A four-limb linkage rehabilitation training system

Abstract

The application discloses a kind of limbs linkage rehabilitation training system, it is related to the technical field of rehabilitation treatment, including linkage mechanism, left lower limb pivot is connected with left foot connecting rod, and is rotatably connected with second transmission shaft by first driving arm assembly, left upper limb pivot is rotatably connected with left arm connecting rod, and is rotatably connected with first transmission shaft by second transmission shaft connection;Right lower limb pivot is connected with right foot connecting rod, and is rotatably connected with first transmission shaft by second driving arm assembly, right upper limb pivot is rotatably connected with right arm connecting rod, and is rotatably connected with first transmission shaft by first transmission shaft connection;First adjusting part is arranged on left lower limb pivot, to realize the connection of first driving arm assembly with any position on left lower limb pivot left lower limb swing rod;Second adjusting part is arranged on right lower limb pivot, to realize the connection of second driving arm assembly with any position on right lower limb pivot right lower limb swing rod;The flexible adjustment of upper and lower limb rotation angle proportion can be realized, and the use demand of different rehabilitation treatment conditions can be satisfied.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation therapy technology, and more specifically, to a four-limb coordinated rehabilitation training system. Background Technology

[0002] The four-limb linkage auxiliary training system is a structure that uses mechanical components to achieve coordinated training of the upper and lower limbs based on the laws of human kinematics, which can help patients better restore their physical functions.

[0003] In related technologies, the four-limb coordinated auxiliary training system includes a linkage mechanism and a deceleration mechanism. Based on the principle of symmetrical human movement, the left upper limb is rigidly connected to the right lower limb, and the right upper limb is rigidly connected to the left lower limb. These two connecting parts are coaxially mounted on a rotating shaft and connected to a deceleration mechanism at the rear end for deceleration. In this method, the rotation angles of the upper and lower limbs are completely consistent, and the ratio of upper limb rotation to lower limb rotation amplitude is completely locked. However, in actual rehabilitation, the rotation ratio of the lower and upper limbs is not consistent in the early stages, and the ratio of upper and lower limb swing amplitude is also related to individual circumstances. The inability to adjust the rotation angles of the upper and lower limbs, resulting in a locked ratio, cannot meet actual needs.

[0004] In summary, how to provide a four-limb coordinated auxiliary training system with flexible adjustment of the rotation angle ratio of the upper and lower limbs is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a four-limb linkage rehabilitation training system that can flexibly adjust the rotation angle ratio of the upper and lower limbs, meet the needs of different body shapes, different patients, different rehabilitation stages, and different upper and lower limb exercise training programs, and better meet the actual situation of four-limb rehabilitation treatment, thus having a better rehabilitation treatment effect.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A four-limb coordinated rehabilitation training system, comprising:

[0008] The linkage mechanism includes a left lower limb pivot connected to the left foot linkage and a right lower limb pivot connected to the right foot linkage.

[0009] The left lower limb pivot is rotatably connected to the second transmission shaft via the first drive arm assembly, and the left upper limb pivot, which is rotatably connected to the left arm linkage, rotates via its connection to the second transmission shaft.

[0010] The right lower limb pivot is rotatably connected to the first transmission shaft via the second drive arm assembly, and the right upper limb pivot, which is rotatably connected to the right arm linkage, rotates by being connected to the first transmission shaft.

[0011] The first adjustment component is provided on the left lower limb pivot to enable the connection between the first drive arm assembly and any position on the left lower limb swing arm on the left lower limb pivot.

[0012] The second adjustment component is located on the right lower limb pivot to enable the connection between the second drive arm assembly and any position on the right lower limb swing arm on the right lower limb pivot.

[0013] Preferably, the left lower limb swing arm rotates with the left lower limb pivot and has a first groove. The first adjusting member extends into the first groove and is connected to a first slider. The first slider has a first bearing that is rotatably connected to the first drive arm assembly. The first adjusting member rotates to adjust the position of the first slider in the first groove.

[0014] Preferably, the right lower limb swing arm rotates with the right lower limb pivot and has a second groove. The second adjusting member extends into the second groove and is connected to a second slider. The second slider has a second bearing that is rotatably connected to the second drive arm assembly. The second adjusting member rotates to adjust the position of the second slider in the second groove.

[0015] Preferably, the first drive arm assembly includes a first sliding assembly, a second connecting rod, and a third connecting rod, wherein the first sliding assembly is rotatably connected to the second drive shaft via the first connecting rod;

[0016] The two ends of the second connecting rod are respectively connected to the first sliding assembly and the first groove of the left lower limb swing arm. The two ends of the third connecting rod are respectively connected to the first sliding assembly and the crank-connecting rod mechanism. The crank-connecting rod mechanism is connected to the reduction mechanism through the transmission mechanism to realize the conversion of the reciprocating motion of the first sliding assembly into the rotational motion of the reduction mechanism.

