Novel lower limb rehabilitation training seat

Abstract

The invention relates to the field of lower limb rehabilitation training seats, in particular to a novel lower limb rehabilitation training seat which comprises a control touch screen, a wheelchair frame and a control box controlled by instructions of the control touch screen, and further comprises a wheelchair movement mechanism used for controlling movement of a wheelchair; a foot massage mechanism; the hip joint rehabilitation training part comprises a left leg hip joint rehabilitation training mechanism and a right leg hip joint rehabilitation training mechanism which are symmetrically arranged on the wheelchair frame, and is used for carrying out rehabilitation training on hip joints; the knee joint rehabilitation training part comprises a left leg knee joint rehabilitation training mechanism and a right leg knee joint rehabilitation training mechanism which are symmetrically arranged on the wheelchair frame, and is used for performing rehabilitation training on knee joints. By means of the crank guide rod and the connecting rod mechanism, transmission has a certain time difference, and a patient and people behind the seat body are effectively prevented from being injured; a spring structure is additionally arranged in the return process to provide a buffering effect; a control contact screen is added, so that the patient can select the training state by himself / herself.

Description

Technical Field

[0001] The invention relates to the technical field of lower limb rehabilitation training chairs, in particular to a novel lower limb rehabilitation training chair. Background Art

[0002] Existing lower limb rehabilitation training seats are becoming more and more modern, and ergonomic principles are adopted in their design to ensure that long-term use will not cause additional physical burden. However, the issue of price and the individuality of patients are ignored. At present, high-end lower limb rehabilitation devices are expensive, so they are less popular. In addition, due to differences between patients, such as body shape, strength, etc., they may not be able to adapt well to the specific needs of patients in actual use; the current rehabilitation seats do not involve foot treatment; at the same time, when people issue instructions, the rehabilitation seats are started immediately, without giving people time to buffer, which has certain risks. When the patient's family members are behind them, they may also be injured if the seat fails; there are also some deficiencies in the transmission mechanism required for knee and hip joint rehabilitation training, and most rehabilitation training seats are not movable and flexible. Summary of the invention

[0003] In order to solve the above problems, the present invention proposes a novel lower limb rehabilitation training chair.

[0004] A novel lower limb rehabilitation training chair includes a control touch screen, a wheelchair frame, a control box that receives instructions from the control touch screen, and also includes:

[0005] A wheelchair movement mechanism, used to control the movement of the wheelchair;

[0006] A foot massage mechanism for sending massage instructions to start or stop massage;

[0007] A hip joint rehabilitation training section, comprising a left leg hip joint rehabilitation training mechanism and a right leg hip joint rehabilitation training mechanism symmetrically arranged on the wheelchair frame, for conducting rehabilitation training on the hip joint;

[0008] The knee joint rehabilitation training section comprises a left leg knee joint rehabilitation training mechanism and a right leg knee joint rehabilitation training mechanism which are symmetrically arranged on the wheelchair frame and are used for performing rehabilitation training on the knee joint.

[0009] The right leg hip joint rehabilitation training mechanism comprises a cylinder 1 installed on the wheelchair frame and controlled by a control box, a thigh push rod connected to a cylinder bracket 1 on the cylinder 1 and driven by the cylinder 1 to move left and right, a top block arranged at the bottom of the thigh push rod for supporting the thigh push rod, a thigh sliding base rotatably matched with the top block, a motor and a thigh guide rod sliding base arranged on the wheelchair frame, a gear that transmits torque force to the motor through a chain, a thigh transmission rod driven to rotate by the gear, a thigh guide rod sliding rod driven to slide by the thigh guide rod sliding base, a thigh guide rod 1 arranged on the thigh guide rod sliding rod and providing guidance for the sliding of the thigh guide rod sliding rod, a thigh guide rod 2 rotatably connected to one end of the thigh guide rod 1 away from the thigh guide rod sliding base, a thigh strap matched with the thigh push rod, and a thigh push rod spring connected to the thigh push rod to provide a buffering effect, and the other end of the thigh guide rod 2 is rotatably matched with the thigh sliding base and the top block;

