Rigid-flexible integrated multifunctional lower limb rehabilitation training device

Abstract

A rigid-flexible integrated multifunctional lower limb rehabilitation training device comprises a base (100), a flexion and extension support (200), a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsal extension and plantar flexion training mechanism (400), a hip and ankle joint inward and outward rotation autonomous training mechanism (500) and a hip joint adduction and abduction autonomous training mechanism (600). Mainly comprises a flexion and extension hand pull rope (310), a pedal plate (320) and a pedal pull rope (330); a support plate (410) and an elastic member (420); the internal and external rotation training device comprises a support frame (510), an internal and external rotation training arc-shaped track (520), an internal and external rotation roller (450) and an internal and external rotation training pull rope (530), the gear (620) is meshed with the adduction and abduction training arc-shaped track (610), and the adduction and abduction training pull rope (630) is arranged on the adduction and abduction training arc-shaped track (610). The lower limb core muscle group rehabilitation training device integrates multiple modes such as multiple joints, multiple degrees of freedom, passive, assisting and active as soon as possible in the lying position, can simulate gait training in the lying position, and effectively promotes early rehabilitation of a patient.

Description

Technical Field

[0001] The invention relates to a medical device, in particular to a rigid-flexible multifunctional lower limb rehabilitation training device. Background Art

[0002] With the rapid development of science and technology in today's society, people's living standards have greatly improved. Since many patients in the elderly population suffer from neurological diseases or cerebrovascular diseases, the incidence of such diseases in society is increasing every year; among stroke patients, about 70% to 80% will have varying degrees of lower limb movement disorders.

[0003] In recent years, with the rapid development of intelligent rehabilitation technology, lower limb rehabilitation robot technology enables patients with lower limb movement disorders to undergo scientific and effective rehabilitation training and restore their walking ability through repeated training of weight loss and standardized normal physiological gait. However, this training model has been found in clinical practice to have poor efficacy in the recovery of limb function in patients with muscle strength below level 3 or Parkinson's disease. The exoskeleton system is based on the principle of bionics and has a structure close to anatomy. It can realize the organic combination of robotic technology and rehabilitation therapy, assist patients in specific joint training, and improve physical function; however, only 55% of patients who receive rehabilitation treatment recover their walking ability.

[0004] Patients with neurological diseases or cerebrovascular diseases often fall and suffer hip fractures due to abnormal gait, making it difficult to recover lower limb motor function. Hip fracture is also the most common lower limb fracture in the elderly. In order to promote patients' walking ability, surgery is the main method for treating elderly hip fractures, but only 40% to 60% of patients' activity function recovers to the pre-fracture level after surgery. There are no reports on the use of robotic lower limb rehabilitation training for patients after internal fixation of hip fractures in clinical practice.

[0005] In order to better promote the recovery of muscle strength before standing training for patients with lower limb dysfunction, realize the feasibility of lower limb walking training, and then promote the recovery of lower limb walking function, according to literature reports, in order to solve the above problems, experts have designed a training mode for lower limb rehabilitation robots with two degrees of freedom and three compound degrees of freedom. It is a core muscle group training in a lying position. This training program can promote safe and early lower limb rehabilitation training, but there are still defects. The training of lower limb rehabilitation robots with two degrees of freedom is actually a passive hip and knee training mode, which does not take into account the range of motion and training status of the ankle joint itself. Foot training plays a very important role in the rehabilitation training for restoring lower limb function. Although the lower limb rehabilitation robot with three degrees of freedom is designed to meet the rehabilitation exercises of thigh, calf, ankle joints, etc., its driving mode only uses hydraulic drive, without resistance training, which is very difficult to restore the muscle strength of the lower limbs.

[0006] In order to make the lower limb rehabilitation training device produced by research and development be used for patients with lower limb dysfunction caused by nervous system damage or hip fracture, or patients with lower limb dysfunction caused by stroke and hip fracture at the same time, to perform multi-joint, multi-activity, anti-spasm and resistance training of lower limbs, the applicant's application number is CN202210340685.9, and the invention name is "Intelligent Multifunctional Lower Limb Rehabilitation Training All-in-One Machine". An intelligent multifunctional lower limb rehabilitation training all-in-one machine has been designed. However, in further research and development, it was found that the all-in-one machine has the following defects:

[0007] 1) Training can only be performed under power system. In clinical applications, it is found that passive training mode can only be used for a short time, and active training mode is the best way to promote patients to better restore limb function and physical and mental health.

[0008] 2) There is only a single-limb training mode, and multi-limb linkage is not possible.

[0009] 3) When performing hip adduction and abduction training, the range of motion on the horizontal track can only be 0-5 degrees. The arc is too small and the training effect is limited.