[0017] Preferably, the second drive arm assembly includes a second sliding assembly, a fifth link, and a sixth link, wherein the second sliding assembly is rotatably connected to the first drive shaft via a fourth link;

[0018] The two ends of the fifth link are respectively connected to the second sliding assembly and the crank-connecting rod mechanism, and the two ends of the sixth link are respectively connected to the second sliding assembly and the second groove of the right lower limb swing arm. The reciprocating motion of the first sliding assembly and the second sliding assembly can work together and drive the deceleration mechanism through the crank-connecting rod mechanism.

[0019] Preferably, the first sliding assembly includes a first fixed shaft, on which a first linear bearing and a second linear bearing are slidably connected. The first linear bearing is rotatably connected to the second transmission shaft via a first connecting rod, and the second connecting rod and the third connecting rod are both connected to the second linear bearing.

[0020] Preferably, the second sliding assembly includes a second fixed shaft, on which a third linear bearing and a fourth linear bearing are slidably connected. The fifth link and the sixth link are both connected to the third linear bearing, and the fourth linear bearing is rotatably connected to the first transmission shaft through the fourth link.

[0021] Preferably, the crank-connecting rod mechanism includes a first rocker arm and a second rocker arm. The first rocker arm is connected to the third connecting rod and to the crankshaft via a first transmission rod. The second rocker arm is connected to the fifth connecting rod and to the crankshaft via a second transmission rod. The crankshaft is connected to the reduction mechanism via a synchronous belt.

[0022] Preferably, the deceleration mechanism includes a drive wheel rotatably connected to the synchronous belt, a flywheel coaxially connected to one side of the drive wheel, a permanent magnet on the outer periphery of the flywheel, and the gap between the outer periphery of the flywheel and the permanent magnet can be adjusted by a gap adjustment mechanism.

[0023] Preferably, the linkage mechanism includes a base and housings on both sides thereof, the first sliding component and the second sliding component are both disposed on the base, and the first swing arm and the second swing arm are both rotatably connected to the rotating shaft disposed on the housing.

[0024] The present invention provides a four-limb coordinated rehabilitation training system, including a linkage mechanism. The linkage mechanism includes a left lower limb rotating shaft connected to a left foot linkage and a right lower limb rotating shaft connected to a right foot linkage. The left foot linkage forces the left lower limb rotating shaft to rotate, and the right foot linkage forces the right lower limb rotating shaft to rotate. The left lower limb rotating shaft is rotatably connected to a second transmission shaft via a first drive arm assembly, while the left upper limb rotating shaft, rotatably connected to a left arm linkage, rotates via the second transmission shaft. Rotation of the left lower limb rotating shaft drives rotation of the left upper limb rotating shaft. The right lower limb rotating shaft is rotatably connected to a first transmission shaft via a second drive arm assembly, while the right upper limb rotating shaft, rotatably connected to a right arm linkage, rotates via the first transmission shaft. Rotation of the right lower limb rotating shaft drives rotation of the right upper limb rotating shaft. Through the above process... The system includes rehabilitation training for the limbs. Additionally, a first adjusting component is provided on the left lower limb pivot. This component allows the first drive arm assembly to be connected to any position on the left lower limb swing arm on the left lower limb pivot. By changing the connection position of the first drive arm assembly on the left lower limb swing arm, the rotation angles of the left arm link and the left foot link are changed, thus adjusting the transmission ratio between the left lower limb pivot and the left upper limb pivot. Similarly, a second adjusting component is provided on the right lower limb pivot. This component allows the second drive arm assembly to be connected to any position on the right lower limb swing arm on the right lower limb pivot. By changing the connection position of the second drive arm assembly on the right lower limb swing arm, the rotation angles of the right arm link and the right foot link are changed, thus adjusting the transmission ratio between the right lower limb pivot and the right upper limb pivot.

