first working position, the limiting assembly 32 controls the linkage mechanism 31 and the crank assembly 2 to be in the connected state, so as to keep the synchronous rotation, in the second working position, the limiting assembly 32 controls the linkage mechanism 31 and the crank assembly 2 to be in the disconnected state, so as to make the linkage mechanism 31 and the limiting assembly 32 keep the relative rotation state. Therefore, the limiting assembly 32 is arranged between the linkage mechanism 31 and the crank assembly 2, so as to realize the limiting or disconnection between the linkage mechanism 31 and the crank assembly 2. There are many ways to realize the limiting or disconnection between the linkage mechanism 31 and the crank assembly 2, for example, an electric telescopic rod is arranged on the linkage mechanism 31, a plurality of grooves are arranged on the crank assembly 2, the electric telescopic rod is extended and inserted into the grooves on the crank assembly 2, so as to realize the relative limiting between the linkage mechanism 31 and the crank assembly 2. For example, an electromagnet is arranged on the linkage mechanism 31 or the crank assembly 2, the mutual attraction between the linkage mechanism 31 and the crank assembly 2 on the side surface can also realize the switching between the synchronous rotation state and the relative rotation state of the linkage mechanism 31 and the crank assembly 2.

[0084] Please refer to Figure 5 , the crank mechanism further comprises a rack, the driving shaft 1 is rotationally arranged on the rack, and the first driving assembly 3 is connected with the rack.

[0085] Please refer to Figures 2-4 , as one of the embodiments of the present application, the limiting assembly 32 comprises a first clamping part 321.

[0086] The second engaging portion 322, one of the first engaging portion 321 and the second engaging portion 322 is arranged on the curved member 2, and the other is arranged on the linkage mechanism 31;

[0087] The second driving assembly 323 is arranged on the linkage mechanism 31, and the second driving assembly 323 is configured to drive the first engaging portion 321 and the second engaging portion 322 to engage or disengage.

[0088] It should be noted that one of the first engaging portion 321 and the second engaging portion 322 is arranged on the curved member 2, and the other is arranged on the linkage mechanism 31. By driving the first engaging portion 321 to approach or move away from the second engaging portion 322 through the second driving assembly 323, the connection limiting or disconnection limiting between the linkage mechanism 31 and the curved member 2 can be achieved. When the linkage mechanism 31 and the curved member 2 are in the connection limiting state, the linkage mechanism 31 and the curved member 2 can be kept synchronous rotation. When the linkage mechanism 31 and the curved member 2 are in the disconnection limiting state, the linkage mechanism 31 and the curved member 2 can be kept relative rotation, so as to realize the switching of the linkage mechanism 31 and the curved member 2 between the first station and the second station.

[0089] Please refer to Figures 2-6 , as one of the embodiments of the present application, the curved member 2 is provided with a first limiting groove 201; the linkage mechanism 31 is provided with a second limiting groove 3111;

[0090] One of the first limiting groove 201 and the second limiting groove 3111 is an arc-shaped groove, and the other is a straight groove, and the distance between one end of the two grooves to the other end of the driving shaft 1 gradually increases;

[0091] The first limiting groove 201 and the second limiting groove 3111 always have an intersection, and the sliding member 21 is located at the intersection.

[0092] It should be noted that the curved member 2 is disc-shaped, the linkage mechanism 31 also includes a disc-shaped structure, and the arc-shaped groove and the straight groove are arranged on the disc-shaped curved member 2 and the disc-shaped structure of the linkage mechanism 31 respectively. One end of the arc-shaped groove and the straight groove is close to the driving shaft 1, and the other end of the arc-shaped groove and the straight groove is away from the driving shaft 1. The arc-shaped groove and the straight groove always have an intersection, so as to facilitate the installation of the sliding member 21. When the linkage mechanism 31 rotates relative to the curved member 2, the linkage mechanism 31 can drive the sliding member 21 to slide on the curved member 2, so as to realize the adjustment of the distance between the sliding member 21 on the curved member 2 and the driving shaft 1, and further realize the adjustment of the movement track of the first connecting rod 22 of the crank rocker mechanism.

[0093] Please refer to Figures 5-8As one of the embodiments of the present application, the first limiting groove 201 is an arc-shaped groove, and the second limiting groove 3111 is a straight-shaped groove.