[0010] The right leg knee joint rehabilitation training mechanism includes a cylinder 2 installed on the wheelchair frame and controlled by a control box, a calf push rod connected to a cylinder bracket 2 arranged on the cylinder 2 and driven by the cylinder 2 to move up and down, a calf sliding rod fixed on the wheelchair frame, a calf mechanism extension seat linked to a gear, a calf crank linked to the calf mechanism extension seat, a calf transmission rod rotatably connected to the calf crank and transmitting the calf crank force, a calf sliding base rotatably connected to the calf transmission rod and capable of sliding left and right along the calf sliding rod, a calf strap support frame linked to the calf push rod, a calf strap pushed synchronously with the calf strap support frame, and a calf push rod spring arranged between the calf strap support frame and the calf push rod to provide a buffering effect for the calf push rod.

[0011] The beneficial effects of the present invention are: the present invention uses an adjustable exoskeleton length to avoid problems caused by personalization; newly added foot massage makes patients more comfortable and recovers faster; a new transmission mechanism, namely a crank guide rod and a connecting rod mechanism, is adopted to allow a certain time difference in transmission, giving patients buffering time and avoiding direct contact with the motor. If a power outage occurs, it can also effectively prevent the patient and the person behind the seat from being injured; a new spring structure is added during the return process to provide a buffering effect; the added control touch screen allows patients to choose the training state by themselves, and can also control the speed and direction of the wheelchair and whether a foot massage is needed. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0013] Figure 1 It is a schematic diagram of the main structure of the present invention;

[0014] Figure 2 It is a schematic diagram of the local structure of the present invention;

[0015] Figure 3 It is a schematic diagram of the three-dimensional structure of the thigh sliding rod and the thigh guide rod sliding base of the present invention;

[0016] Figure 4 It is a schematic diagram of the gear structure of the present invention;

[0017] Figure 5 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 6 It is a schematic diagram of the hip joint rehabilitation training process of the present invention;

[0019] Figure 7 It is a schematic diagram of the knee joint rehabilitation training process of the present invention;

[0020] Figure numerals: 1, front wheel; 2, front wheel support frame; 3, top block; 4, thigh push rod; 5, foot massage support frame; 6, fixing plate; 7, calf exoskeleton rod; 8, calf strap; 9, bolt M12X12; 10, nut M12; 11, knee joint plate; 12, thigh strap; 13, thigh exoskeleton rod; 14, control touch screen; 15, support rod; 16, hip joint plate; 17, wheelchair frame; 18, control box; 19, motor; 20, tailgate; 21, wheel motor; 22, rear wheel; 23, chain; 24, calf transmission rod; 25, calf flexure Handle; 26, extension seat; 27, thigh guide rod sliding rod; 28, thigh guide rod one; 29, calf push rod; 30, cylinder bracket two; 31, cylinder two; 32, cylinder one; 33, thigh push rod spring; 34, calf push rod spring; 35, thigh guide rod two; 36, thigh transmission rod; 37, calf mechanism extension seat; 38, thigh mechanism extension seat; 39, calf sliding base; 40, calf sliding rod; 41, thigh sliding base; 42, thigh sliding rod; 43, thigh guide rod sliding base; 44, gear; 45, cylinder bracket one; 46, calf strap support frame. DETAILED DESCRIPTION

[0021] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below.

[0022] like Figures 1 to 7 As shown, a novel lower limb rehabilitation training chair includes a control touch screen 14, a wheelchair frame 17, a control box 18 that receives instructions from the control touch screen 14, and also includes:

[0023] A wheelchair movement mechanism, used to control the movement of the wheelchair;

[0024] A foot massage mechanism for sending massage instructions to start or stop massage;

[0025] The hip joint rehabilitation training part includes a left leg hip joint rehabilitation training mechanism and a right leg hip joint rehabilitation training mechanism symmetrically arranged on the wheelchair frame 17, for performing rehabilitation training on the hip joint;

[0026] The knee joint rehabilitation training part includes a left leg knee joint rehabilitation training mechanism and a right leg knee joint rehabilitation training mechanism symmetrically arranged on the wheelchair frame 17 for performing rehabilitation training on the knee joint.