[0025] Compared with the prior art, the beneficial effects of this application are as follows: by setting two adjustment components, the rotation angle of the upper and lower limbs can be flexibly adjusted, and the ratio of the rotation angle of the upper and lower limbs can be adjusted, which can better meet the actual situation of limb rehabilitation treatment and has a better rehabilitation treatment effect. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the structure of the four-limb coordinated rehabilitation training system provided by the present invention;

[0028] Figure 2 This is a schematic diagram of the linkage mechanism provided by the present invention;

[0029] Figure 3 A schematic diagram of the internal structure of the linkage mechanism provided by the present invention;

[0030] Figure 4 This is a schematic diagram of the transmission mechanism provided by the present invention;

[0031] Figure 5 This is a schematic diagram of the crankshaft provided by the present invention;

[0032] Figure 6 This is a schematic diagram of the deceleration mechanism provided by the present invention;

[0033] Figure 7 This is a schematic diagram showing the connection between the deceleration mechanism and the transmission mechanism provided by the present invention.

[0034] Figures 1-7 In the accompanying drawings, the reference numerals include:

[0035] Linkage mechanism 1, transmission mechanism 2, reduction mechanism 3, frame 4, seat 5, left arm linkage 6, right arm linkage 7, left foot linkage 8, right foot linkage 9;

[0036] Left upper limb pivot 101, left lower limb pivot 102, first transmission shaft 103, second transmission shaft 104, first linear bearing 105, second linear bearing 106, first adjusting component 107, base 108, first connecting rod 109, first fixed shaft 110, second connecting rod 111, third connecting rod 112, connecting rod assembly 113, fourth connecting rod 114, right lower limb pivot 115, right upper limb pivot 116, left lower limb swing arm 117, right lower limb swing arm 118, second adjusting component 1 19. Fifth link 120, sixth link 121, second fixed shaft 122, third linear bearing 123, fourth linear bearing 124, housing 125, rotating shaft 126, first transmission rod 201, crankshaft 202, synchronous belt 203, fixed base 204, first drive wheel 205, second transmission rod 206, first swing arm 207, second swing arm 208, tension wheel 209, drive wheel 301, flywheel 302, permanent magnet 303, gap adjustment mechanism 304. Detailed Implementation

[0037] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0038] The core of this invention is to provide a four-limb linkage rehabilitation training system that can flexibly adjust the rotation angle of the upper and lower limbs and adjust the ratio of the rotation angle of the upper and lower limbs. It can meet the needs of different body types, different patients, different rehabilitation stages, and different upper and lower limb exercise training programs, and can better meet the actual situation of four-limb rehabilitation treatment, resulting in better rehabilitation treatment effect.

[0039] The four-limb coordinated rehabilitation training system provided by this invention includes a linkage mechanism 1, which includes a left lower limb pivot 102, a right lower limb pivot 115, a left upper limb pivot 101, and a right upper limb pivot 116. Please refer to [reference needed]. Figure 1 , Figure 2 , Figure 3 .

[0040] The patient sits on the chair 5 on the frame 4, with their hands positioned corresponding to the left arm link 6 and the right arm link 7, and their feet positioned corresponding to the left foot link 8 and the right foot link 9. The left foot link 8 connects to the left lower limb pivot 102, the right foot link 9 connects to the right lower limb pivot 115, the left arm link 6 connects to the left upper limb pivot 101, and the right arm link 7 connects to the right upper limb pivot 116. Applying force to any part of the limbs can achieve the effect of rehabilitation exercises.

[0041] Taking a specific example, the left foot linkage 8 and the right foot linkage 9 apply force to rotate the left lower limb pivot 102 and the right lower limb pivot 115, respectively. The left lower limb pivot 102 is rotatably connected to the second transmission shaft 104 through the first drive arm assembly, while the left upper limb pivot 101 is rotatably connected to the second transmission shaft 104. The rotation of the left upper limb pivot 101 can be achieved by rotating the left lower limb pivot 102.

[0042] The right lower limb pivot 115 is rotatably connected to the first transmission shaft 103 via the second drive arm assembly, while the right upper limb pivot 116 is rotatably connected to the first transmission shaft 103. The rotation of the right upper limb pivot 116 can be achieved by rotating the right lower limb pivot 115.

[0043] The above process realizes a rehabilitation training mode for the limbs. The rotation of the left lower limb pivot 102 and the right lower limb pivot 115 can also be realized by the force exerted by the left and right arms. It is not limited to this specific method.

[0044] The first adjusting member 107 is provided on the left lower limb pivot 102 to realize the connection between the first driving arm assembly and any position on the left lower limb swing arm 117 on the left lower limb pivot 102. By changing the connection position of the first driving arm assembly on the left lower limb swing arm 117, the rotation angle of the left arm link 6 and the left foot link 8 can be changed, thereby realizing the adjustment of the transmission ratio between the left lower limb pivot 102 and the left upper limb pivot 101.