[0094] Please refer to Figure 4 As one of the embodiments of the present application, the linkage mechanism 31 comprises:

[0095] The first gear 311 is connected with the driving shaft 1, and the first limiting groove 201 is arranged on the first gear 311.

[0096] The first driving member 312 is in driving connection with the first gear 311.

[0097] It should be noted that the first driving member 312 comprises a driving motor 3121 and a second gear 3122, the driving motor 3121 is arranged on the rack, the second gear 3122 is connected with the output shaft of the driving motor 3121, the driving motor 3121 drives the first gear 311 to rotate through the second gear 3122, thereby realizing the driving rotation of the linkage mechanism 31 itself, when the linkage mechanism 31 and the curved member 2 are in relative rotation, the first limiting groove 201 on the first gear 311 will cooperate with the second limiting groove 3111 on the curved member 2 to realize the position adjustment of the sliding member 21.

[0098] Please refer to Figure 2 As one of the embodiments of the present application, the linkage mechanism 31 comprises:

[0099] The worm is connected with the driving shaft 1, and the first limiting groove 201 is arranged on the worm.

[0100] The first driving member 312 is in driving connection with the first gear 311.

[0101] The first driving member 312 comprises a driving motor 3121 and a worm, the worm is connected with the output shaft of the driving motor 3121, the driving motor 3121 drives the worm to rotate through the worm, thereby realizing the driving rotation of the linkage mechanism 31 itself, when the linkage mechanism 31 and the curved member 2 are in relative rotation, the first limiting groove 201 on the worm will cooperate with the second limiting groove 3111 on the curved member 2 to realize the position adjustment of the sliding member 21; the worm and the worm gear involved in the present application are non-self-locking worm and worm gears.

[0102] Please refer to Figures 9-11 As one of the embodiments of the present application, the curved member 2, the sliding member 21, the first connecting rod 22 and the first driving assembly 3 are all provided with two groups, and two groups of the curved member 2 are in driving connection with the same driving shaft 1.

[0103] It should be noted that, since the crank mechanism can need to drive two first connecting rods 22 to perform crank connecting rod movement, two sets of the crank mechanism 2, the sliding piece 21, the first connecting rod 22 and the first driving assembly 3 are arranged, and the two sets of the crank mechanism are arranged on one side close to each other; and the two sets of the crank mechanism 2 are driven by one driving shaft 1, so that the setting of the driving shaft 1 can be reduced to realize the supply and use of the two sets of the crank mechanism; when the crank mechanism is used on the gait rehabilitation training equipment, and the user uses two feet to perform rehabilitation training, the first connecting rod 22 of the power output of the crank mechanism is arranged as two, so as to facilitate the user to perform gait rehabilitation training.

[0104] Please refer to Figures 9-11 , as one of the embodiments of the present application, the driving shaft 1 is driven by the double-output shaft driving motor 11.

[0105] It should be noted that the driving shaft 1 is driven to rotate by the double-output shaft driving motor 11, which can realize the driving of the two sets of the crank mechanism, thereby reducing the setting of the power source and reducing the manufacturing cost.

[0106] Please refer to Figures 1-4 , as one of the embodiments of the present application, the first clamping part 321 comprises a rack 3211 arranged on the crank mechanism 2.

[0107] The second clamping part 322 comprises a clamping piece 3221 movably arranged on the linkage mechanism 31, and the clamping piece 3221 is connected with the second driving assembly 323; the clamping piece 3221 is configured to be capable of being clamped with the teeth on the rack 3211 by approaching the rack 3211 or being disengaged from the clamping by moving away from the rack 3211 under the driving of the second driving assembly 323.

[0108] It should be noted that the rack 3211 is in the shape of a circular arc; the second driving assembly 323 is a micro electric telescopic rod, which is arranged on the linkage mechanism 31, and a guide sleeve is further arranged on the linkage mechanism 31, which is used for guiding the elongated electric telescopic rod to reduce the deformation of the rod of the electric telescopic rod; the micro electric telescopic rod is connected with the clamping piece 3221, and the elongation of the micro electric telescopic rod can make the clamping piece 3221 clamped with the teeth on the rack 3211, and the shortening of the micro electric telescopic rod can make the clamping piece 3221 disengaged from the clamping with the rack 3211, thereby realizing the clamping or disengaging of the crank mechanism 2 and the linkage mechanism 31.