[0010] 4) During the internal and external rotation training of the hip and knee joints, the range of motion is small and the degree of freedom is insufficient. The ankle cannot plantar flex during the internal and external rotation training, and can only passively perform internal and external rotation under dorsiflexion, which makes it impossible for the muscles to move in a free and relaxed state. Therefore, it is easy to damage the muscle ligaments and there is a possibility of causing tension in the ankle sensory muscles.

[0011] 5) The angle of the feet is fixed, and it is not possible to use the device to relax the lower limbs by relaxing the feet manually, nor can the device be used for anti-spasmodic operations.

[0012] 6) The feet do not have enough freedom to perform simulated gait training in the supine position. Summary of the invention

[0013] The technical problem to be solved by the present application is to provide a lower limb core muscle rehabilitation training device that can perform multi-joint, multi-degree-of-freedom, passive, assisted, active and other methods as early as possible in a supine position, and can simulate gait training in a supine position, effectively promoting the early recovery of patients.

[0014] In order to solve the above technical problems, the present invention provides a multifunctional lower limb rehabilitation training device integrating rigidity and flexibility, comprising a base and a flexion and extension bracket; the base body is a linear guide rail, which is connected to a head end connector, and a linear groove is provided on the linear guide rail along the length direction; the flexion and extension bracket is composed of a thigh bracket, a calf bracket and a foot bracket which are rotatably connected in sequence; the outer end of the thigh bracket is rotatably connected to the head end connector, and the bottom end of the foot bracket is connected to a flexion and extension roller, and the flexion and extension roller can reciprocate on the linear groove to realize the reciprocating flexion and extension of the flexion and extension bracket above the base; it is characterized in that the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility also includes a hip and knee joint flexion and extension autonomous training control mechanism, an ankle joint dorsiflexion and plantar flexion training mechanism, a hip and ankle joint internal and external rotation autonomous training mechanism, and a hip joint adduction and abduction autonomous training mechanism;

[0015] The hip and knee joint flexion and extension autonomous training control mechanism comprises: a flexion and extension hand rope, a foot pedal and a foot pedal rope; the flexion and extension hand ropes are respectively located at two sides of the base, one end of each flexion and extension hand rope is detachably connected to the outer side of the head end connector, and the other end is connected to the bottom of the foot support, and the two flexion and extension hand ropes are simultaneously pulled toward the head end connector of the base to allow the flexion and extension support to bend; the foot pedal is a pair of slidably connected to both sides of the middle of the linear guide rail, and stepping on any foot pedal can pull the foot pedal rope to allow the flexion and extension support to be straightened again;

[0016] The ankle dorsiflexion and plantar flexion training mechanism comprises: a support plate is provided outside the foot support plate of the foot support, the lower end of the support plate is hinged at the heel of the foot support plate, and an elastic component is provided between the upper end of the support plate and the forefoot of the foot support plate, when the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training;

[0017] The hip and ankle joint internal and external rotation autonomous training mechanism comprises: a support frame arranged outside the support plate, the support frame is provided with an internal and external rotation training arc track, the top of the internal and external rotation training arc track is provided with a through hole, and the bottom of the support plate is provided with an internal and external rotation roller that can be inserted into the through hole and supported to rotate on the track; one end of a pair of internal and external rotation training pull ropes can be detachably connected to the outer side surface of the head end connector for the user to pull, and the other end can respectively drive the internal and external rotation rollers to rotate left and right on the internal and external rotation training arc track through the support frame, thereby pulling the foot support plate to rotate left and right, so as to realize the internal and external rotation training of the user's foot;

[0018] The hip joint adduction and abduction autonomous training mechanism comprises: an adduction and abduction training arc track is provided inside the support frame and at the lower end of the linear guide rail, the arc shape of which is the same arc as the trajectory rotating with the end of the base as the center and the length of the base as the radius, and the inner concave surface of the arc is provided with meshing teeth; an adduction and abduction gear is rotatably connected vertically at the corresponding position of the lower end of the linear guide rail, and the adduction and abduction gear is meshed with the meshing teeth; the adduction and abduction gear has a rotatable core shaft, two adduction and abduction training pull ropes are respectively connected to both sides of the core shaft, or only one adduction and abduction training pull rope is fixedly connected to both sides of the core shaft of the adduction and abduction gear, and then extends along the linear guide rail to the two sides of the head end connector of the base, which can be detachably fixed for the user to pull by hand, driving the adduction and abduction gear to mesh and roll on the meshing teeth, thereby driving the linear guide rail to swing in an arc shape left and right, so as to realize the active adduction and abduction training of the hip joint.