[0045] Furthermore, by using the second adjusting member 119 located on the right lower limb pivot 115, the second drive arm assembly can be connected to any position on the right lower limb swing arm 118 on the right lower limb pivot 115. By changing the connection position of the second drive arm assembly on the right lower limb swing arm 118, the rotation angle of the right arm link 7 and the right foot link 9 can be changed, thereby adjusting the transmission ratio between the right lower limb pivot 115 and the right upper limb pivot 116.

[0046] By adjusting the transmission ratio between the upper and lower limbs, the rotation angle ratio of the upper and lower limbs can be adjusted, which can meet the needs of different body types, different patients, different rehabilitation stages, and different upper and lower limb exercise training programs, so as to achieve better treatment and rehabilitation results.

[0047] The aforementioned four-limb coordinated rehabilitation training system includes a linkage mechanism, which comprises a left lower limb rotating shaft 102 connected to the left foot linkage 8 and a right lower limb rotating shaft 115 connected to the right foot linkage 9. The left foot linkage forces the left lower limb rotating shaft 102 to rotate, and the right foot linkage 9 forces the right lower limb rotating shaft 115 to rotate. The left lower limb rotating shaft 102 is rotatably connected to the second transmission shaft 104 via a first drive arm assembly, while the left upper limb rotating shaft 101, rotatably connected to the left arm linkage 6, rotates via the connection to the second transmission shaft 104. The rotation of the left lower limb pivot 102 drives the rotation of the left upper limb pivot 101. The right lower limb pivot 115 is rotatably connected to the first transmission shaft 103 via the second drive arm assembly, and the right upper limb pivot 116, which is rotatably connected to the right arm linkage 7, rotates via the first transmission shaft 103. The rotation of the right lower limb pivot 115 drives the rotation of the right upper limb pivot 116. This process enables rehabilitation training of the limbs. In addition, a first adjustment component 107 is provided on the left lower limb pivot 102. The first adjusting member 107 connects the first drive arm assembly to any position on the left lower limb swing arm 117 on the left lower limb pivot 102. By changing the connection position of the first drive arm assembly on the left lower limb swing arm 117, the rotation angles of the left arm link 6 and the left foot link 8 are changed, thereby adjusting the transmission ratio between the left lower limb pivot 102 and the left upper limb pivot 101. The second adjusting member 119, located on the right lower limb pivot 115, connects the second drive arm assembly to any position on the right lower limb swing arm 118 on the right lower limb pivot 115. By changing the connection position of the second drive arm assembly on the right lower limb swing arm 118, the rotation angles of the right arm link 7 and the right foot link 9 are changed, thereby adjusting the transmission ratio between the right lower limb pivot 115 and the right upper limb pivot 116. The two adjusting members allow for flexible adjustment of the rotation angles of the upper and lower limbs, enabling the adjustment of the ratio of the rotation angles of the upper and lower limbs. This better meets the actual needs of limb rehabilitation and results in better rehabilitation outcomes.

[0048] Based on the above embodiment, the left lower limb swing arm 117 rotates with the left lower limb pivot 102 and has a first groove. The first adjusting member 107 extends into the first groove and is connected to the first slider. The first slider is provided with a first bearing that is rotatably connected to the first drive arm assembly. The first adjusting member 107 rotates to adjust the position of the first slider in the first groove.

[0049] Please refer to Figure 1 , Figure 2 , Figure 3 The left lower limb pivot 102 is coaxially connected to the left lower limb swing arm 117. When the left lower limb pivot 102 rotates, the left lower limb swing arm 117 also swings accordingly. The left lower limb swing arm 117 is provided with a first groove, which can be a long groove, to provide space for changing the position of the first slider. The first adjusting member 107 extends into the first groove and is connected to the first slider. A first bearing is provided in the first slider. The first bearing is preferably a deep groove ball bearing. The first drive arm assembly is rotatably connected to the deep groove ball bearing.

[0050] By rotating the first adjusting member 107, the position of the first slider in the first groove can be adjusted. By adjusting the position of the first slider, the rotation radius of the first drive arm assembly is changed, thereby changing the rotation angle of the left arm link 6 and the left foot link 8, and adjusting the transmission ratio of the left lower limb shaft 102 and the left upper limb shaft 101.

[0051] Preferably, the first adjusting element 107 is an adjusting knob. By threading the adjusting knob to the left lower limb rotating shaft 102, rotating the adjusting knob changes its position extending out of the left lower limb rotating shaft 102 and into the first groove, thereby adjusting the transmission ratio between the left lower limb rotating shaft 102 and the left upper limb rotating shaft 101.