[0109] Please refer to Figures 1-4 , as one of the embodiments of the present application, the second driving assembly 323 comprises:

[0110] Arc-shaped limiting blocks 32311 are radially slidably arranged on the first gear 311 or worm gear, and are provided with a plurality of arc-shaped limiting blocks 32311 and a circular ring 3231 is formed by surrounding, and gaps are formed between adjacent arc-shaped limiting blocks 32311;

[0111] A first reset member 3232 is arranged on the circular ring 3231, and the first reset member 3232 is configured to reset the circular ring 3231 with a reduced diameter when the force is less than a set force value;

[0112] A rope body 3233 is wound on the circular ring 3231, and the rope body 3233 is configured to be tightened or loosened to adjust the diameter of the circular ring 3231 surrounded by the arc-shaped limiting blocks 32311;

[0113] When the inner diameter of the circular ring 3231 is reduced, the clamping member 3221 is extruded to realize disengagement of the clamping member 3221 and the rack 3211, and the diameter of the circular ring 3231 is reset to realize engagement of the clamping member 3221 and the rack 3211, wherein the circular ring 3231 and the clamping member 3221 are always in contact to ensure simultaneous movement;

[0114] It should be noted that the first reset member 3232 is a spring or elastic rubber arranged between adjacent arc-shaped limiting blocks 32311; the first gear 311 or worm gear is provided with a circular groove 3112, the arc-shaped limiting blocks 32311 are arranged in the circular groove 3112, one side of the circular groove 3112 is provided with a rope hole 3113, and the rope hole 3113 is used for the rope body 3233 to pass through; the arc-shaped limiting blocks 32311 are provided with rope grooves for sleeving the rope body 3233 on the circular ring 3231.

[0115] A motor is arranged beside the rope hole 3113, an output end of the motor is connected with an end of the rope body 3233, the rope body 3233 is wound or loosened through rotation of the output end of the motor, and the rope body 3233 can be controlled.

[0116] Please refer to Figures 1-4 , as one of the embodiments of the present application, the second clamping part 322 further comprises:

[0117] A second reset member 3222 is arranged at the clamping member 3221, and the second reset member 3222 is configured to clamp the clamping member 3221 with the rack 3211 when the circular ring 3231 is reset;

[0118] One end of the clamping member 3221 is provided with a roller 3223, the other end is provided with a clamping tooth matched with the tooth on the rack 3211, and the middle part of the clamping member 3221 is rotatably arranged on the curved member 2.

[0119] It needs to be explained that the roller 3223 is arranged on the inner wall of the ring 3231; the second reset member 3222 is a coil spring, and the clamping member 3221 is rotatably arranged on the curved member 2 through a pin shaft;

[0120] When the state of the linkage mechanism 31 and the limiting assembly 32 is switched from the second working position to the first working position, the rope 3233 is loosened, the ring 3231 is reset under the action of the first reset member 3232, the inner diameter of the ring 3231 is increased, the ring 3231 no longer presses one end of the clamping member 3221 through the roller 3223, the clamping member 3221 is reset under the action of the second reset member 3222, and then the clamping teeth on the clamping member 3221 are engaged with the rack 3211, so that the state of the linkage mechanism 31 and the limiting assembly 32 is switched from the second working position to the first working position, that is, the linkage mechanism 31 and the curved member 2 are in a synchronous rotation state.

[0121] When the state of the linkage mechanism 31 and the limiting assembly 32 is switched from the first working position to the second working position, the rope 3233 is tightened, so that the inner diameter of the ring 3231 is reduced, the inner wall of the ring 3231 abuts against the roller 3223 at one end of the clamping member 3221, so that the other end of the clamping member 3221 is lifted, and then the clamping member 3221 is disengaged from the rack 3211, so that the state of the linkage mechanism 31 and the limiting assembly 32 is switched from the first working position to the second working position, that is, the linkage mechanism 31 and the curved member 2 are in a disengaged or engaged state, and then the linkage mechanism 31 and the curved member 2 are kept in a relative rotation state.

[0122] When the linkage mechanism 31 and the curved member 2 are kept in a relative rotation state, the first gear 311 is driven to rotate by the first driving member 312, the sliding member 21 on the curved member 2 can be moved, the distance between the sliding member 21 and the driving shaft 1 is adjusted, and after the position of the sliding member 21 is adjusted, the state of the linkage mechanism 31 and the limiting assembly 32 is switched from the second working position to the first working position, so that the position of the sliding member 21 is not changed, and the purpose of adjusting the connecting rod motion track of the crank rocker mechanism is achieved.