[0027] The wheelchair movement mechanism includes a front wheel support frame 2 mounted on the wheelchair frame 17, a front wheel 1 and a rear wheel 22 mounted on the front wheel support frame 2, a wheel motor 21 connected to the rear wheel 22 and used to drive the rear wheel 22 to rotate, and a rear baffle 20 is provided on the rear side of the wheelchair frame 17. When the wheelchair movement instruction is clicked on the control touch screen 14, the wheel motor 21 drives the rear wheel 22 to cooperate with the front wheel 1 and the front wheel support frame 2 to control the wheelchair movement. The rear baffle 20 is to protect the person behind the patient from direct contact with the motor and provide safety guarantee in case of an accident.

[0028] The present invention adopts Fuxing HSTM57 model drive motors, P2ND reducer, aluminum alloy wheelchair frame material, polyurethane wheelchair wheel material, while ensuring quality, the hardware price is lower.

[0029] With the assistance of the present invention, the knee joint can reach 0-60°, and the hip joint can reach 0-40°. The length adjustment range of the exoskeleton of the lower limb rehabilitation training device developed according to the human body size standard is determined as follows: the thigh is 380-530mm, and the calf is 300-420mm, so as to adapt to more people.

[0030] The foot massage mechanism includes a foot massage support frame 5 that communicates with a Bluetooth module of a control touch screen 14. The control touch screen 14 is placed in front of the patient by a support rod 15, and the patient can choose the training position, speed, and direction of wheelchair movement, and whether foot massage is needed.

[0031] The foot massage support frame 5 is powered by a built-in battery and performs acupuncture point massage on the patient's foot. The massage function is to promote blood circulation, relax muscles, and assist the patient's recovery.

[0032] The present invention adopts materials and hardware settings with higher cost performance, and is more affordable in price; an adjustable exoskeleton length is used to avoid problems caused by personalization; foot massage is added to make patients more comfortable and recover faster; a new transmission mechanism, namely a crank guide rod and a connecting rod mechanism, is adopted to allow a certain time difference in transmission, giving patients buffering time, and also avoiding direct contact with the motor. If a power outage or other unexpected situation occurs, it can also effectively prevent the patient and the people behind the seat from being injured; a spring is added during the return process to provide a buffering effect; a wheelchair is added to enable it to move; an added control touch screen 14 allows the patient to choose the training state by himself, and can also control the speed and direction of the wheelchair, as well as whether a foot massage is needed.

[0033] The right leg hip joint rehabilitation training mechanism includes a cylinder 32 installed on a wheelchair frame 17 and controlled by a control box 18, a thigh push rod 4 connected to a cylinder bracket 45 on the cylinder 32 and driven by the cylinder 32 to move left and right, a top block 3 arranged at the bottom of the thigh push rod 4 to support the thigh push rod 4, a thigh sliding base 41 rotatably matched with the top block 3, a motor 19 and a thigh guide rod sliding base 43 arranged on the wheelchair frame 17, a gear 44 that transmits torque force to the motor 19 through a chain 23, a thigh transmission rod 36 driven to rotate by the gear 44, and a thigh guide rod sliding base 41 that rotates with the thigh guide rod. The seat 43 drives the sliding thigh guide rod 27, the thigh guide rod 28 is arranged on the thigh guide rod sliding rod 27 and provides guidance for the sliding of the thigh guide rod sliding rod 27, the thigh guide rod 2 35 is rotatably connected to the end of the thigh guide rod 28 away from the thigh guide rod sliding base 43, the thigh strap 12 cooperates with the thigh push rod 4, and the thigh push rod spring 33 connected to the thigh push rod 4 to provide a buffering effect, the other end of the thigh guide rod 2 35 is rotatably matched with the thigh sliding base 41 and the top block 3; the thigh push rod 4 of the present invention passes through the cylinder bracket 45 and can move up and down along the cylinder bracket 45.