[0052] Based on any of the above embodiments, the right lower limb swing arm 118 rotates with the right lower limb pivot 115 and has a second groove. The second adjusting member 119 extends into the second groove and is connected to the second slider. The second slider is provided with a second bearing that is rotatably connected to the second drive arm assembly. The second adjusting member 119 rotates to adjust the position of the second slider in the second groove.

[0053] Please refer to Figure 1 , Figure 2 , Figure 3 The right lower limb pivot 115 is coaxially connected to the right lower limb swing arm 118. When the right lower limb pivot 115 rotates, the right lower limb swing arm 118 also swings accordingly. The right lower limb swing arm 118 is provided with a second groove, which can be a long groove or other, as long as it provides space for changing the position of the second slider. The second adjusting member 119 extends into the second groove and is connected to the second slider. A second bearing is provided in the second slider. The second bearing is preferably a deep groove ball bearing. The second drive arm assembly is rotatably connected to the deep groove ball bearing.

[0054] By rotating the second adjusting member 119, the position of the second slider in the second groove can be adjusted. By adjusting the position of the second slider, the rotation radius of the second drive arm assembly is changed, thereby changing the rotation angle of the right arm link 7 and the right foot link 9, and adjusting the transmission ratio of the right lower limb shaft 115 and the right upper limb shaft 116.

[0055] Preferably, the second adjusting member 119 is an adjusting knob with the same structure as the first adjusting member 107. By rotating the adjusting knob, the position of the knob extending out of the right lower limb pivot 115 and into the second groove is changed, thereby adjusting the rotation ratio of the right lower limb and the right upper limb.

[0056] Based on any of the above embodiments, the first drive arm assembly includes a first sliding assembly, a second connecting rod 111, and a third connecting rod 112. The first sliding assembly is rotatably connected to the second transmission shaft 104 via the first connecting rod 109.

[0057] The two ends of the second connecting rod 111 are respectively connected to the first sliding assembly and the first groove of the left lower limb swing arm 117. The connection position of the second connecting rod 111 in the first groove of the left lower limb swing arm 117 can be adjusted by the first adjusting member 107, so as to realize the adjustment of the transmission ratio between the left lower limb rotating shaft 102 and the left upper limb rotating shaft 101.

[0058] The two ends of the third connecting rod 112 are connected to the first sliding assembly and the crank-connecting rod mechanism, respectively. The crank-connecting rod mechanism is connected to the reduction mechanism 3 through the transmission mechanism 2, so as to realize the conversion of the reciprocating motion of the first sliding assembly into the rotational motion of the reduction mechanism 3.

[0059] Please refer to Figure 1 , Figure 2 , Figure 3 The first drive arm assembly includes a first sliding assembly, a second link 111, and a third link 112. When the left lower limb pivot 102 rotates, the first sliding assembly reciprocates and rotates the second transmission shaft 104 through the first link 109. Furthermore, it is linked with the left upper limb pivot 101 through the link assembly 113.

[0060] The two ends of the second link 111 are respectively connected to the first sliding component and the first groove of the left lower limb swing arm 117. The two ends of the third link 112 are respectively connected to the first sliding component and the crank-connecting rod mechanism. When the left lower limb pivot 102 rotates and the left lower limb swing arm 117 rotates, the left lower limb swing arm 117 pushes the second link 111 to drive the first sliding component to reciprocate. The third link 112 is coaxially arranged with the second link 111, and the swing of the third link 112 can drive the action of the crank-connecting rod mechanism connected to it. The reciprocating motion of the first sliding component is converted into the rotational motion of the reduction mechanism 3 through the crank-connecting rod mechanism to provide the driving force for the rotation of the reduction mechanism 3. By converting the reciprocating motion into rotational motion, the crank-connecting rod mechanism rotates once and then returns. At this time, the first sliding component returns accordingly. There is no dead point in the entire stroke, realizing continuous motion without dead points in the cyclic reciprocating motion, ensuring smooth and reliable rehabilitation training movements.

[0061] Furthermore, the rotation diameter of the crank-connecting rod mechanism is related to the stroke of the first sliding component and can be flexibly set.

[0062] Based on any of the above embodiments, the second drive arm assembly includes a second sliding assembly, a fifth link 120, and a sixth link 121. The second sliding assembly is rotatably connected to the first drive shaft 103 via a fourth link 114.

[0063] The two ends of the fifth link 120 are respectively connected to the second sliding assembly and the crank-connecting rod mechanism. The two ends of the sixth link 121 are respectively connected to the second sliding assembly and the second groove of the right lower limb swing arm 118. The reciprocating motion of the first sliding assembly and the second sliding assembly can work together and drive the reduction mechanism 3 through the crank-connecting rod mechanism.