[0123] Further, in the present application, the crank mechanism can be applied to two working modes, the first working mode is that the actual working length of the curved member 2 needs to be frequently changed, when the device using the crank mechanism is used, the rope 3233 is tightened first, at this time, the clamping member 3221 is disengaged from the rack 3211, so that the first gear 311 is disengaged from the curved member 2, and then the linkage mechanism 31 can adjust the position of the sliding member 21 on the curved member 2 in real time.

[0124] The second working mode is that the actual working length of the crank member 2 does not need to be frequently changed, and the device using the crank mechanism is adjusted to the appropriate position of the sliding member 21 on the crank member 2 before working, and then the rope body 3233 is released. At this time, the clamping member 3221 is clamped with the rack 3211, so that the first gear 311 and the crank member 2 keep synchronous movement, so that the actual working length of the crank member 2 can be kept for a long time.

[0125] Please refer to Figure 5 Further, the crank mechanism further comprises a shell 12, and the shell 12 covers the first driving assembly 3.

[0126] Please refer to Figures 12-13 The application also provides a gait rehabilitation training device comprising the crank mechanism.

[0127] As one of the embodiments of the application, the gait rehabilitation training device comprises a crank mechanism.

[0128] A training part 23 is arranged on the first connecting rod 22.

[0129] A moving part 231 is arranged at the other end of the first connecting rod 22.

[0130] A guide part 24 is arranged below the moving part 231 and is used for guiding the movement of the moving part 231.

[0131] It should be noted that the training part 23 is a handle or a foot pedal, which is used for the rehabilitation training of the upper arm or the lower arm; the moving part 231 is hinged to the end of the first connecting rod 22, the moving part 231 is a sliding block or a roller, or the moving part 231 is integrally arranged with the first connecting rod 22; the guide part 24 is fixed on the rack or the ground, and the guide part 24 is a guide rod or a track or a sliding groove; when the linkage mechanism 31 and the crank member 2 are in the state of the working position one, the driving shaft 1 rotates, the driving shaft 1 drives the crank member 2 to rotate, the crank member 2 drives the first connecting rod 22 to move through the sliding member 21, the first connecting rod 22 moves and drives the moving part 231 to reciprocate on the guide part 24, so that the training part 23 performs the lifting movement of the elliptical track, and the user's legs and feet are in the state of walking, thereby achieving the gait rehabilitation training of the user.

[0132] When there are two foot pedals, the relative positions between the two crank members 2 are adjusted, so that one of the foot pedals is in a relatively high position, and the other foot pedal is in a relatively low position, so that the user's feet are alternately lifted, thereby achieving the purpose of gait rehabilitation training.

[0133] Please refer to Figure 13The application further provides a limb training machine comprising the crank mechanism; and further comprising:

[0134] A second connecting rod 25 is hingedly connected to the other end of the first connecting rod 22;

[0135] A limb fixing mechanism is arranged on the second connecting rod 25 or the first connecting rod 22;

[0136] A slide rail 26 is arranged on the other end of the second connecting rod 25.

[0137] It should be noted that a sliding block is arranged on the second connecting rod 25, the sliding block is hingedly connected to the second connecting rod 25, and the sliding block is slidably connected to the slide rail 26; when the linkage mechanism 31 and the crank mechanism 2 are in the state of the first station, the driving shaft 1 rotates to drive the first connecting rod 22, the first connecting rod 22 drives the end of the second connecting rod 25 to slide on the slide rail 26, thereby realizing the movement of the limb fixing mechanism, and further realizing the movement training of the limb on the limb fixing mechanism, so as to achieve the purpose of limb training.

[0138] Please refer to Figure 14 The application further provides another limb training machine comprising the crank mechanism;

[0139] Further comprising:

[0140] A third connecting rod 27 is hingedly connected to the other end of the first connecting rod 22;

[0141] A driving component 28;

[0142] A fourth connecting rod 29 is connected to the output end of the driving component 28 at one end and is hingedly connected to the third connecting rod 27 at the other end;

[0143] A training mechanism 271 is arranged on the third connecting rod 27 or the first connecting rod 22.