[0034] The wheelchair frame 17 is provided with a vertically arranged thigh sliding rod 42, and the thigh sliding base 41 can slide up and down along the thigh sliding rod 42;

[0035] The thigh guide rod 2 35 is used to transmit the force of the thigh guide rod 1 28 to the thigh sliding base 41, so as to drive the thigh sliding base 41 to slide up and down along the thigh sliding rod 42, and simultaneously drive the thigh push rod 4 to move up and down, so as to push the thigh strap 12 up or down.

[0036] Click the hip joint rehabilitation training command on the control touch screen 14, the command is transmitted to the control box 18, and the cylinder 32 is directed to directly drive the thigh push rod 4 to move to the right. When the thigh push rod 4 is parallel to the guide rod mechanism follower, that is, the thigh sliding rod 42, the cylinder 32 stops working; then the motor 19 is started, and the torque is transmitted to the gear 44 through the chain 23, and the gear 44 drives the thigh transmission rod 36 to rotate, and then drives the thigh guide rod sliding rod 27 to slide through the thigh guide rod sliding base 43. Because the thigh guide rod slides Rod 27 is attached to thigh guide rod 1 28, which will drive thigh guide rod 1 28 to move. Thigh guide rod 2 35 drives thigh sliding base 41 to move upward along thigh sliding rod 42. At the same time, thigh sliding base 41 moves upward with top block 3, and thigh push rod 4 is pushed upward by top block 3, so that thigh push rod 4 is used to push thigh strap 12 to rehabilitate hip joint. When the predetermined height is reached, motor 19 reverses and thigh sliding rod 42 returns to its original position. At this time, thigh push rod spring 33 provides buffering effect.

[0037] When the thigh returns to a horizontal state, the cylinder 1 32 drives the thigh push rod 4 to move leftward, and a cycle of hip joint rehabilitation training is completed.

[0038] When the thigh push rod 4 is parallel to the thigh sliding rod 42, the cylinder 1 32 stops working.

[0039] The right leg knee joint rehabilitation training mechanism includes a cylinder 2 31 installed on the wheelchair frame 17 and controlled by the control box 18, a calf push rod 29 connected to the cylinder bracket 2 30 arranged on the cylinder 2 31 and driven by the cylinder 2 31 to move up and down, a calf sliding rod 40 fixed on the wheelchair frame 17, a calf mechanism extension seat 37 linked to the gear 44, a calf crank 25 linked to the calf mechanism extension seat 37, a calf transmission rod 24 rotatably connected to the calf crank 25 and transmitting the force of the calf crank 25, a calf sliding base 39 rotatably connected to the calf transmission rod 24 and capable of sliding left and right along the calf sliding rod 40, a calf strap support frame 46 linked to the calf push rod 29, a calf strap 8 pushed synchronously with the calf strap support frame 46, and a calf push rod spring 34 arranged between the calf strap support frame 46 and the calf push rod 29 to provide a buffering effect for the calf push rod 29. The calf push rod 29 of the present invention passes through the cylinder support 2 30 and can move left and right along the cylinder support 2 30 .

[0040] When the calf push rod 29 is parallel to the calf sliding rod 40, the cylinder 2 31 stops working.

[0041] The thigh guide rod 28 is provided with a thigh mechanism extension seat 38 connected to the rear baffle 20, and the calf mechanism extension seat 37 is provided with an extension seat 26 connected to the rear baffle 20. The length of the calf mechanism extension seat 37 is shorter than the length of the thigh mechanism extension seat 38, and is not enough to contact the rear baffle 20, so an additional extension seat 26 is installed at the back so that it can contact the rear baffle 20, so that the rightmost ends of the calf transmission mechanism and the thigh transmission mechanism can be attached to the rear baffle 20, which plays the role of a fixing mechanism.