[0064] Please refer to Figure 1 , Figure 2 , Figure 3 The second drive arm assembly includes a second sliding assembly, a fifth link 120, and a sixth link 121. The second sliding assembly is rotatably connected to the first drive shaft 103 via a fourth link 114. When the right lower limb pivot 115 rotates, the first drive shaft 103 is rotated via the fourth link 114, and the right upper limb pivot 116 is rotated via the rotation of the first drive shaft 103.

[0065] The two ends of the sixth link 121 are respectively connected to the second sliding assembly and the second groove of the right lower limb swing arm 118. The right lower limb shaft 115 rotates to drive the right lower limb swing arm 118 to swing, thereby further promoting the reciprocating movement of the second sliding assembly. The second adjusting member 119 can adjust the position of the sixth link 121 in the second groove of the right lower limb swing arm 118, thereby adjusting the transmission ratio between the right lower limb shaft 115 and the right upper limb shaft 116.

[0066] The two ends of the fifth link 120 are connected to the second sliding component and the crank-connecting rod mechanism, respectively. The sixth link 121 is coaxially arranged with the fifth link 120. The fifth link 120 swings to drive the crank-connecting rod mechanism to move. The reciprocating motion of the first sliding component is converted into the rotational motion of the reduction mechanism 3 through the crank-connecting rod mechanism to provide the driving force for the rotation of the reduction mechanism 3. By converting the reciprocating motion into rotational motion, the crank-connecting rod mechanism rotates one revolution and then returns. At this time, the first sliding component returns accordingly. There is no dead point in the entire stroke, realizing continuous motion without dead points in the cyclic reciprocating motion, ensuring the smoothness and reliability of rehabilitation training movements.

[0067] The reciprocating motion of the first and second sliding components can work together and convert linear motion into rotational motion through a crank-connecting rod mechanism, driving the reduction mechanism 3. The reduction mechanism is connected through a crank-connecting rod mechanism, achieving the effect of linkage of the four limbs. This avoids the occurrence of dead points in the mechanism and makes the upper and lower limbs move in a continuous and smooth motion without any "dead points". This ensures that there is no jamming during use by the trainee, and the user experience is especially better for rehabilitation patients with motor dysfunction.

[0068] Based on any of the above embodiments, the first sliding assembly includes a first fixed shaft 110, on which a first linear bearing 105 and a second linear bearing 106 are slidably connected. The first linear bearing 105 is rotatably connected to the second transmission shaft 104 via a first connecting rod 109, and the second connecting rod 111 and the third connecting rod 112 are both connected to the second linear bearing 106.

[0069] Please refer to Figure 2 , Figure 3 The first fixed shaft 110 is mounted on the base 108 via a fixed seat. The first linear bearing 105 and the second linear bearing 106 are slidably connected to the first fixed shaft 110, and the second connecting rod 111 and the third connecting rod 112 are both connected to the second linear bearing 106. The ends of the second connecting rod 111 and the third connecting rod 112 connected to the second linear bearing 106 are coaxially arranged. When the left lower limb rotating shaft 102 rotates and transmits the rotation to the second linear bearing 106 through the second connecting rod 111 and the third connecting rod 112, the first linear bearing 105 is rotatably connected to the second transmission shaft 104 through the first connecting rod 109, and further rotatably connected to the left upper limb rotating shaft 101 through the second transmission shaft 104, so as to realize the linkage between the left upper limb and the left lower limb.

[0070] Based on any of the above embodiments, the second sliding assembly includes a second fixed shaft 122, on which a third linear bearing 123 and a fourth linear bearing 124 are slidably connected. The fifth link 120 and the sixth link 121 are both connected to the third linear bearing 123, and the fourth linear bearing 124 is rotatably connected to the first transmission shaft 103 through the fourth link 114.

[0071] Please refer to Figure 2 , Figure 3 The second fixed shaft 122 is arranged in parallel with the first fixed shaft 110 and fixed on the same fixed base. The second fixed shaft 122 is slidably connected to the third linear bearing 123 and the fourth linear bearing 124. The fifth link 120 and the sixth link 121 are both connected to the third linear bearing 123. The ends of the fifth link 120 and the sixth link 121 connected to the third linear bearing 123 are coaxially arranged. When the right lower limb rotating shaft 115 rotates and transmits the rotation to the third linear bearing 123 through the fifth link 120 and the sixth link 121, the fourth linear bearing 124 is rotatably connected to the first transmission shaft 103 through the fourth link 114, and further rotatably connected to the right upper limb rotating shaft 116 through the first transmission shaft 103 to realize the linkage between the right upper limb and the right lower limb.