[0019] A pair of foot pedals are fixedly connected to the middle part below the linear guide rail via a fixed connection block therebetween; a pair of fixed pulleys arranged side by side are arranged in the fixed connection block; the head end of each foot pedal pull rope is fixedly connected to the outer end of a foot pedal, then sleeved in the fixed pulley, then respectively passed through a groove of a double-groove fixed pulley, and finally fixedly connected to the rotating shaft of the flexion and extension roller; the double-groove fixed pulley is fixedly connected to the empty groove in the end of the linear guide rail;

[0020] The foot pedal is rotatably and foldably connected to the fixed connection block, so that the foot pedal can be opened and closed, folded and attached to the accommodating groove in the linear guide rail.

[0021] A retractable resistance mechanism is provided along at least one side surface of each of the linear grooves, including a resistance surface facing the linear groove, the resistance surface is attached to a base plate, and a push rod that can realize the retractable function by pressing passes through the linear guide rail from the side and is connected to the base plate. Pressing the push rod can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller, thereby increasing the resistance of active flexion and extension training; pressing the push rod again can release the friction between the resistance surface and the flexion and extension roller.

[0022] The flexion and extension hand pull ropes, one on each side of the base, are connected to the inside of the linear guide rail and combined into one rope, and the ends are connected to the bottom end of the foot support.

[0023] The thigh support and the calf support each have four retractable rods arranged in a matrix to form a channel for accommodating the thigh and calf, a flexible cloth is connected between the two retractable rods at the bottom, and an elastic binding strap is connected between the two retractable rods at the top; the upper and lower retractable rods are connected by a vertical support rod;

[0024] The head end connector of the base is composed of a T-shaped plug-in slot in the middle and two nearly L-shaped plug-in parts; the main plug-in slot of the T-shaped plug-in slot is sleeved outside the linear guide rail, and one of the plug-in parts is respectively plugged in on both sides, and the plug-in depth is adjusted by pressing the depth adjustment button; the ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two plug-in parts through a rotating shaft, and the distance between the two telescopic rods at the bottom can be adjusted by pressing the depth adjustment button to adapt to different leg circumferences;

[0025] The thigh support and the calf support are rotatably connected via a chuck that can limit the upper limit of the rotation angle and a first degree rotating wheel with a rotation degree mark. The first degree rotating wheel with a degree mark is provided with a first parallel pointer outside, which can indicate the rotation angle when the flexion and extension support is flexed and extended.

[0026] Each pair of the flexion and extension hand ropes, internal and external rotation training ropes, and adduction and abduction training ropes are distinguished by different colors, and the ends can be hung on the fixed positions or hanging rings of the corresponding colors of the ropes on both sides of the head end connector of the base.

[0027] The head end connector is also provided with a hook for fixing the rope that needs to be positioned when pulled to a certain extent.

[0028] The middle part of each of the internal and external rotation training ropes and the adduction and abduction training ropes passes through rope fixing tubes set on both sides of the linear guide rail.

[0029] The heel of the foot support plate and the calf support connecting rod of the calf support are rotatably connected through a foot hinge axis; in an initial state, the connection between the two is limited to a state of -5° dorsiflexion of the foot support plate; this dorsiflexion angle limit can be maintained or loosened during use.

[0030] The releasable function is achieved by using a press pen-style pressing structure: when the pressing column is pressed, it passes through the calf support connecting rod and extends into the foot hinge shaft, the two are stuck to form an initial state; when the pressing column is pressed again, it will rebound and disengage from the foot hinge shaft, and only stay in the calf support connecting rod, thereby releasing the foot support plate from the -5° dorsiflexion state.

[0031] A second degree rotating wheel with degree markings and a second parallel pointer are provided on the outer side of the calf support connecting rod hinged to the foot support plate to display the rotation angle of the foot support plate.

[0032] A pressure sensor is provided in the heel area of ​​the foot support plate. The pressure sensor is electrically connected to a pressure display screen, and the pressure display screen is exposed on the side of the foot support plate.

[0033] The main body of the foot support plate is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad and is provided with a detachable instep restraint strap. The heel is connected to a heel support with a memory foam pad; the foot memory foam pad is also equipped with a replaceable opening and closing pressure plate.

[0034] An encapsulation shell is used between the foot support plate and the support plate to encapsulate the elastic component.

[0035] The elastic component is a spring or a hydraulic rod.

[0036] On both sides of the linear guide rail, a vertical connecting plate is extended horizontally near the support frame, and the inner side of the support frame is connected to the outer side of the vertical connecting plate in a forward and backward rotation manner; a circular arc track is fixedly extended forward from the outer edge of each vertical connecting plate, the track groove faces upward, and a return spring is built-in at the lowest point; a rigid vertical sliding bar is extended vertically forward from both sides of the support frame, and the outer end of each vertical sliding bar is limited to slide in the circular arc track; in the initial state without external force, the support frame is in an upright state, the outer end of the vertical sliding bar is at the top of the circular arc track, and the spring is in a free state; when the user's foot is actively or passively or assisted in plantar flexion training, the foot support plate and the support plate are pressed toward the support frame, the support frame falls forward, and the outer end of the vertical sliding bar slides down in the circular arc track, squeezing the return spring; when the plantar flexion force is withdrawn, the restoring force of the return spring prompts the outer end of the vertical sliding bar to move upward, so that the support frame is upright again.