[0042] A thigh exoskeleton rod 13 is fixed to the outside of the thigh strap 12, one end of the thigh exoskeleton rod 13 is connected to a hip joint plate 16 fixed to a wheelchair frame 17 via bolts and nuts, a calf exoskeleton rod 7 is fixed to the outside of the calf strap 8, the other end of the thigh exoskeleton rod 13 is connected to a knee joint plate 11 via bolts and nuts, and the knee joint plate 11 is connected to the upper part of the calf exoskeleton rod 7 via bolts M12X129 and nuts M1210.

[0043] The lower part of the calf exoskeleton rod 7 is fixed by a fixed plate 6 ; the foot massage support frame 5 is installed at the lower part of the calf exoskeleton rod 7 .

[0044] Click on the knee joint rehabilitation training instruction on the control touch screen 14, the instruction is transmitted to the control box 18, and the cylinder 2 31 is directed to drive the calf push rod 29 to translate upward. When the calf push rod 29 and the crank-connecting rod mechanism follower, that is, the calf sliding rod 40, are on the same horizontal plane and parallel, the cylinder 2 31 stops working; then the motor 19 is started, and the torque is transmitted to the gear 44 through the chain 23. The gear 44 drives the calf mechanism extension seat 37, and then drives the calf crank 25 to move. The calf crank 25 transmits the force to the calf transmission rod 24. The calf transmission rod 24 uses the calf sliding base 39 to drive the calf push rod 29 to slide rightward, pushing the calf strap support frame 46, and then pushing the calf strap 8 to perform knee joint rehabilitation. When the predetermined length is reached, the motor 19 reverses, and the calf sliding rod 40 returns to its position. At this time, the calf push rod spring 34 provides a buffering effect.

[0045] As mentioned above, these are all parts of the right leg. The same applies to the left and right legs because they are symmetrical. The principle refers to the above description.

[0046] The hip and knee joint rehabilitation training is not limited to training the two joints separately. The touch screen 14 can be used to control the cylinder 2 31 , the cylinder 1 32 and the motor 19 to adjust whether they move simultaneously or separately.

[0047] The premise of joint rehabilitation training is that the push rod must be in the same straight line with the corresponding mechanism follower, which requires the help of the cylinder and also provides a guarantee for the safety of the user. For example, during knee joint training, the start of motor 19 will also drive the transmission mechanism of the hip joint to move, but at this time cylinder 132 is not working and the movement conditions of the hip joint transmission mechanism cannot be met, so they will not affect each other.

[0048] When the user sits on the rehabilitation chair, the thigh is placed on the inner side of the thigh strap 12 and the calf is placed on the inner side of the calf strap 8. The outer side of the thigh strap 12 is fixed with a thigh exoskeleton rod 13, and the outer side of the calf strap 8 is fixed with a calf exoskeleton rod 7.

[0049] When the length range of the lower limbs is determined, the limit blocks are inserted into the holes of the thigh exoskeleton rod 13 and the calf exoskeleton rod 7 to fix the length.

[0050] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A novel lower limb rehabilitation training chair, comprising a control touch screen (14), a wheelchair frame (17), and a control box (18) that receives instructions from the control touch screen (14), characterized in that: Also includes: A wheelchair movement mechanism, used to control the movement of the wheelchair; A foot massage mechanism for sending massage instructions to start or stop massage; The hip joint rehabilitation training section comprises a left leg hip joint rehabilitation training mechanism and a right leg hip joint rehabilitation training mechanism symmetrically arranged on the wheelchair frame (17) for performing rehabilitation training on the hip joint; The knee joint rehabilitation training section comprises a left leg knee joint rehabilitation training mechanism and a right leg knee joint rehabilitation training mechanism symmetrically arranged on a wheelchair frame (17) for performing rehabilitation training on the knee joint.

2. A novel lower limb rehabilitation training chair according to claim 1, characterized in that: The wheelchair movement mechanism comprises a front wheel support frame (2) mounted on a wheelchair frame (17), a front wheel (1) and a rear wheel (22) arranged on the front wheel support frame (2), a wheel motor (21) connected to the rear wheel (22) and used to drive the rear wheel (22) to rotate, and a rear baffle (20) is arranged on the rear side of the wheelchair frame (17).