[0072] Based on any of the above embodiments, the crank-connecting rod mechanism includes a first rocker arm 207 and a second rocker arm 208. The first rocker arm 207 is connected to the third connecting rod 112 and to the crankshaft 202 via the first transmission rod 201. The second rocker arm 208 is connected to the fifth connecting rod 120 and to the crankshaft 202 via the second transmission rod 206. The crankshaft 202 is connected to the reduction mechanism 3 via the synchronous belt 203.

[0073] Please refer to Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 7 The crank-connecting rod mechanism includes a first rocker arm 207, a second rocker arm 208, and a crankshaft 202. One end of a third connecting rod 112 is connected to a second linear bearing 106, and the other end of the third connecting rod 112 is connected to the first rocker arm 207. The first rocker arm 207 is connected to the crankshaft 202 via a first transmission rod 201. One end of a fifth connecting rod 120 is connected to a third linear bearing 123, and the other end of the fifth connecting rod 120 is connected to the second rocker arm 208. The second rocker arm 208 is connected to the crankshaft 202 via a second transmission rod 206. The crankshaft 202 drives the first drive wheel 205 of the synchronous belt 203, which in turn drives the second drive wheel 301 of the reduction mechanism 3, thereby driving the reduction mechanism 3.

[0074] Preferably, several tensioning pulleys 209 can be provided on the underside of the synchronous belt 203 to ensure reliable transmission effect.

[0075] Please refer to Figure 5 The crankshaft 202 and the first drive wheel 205 are rotatably connected to the fixed base 204, and the output end of the crankshaft 202 is rotatably connected to the first drive wheel 205.

[0076] Based on any of the above embodiments, the deceleration mechanism 3 includes a drive wheel 301 that is rotatably connected to the synchronous belt 203. A flywheel 302 is coaxially connected to one side of the drive wheel 301. A permanent magnet 303 is provided on the outer periphery of the flywheel 302. The gap between the outer periphery of the flywheel 302 and the permanent magnet 303 can be adjusted by the gap adjustment mechanism 304.

[0077] Please refer to Figure 1 , Figure 4 , Figure 5 , Figure 6 , Figure 7 The reduction mechanism 3 includes a drive wheel 301, a flywheel 302, and a permanent magnet 303. The rotation of the synchronous belt 203 can drive the drive wheel 301 to rotate, which in turn drives the flywheel 302 to rotate.

[0078] The gap between the outer periphery of the flywheel 302 and the permanent magnet 303 is adjusted by the gap adjustment mechanism 304, thereby controlling the magnetic flux density through which the flywheel 302 passes and adjusting the magnetic resistance of the flywheel 302 to achieve the resistance adjustment of the entire system and thus achieve the deceleration effect.

[0079] Based on any of the above embodiments, the linkage mechanism 1 includes a base 108 and a housing 125 disposed on both sides thereon. The first sliding component and the second sliding component are both disposed on the base 108, and the first swing rod 207 and the second swing rod 208 are rotatably connected to the rotating shaft 126 disposed on the housing 125.

[0080] Please refer to Figure 1 , Figure 2 , Figure 3 The linkage mechanism 1 includes a base 108 and housings 125 on both sides thereof. The first sliding component and the second sliding component are both disposed on the base 108 and slide laterally along the base 108.

[0081] One end of the first swing arm 207 and one end of the second swing arm 208 are both connected to the rotating shaft 124, and the other ends are connected to the first transmission rod 201 and the second transmission rod 206 respectively. The specific position of the rotating shaft 124 can be flexibly set according to the operating conditions and is not limited.

[0082] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0083] The foregoing has provided a detailed description of the four-limb coordinated rehabilitation training system provided by this invention. Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this invention. It should be noted that those skilled in the art can make various improvements and modifications to this invention without departing from its principles, and these improvements and modifications also fall within the protection scope of the claims of this invention.