[0144] It should be noted that the driving component 28 is a driving motor assembly or other device capable of driving the fourth connecting rod 29 to rotate, the driving component 28 is directly or indirectly connected to the rack or the ground, and the driving component 28 is used to drive the fourth connecting rod 29 to rotate; the fourth connecting rod 29 is hingedly connected to the middle part of the third connecting rod 27; when the driving component 28 is a driving motor, the driving component 28 is fixed to the rack or the ground through a hinge seat; due to the different heights or limb lengths of each trainer, the driving component 28 drives the fourth connecting rod 29 to rotate, so that the movement trajectory of the training mechanism 271 can make the trainer more comfortable during training, of course, the embodiment does not exclude that the driving component 28 can always drive the fourth connecting rod 29 to swing to improve the movement trajectory range of the limb training during the training of the trainer.

[0145] In summary, the present application effectively overcomes some practical problems in the prior art, thus having high utilization value and use significance.

[0146] The above embodiments only illustrate the principles and effects of the present application, but are not used to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical thought disclosed by the present application should be covered by the claims of the present application.

Claims

1. A crank mechanism, characterized in that, include: Drive shaft; The crank assembly is fixedly connected to the drive shaft; A sliding member is slidably disposed on the crank member, and the distance between it and the drive shaft is adjustable; The first link is hinged at one end to the sliding member; A first driving component, the first driving component comprising: A linkage mechanism is coaxially rotatable with the crank component, and the linkage mechanism is configured to convert its own rotation into movement of the sliding component along the radial direction of the drive shaft; The first drive assembly further includes a limiting assembly disposed between the linkage mechanism and the crank component. The limiting assembly is configured to allow the linkage mechanism and the crank component to switch between two operating positions: At station one, the linkage mechanism and the crank component rotate synchronously. At station two, the linkage mechanism and the crank component maintain a relative rotational state; The limiting component includes: First card assembly section; The second engaging part, of which the first engaging part and the second engaging part are disposed on the crank component and the other part is disposed on the linkage mechanism; A second driving component is disposed on the linkage mechanism. The second driving component is configured to drive the first engaging part and the second engaging part to move closer to engage or move further away from each other to disengage. Alternatively, the limiting component is an electromagnet, which controls the position of the linkage mechanism and the crank component by switching the power on and off; The crank component is provided with a first limiting groove; the linkage mechanism is provided with a second limiting groove; The distance between one end of the first limiting groove and the second limiting groove and the drive shaft gradually increases; The first limiting groove and the second limiting groove always have an intersection point, and the sliding member is located at the intersection point.

2. The crank mechanism according to claim 1, characterized in that, The linkage mechanism includes: A first gear or worm gear is connected to the drive shaft, and a first limiting groove is provided on the first gear or worm gear; The first driving component is connected to the first gear or worm gear transmission.

3. The crank mechanism according to claim 2, characterized in that, The first engaging portion includes a rack, which is disposed on the crank component; The second engaging part includes a latching member, which is movably disposed on the linkage mechanism, and the latching member is connected to the second driving component; The engaging member is configured to engage with the teeth on the rack or disengage from the rack when driven by the second drive assembly.

4. The crank mechanism according to claim 3, characterized in that, The second driving component includes: An arc-shaped limiting block is radially slidably disposed on the first gear or worm gear, and multiple such blocks are disposed and enclosed to form a ring, with a gap between adjacent arc-shaped limiting blocks; A first reset element is disposed on the ring, and the first reset element is configured to reset the ring with a reduced diameter when subjected to a force less than a set force value. A rope is wound around the ring, and the rope is configured to tighten or loosen to adjust the diameter of the ring enclosed by the arcuate limiting blocks; When the inner diameter of the ring decreases, it squeezes the snap-fit ​​member to disengage the snap-fit ​​member from the rack, and when the ring diameter is restored, the snap-fit ​​member engages with the rack.

5. A gait rehabilitation training device, characterized in that, Including the crank mechanism according to any one of claims 1-4, further comprising: The training section is located on the first link; A movable component is located at the other end of the first connecting rod; A guide member is disposed below the movable member and is used to guide the movement of the movable member.

6. A limb training machine, characterized in that, Includes the crank mechanism as described in any one of claims 1-4; further includes: The second link is hinged at one end to the other end of the first link; A limb fixation mechanism is provided on the second link or the first link; The slide rail, and the other end of the second link is movably mounted on the slide rail.

7. A limb training machine, characterized in that, Includes the crank mechanism as described in any one of claims 1-4; further includes: The third link is hinged at one end to the other end of the first link; Drive components; The fourth link has one end connected to the output end of the drive component and the other end hinged to the third link; The training mechanism is mounted on the third link or the first link.

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