3. A novel lower limb rehabilitation training chair according to claim 1, characterized in that: The foot massage mechanism comprises a foot massage support frame (5) which communicates with a Bluetooth module controlling a touch screen (14).

4. A novel lower limb rehabilitation training chair according to claim 3, characterized in that: The foot massage support frame (5) is powered by a built-in battery.

5. A novel lower limb rehabilitation training chair according to claim 1, characterized in that: The right leg hip joint rehabilitation training mechanism comprises a cylinder (32) mounted on a wheelchair frame (17) and controlled by a control box (18), a thigh push rod (4) connected to a cylinder bracket (45) on the cylinder (32) and driven by the cylinder (32) to move left and right, a top block (3) arranged at the bottom of the thigh push rod (4) to support the thigh push rod (4), a thigh sliding base (41) rotatably matched with the top block (3), a motor (19) and a thigh guide rod sliding base (43) arranged on the wheelchair frame (17), a gear (44) transmitting torque to the motor (19) through a chain (23), and a gear (44) belted by the gear (44). A thigh transmission rod (36) that rotates dynamically, a thigh guide rod sliding rod (27) that is driven to slide through a thigh guide rod sliding base (43), a thigh guide rod 1 (28) that is arranged on the thigh guide rod sliding rod (27) and provides a guide for the thigh guide rod sliding rod (27), a thigh guide rod 2 (35) that is rotatably connected to one end of the thigh guide rod 1 (28) away from the thigh guide rod sliding base (43), a thigh strap (12) that cooperates with the thigh push rod (4), and a thigh push rod spring (33) that is connected to the thigh push rod (4) and provides a buffering effect, and the other end of the thigh guide rod 2 (35) is rotatably matched with the thigh sliding base (41) and the top block (3); The wheelchair frame (17) is provided with a vertically arranged thigh sliding rod (42), and the thigh sliding base (41) can slide up and down along the thigh sliding rod (42).

6. A novel lower limb rehabilitation training chair according to claim 5, characterized in that: When the thigh push rod (4) is parallel to the thigh sliding rod (42), the cylinder 1 (32) stops working.

7. A novel lower limb rehabilitation training chair according to claim 5, characterized in that: The right knee joint rehabilitation training mechanism comprises a second cylinder (31) mounted on a wheelchair frame (17) and controlled by a control box (18), a calf push rod (29) connected to a second cylinder bracket (30) arranged on the second cylinder (31) and driven by the second cylinder (31) to move up and down, a calf sliding rod (40) fixed on the wheelchair frame (17), a calf mechanism extension seat (37) linked to a gear (44), a calf crank (25) linked to the calf mechanism extension seat (37), and a calf crank (25) linked to the calf crank (25). A calf transmission rod (24) rotatably connected and transmitting the force of the calf crank (25), a calf sliding base (39) rotatably connected to the calf transmission rod (24) and capable of sliding left and right along the calf sliding rod (40), a calf strap support frame (46) linked to the calf push rod (29), a calf strap (8) pushed synchronously with the calf strap support frame (46), and a calf push rod spring (34) provided between the calf strap support frame (46) and the calf push rod (29) to provide a buffering effect for the calf push rod (29).

8. A novel lower limb rehabilitation training chair according to claim 7, characterized in that: When the calf push rod (29) is parallel to the calf sliding rod (40), the cylinder 2 (31) stops working.

9. A novel lower limb rehabilitation training chair according to claim 7, characterized in that: The calf mechanism extension seat (37) is provided with an extension seat (26) connected to the rear baffle (20).

10. A novel lower limb rehabilitation training chair according to claim 7, characterized in that: A thigh exoskeleton rod (13) is fixed to the outer side of the thigh strap (12), one end of the thigh exoskeleton rod (13) is connected to a hip joint plate (16) fixed to a wheelchair frame (17), a calf exoskeleton rod (7) is fixed to the outer side of the calf strap (8), the other end of the thigh exoskeleton rod (13) is connected to a knee joint plate (11) via bolts and nuts, and the knee joint plate (11) is connected to the upper part of the calf exoskeleton rod (7).

Images