Claims

1. A four-limb coordinated rehabilitation training system, characterized in that, include: The linkage mechanism (1) includes a left lower limb pivot (102) connected to the left foot linkage (8) and a right lower limb pivot (115) connected to the right foot linkage (9). The left lower limb pivot (102) is rotatably connected to the second transmission shaft (104) through the first drive arm assembly, and the left upper limb pivot (101) which is rotatably connected to the left arm link (6) rotates through the connection with the second transmission shaft (104); The right lower limb pivot (115) is rotatably connected to the first transmission shaft (103) through the second drive arm assembly, and the right upper limb pivot (116) which is rotatably connected to the right arm link (7) is rotatably connected to the first transmission shaft (103) to achieve rotation; The first adjusting member (107) is provided on the left lower limb pivot (102) to realize the connection between the first driving arm assembly and any position on the left lower limb swing arm (117) on the left lower limb pivot (102); The second adjusting member (119) is provided on the right lower limb pivot (115) to realize the connection between the second drive arm assembly and any position on the right lower limb swing arm (118) on the right lower limb pivot (115); The first drive arm assembly includes a first sliding assembly and a third link (112), the two ends of which are respectively connected to the first sliding assembly and the crank-connecting rod mechanism; the second drive arm assembly includes a second sliding assembly and a fifth link (120), the two ends of which are respectively connected to the second sliding assembly and the crank-connecting rod mechanism. The crank-connecting rod mechanism includes a first rocker arm (207) and a second rocker arm (208). The first rocker arm (207) is connected to the third connecting rod (112) and connected to the crankshaft (202) through the first transmission rod (201). The second rocker arm (208) is connected to the fifth connecting rod (120) and connected to the crankshaft (202) through the second transmission rod (206).

2. The four-limb coordinated rehabilitation training system according to claim 1, characterized in that, The left lower limb swing arm (117) rotates with the left lower limb pivot (102) and has a first groove. The first adjusting member (107) extends into the first groove and is connected to a first slider. The first slider is provided with a first bearing that is rotatably connected to the first drive arm assembly. The first adjusting member (107) rotates to adjust the position of the first slider in the first groove.

3. The four-limb coordinated rehabilitation training system according to claim 2, characterized in that, The right lower limb swing arm (118) rotates with the right lower limb pivot (115) and has a second groove. The second adjusting member (119) extends into the second groove and is connected to a second slider. The second slider is provided with a second bearing that is rotatably connected to the second drive arm assembly. The second adjusting member (119) rotates to adjust the position of the second slider in the second groove.

4. The four-limb coordinated rehabilitation training system according to claim 3, characterized in that, The first drive arm assembly further includes a second link (111), and the first sliding assembly is rotatably connected to the second drive shaft (104) via the first link (109); The two ends of the second connecting rod (111) are respectively connected to the first sliding component and the first groove of the left lower limb swing rod (117). The crank connecting rod mechanism is connected to the deceleration mechanism (3) through the transmission mechanism (2) to realize the conversion of the reciprocating motion of the first sliding component into the rotational motion of the deceleration mechanism (3).

5. The four-limb coordinated rehabilitation training system according to claim 4, characterized in that, The second drive arm assembly also includes a sixth link (121), and the second sliding assembly is rotatably connected to the first drive shaft (103) via a fourth link (114); The two ends of the sixth link (121) are respectively connected to the second sliding component and the second groove of the right lower limb swing arm (118). The reciprocating motion of the first sliding component and the second sliding component can work together and drive the deceleration mechanism (3) through the crank-connecting rod mechanism.

6. The four-limb coordinated rehabilitation training system according to claim 5, characterized in that, The first sliding assembly includes a first fixed shaft (110), on which a first linear bearing (105) and a second linear bearing (106) are slidably connected. The first linear bearing (105) is rotatably connected to the second transmission shaft (104) through the first connecting rod (109). The second connecting rod (111) and the third connecting rod (112) are both connected to the second linear bearing (106).

7. The four-limb coordinated rehabilitation training system according to claim 6, characterized in that, The second sliding assembly includes a second fixed shaft (122), on which a third linear bearing (123) and a fourth linear bearing (124) are slidably connected. The fifth link (120) and the sixth link (121) are both connected to the third linear bearing (123), and the fourth linear bearing (124) is rotatably connected to the first transmission shaft (103) through the fourth link (114).

8. The four-limb coordinated rehabilitation training system according to claim 7, characterized in that, The crankshaft (202) is connected to the reduction gear (3) via a timing belt (203).

9. The four-limb coordinated rehabilitation training system according to claim 8, characterized in that, The deceleration mechanism (3) includes a drive wheel (301) rotatably connected to the synchronous belt (203). A flywheel (302) is coaxially connected to one side of the drive wheel (301). A permanent magnet (303) is provided on the outer periphery of the flywheel (302). The gap between the outer periphery of the flywheel (302) and the permanent magnet (303) can be adjusted by the gap adjustment mechanism (304).

10. The four-limb coordinated rehabilitation training system according to claim 9, characterized in that, The linkage mechanism (1) includes a base (108) and a housing (125) on both sides thereof. The first sliding component and the second sliding component are both located on the base (108). The first swing rod (207) and the second swing rod (208) are rotatably connected to the rotating shaft (126) provided on the housing (125).

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