[0037] A hydraulic rod connecting seat is connected to the rear of each vertical connecting plate, and a hydraulic rod extends from the hydraulic rod connecting seat and is connected to the supporting frame.

[0038] The circular track is a quarter of a circle.

[0039] Pull ropes are connected to both sides of the bottom of the support frame.

[0040] The support frame includes triangular supports on both sides; each triangular support is composed of a telescopic rod, a support rod and a bottom connecting rod; the telescopic rod is located on the inner side, close to the vertical connecting plate, and is rotatably connected to the vertical connecting plate through a rotating shaft; the upper end of the support rod is sleeved outside the telescopic rod to allow its extension and retraction; the bottom connecting rod is fixedly connected between the telescopic rod and the bottom of the support rod; the top end of the telescopic rod is connected to the internal and external rotation training arc track to form a bow-shaped support frame.

[0041] On the outside of each vertical connecting plate, a support frame shell is used to protect the lower part of the arc track, the vertical sliding rod and the telescopic rod; the top and bottom ends of the support frame shell are correspondingly provided with narrow openings for the telescopic rod to swing back and forth; the support rod and the bottom connecting rod are located outside the support frame shell.

[0042] A pair of internal and external rotation training pull ropes respectively go up from the narrow openings at the bottom of the support frame shell on both sides, and are directly or indirectly connected to the internal and external rotation rollers; when the two internal and external rotation training pull ropes are pulled at the same time, the support frame will tilt forward, and when the pulling force is removed, the support frame will rebound under the action of the return force of the hydraulic rod and the return spring of the arc track, thereby realizing active plantar flexion and dorsiextension training controlled by the pull ropes.

[0043] A tension ring which can be slidably clamped in the track is provided at the through hole of the internal and external rotation training arc track, the internal and external rotation roller is sleeved in the tension ring, and two internal and external rotation training pull ropes are respectively connected to both sides of the tension ring.

[0044] The internal and external rotation training arc track is provided with a roller groove for accommodating the internal and external rotation rollers and a support rail for supporting the operation of the rollers. The through hole faces one side of the support plate and accommodates the internal and external rotation rollers to enter and exit the roller groove. On the side close to the support plate, a tension ring running groove rail parallel to the roller groove is also provided.

[0045] The inward and outward gear is an I-shaped gear, with gears at the upper and lower ends and a core shaft in the middle. Correspondingly, the meshing teeth are in two parallel rows. The I-shaped inward and outward gear is clamped in the I-shaped groove of the linear guide rail.

[0046] The two foot articulated shafts are respectively built with second motors for automatic dorsiextension and plantar flexion training, and the two second motors are electrically connected to the control system and are synchronously controlled.

[0047] The flexion and extension roller is internally provided with a first motor for automatic flexion and extension training;

[0048] The internal and external rotation roller is built with a third motor for automatic internal and external rotation training;

[0049] The spindle of the adduction and abduction gear has a fourth motor built into it for automatic adduction and abduction training;

[0050] The first motor, the third motor and the fourth motor are electrically connected to a control system for control.

[0051] The first motor, the second motor, the third motor and the fourth motor are electrically connected to an electric control box.

[0052] The electric control box is connected to the end of the linear guide rail, the control box has a built-in power supply or can be connected to a power supply, and is provided with a control display screen and control buttons; the wire interface extending from the electric control box is electrically connected to the circuit connector at the hollow part below the linear guide rail; the electric control box is plugged into the plug interface on the linear guide rail through a plug column.

[0053] Compared with the prior art, the beneficial effects of the present invention are mainly:

[0054] 1. Combination of rigidity and flexibility, with added hand ropes, foot pedals and pedal ropes for flexion and extension training, internal and external rotation training ropes, adduction and abduction training ropes. Whether it is flexion and extension training, internal and external rotation training of hip and knee joints, or adduction and abduction training of hip joints, you can use the healthy limb to actively assist the affected limb in training. Active training can be carried out with two limbs, three limbs, or four limbs, greatly improving the training effect.

[0055] 2. The hip adduction and abduction training mechanism adopts an arc track, and its arc is the same arc as the trajectory of rotation with the end of the base as the center and the length of the base as the radius, so that the range of adduction and abduction is expanded to 0-45 degrees, and the training effect is further improved.

[0056] 3. The present invention uses an elastic component to support the outside of the foot support, and the heel can be rotatably connected. The foot will not be fixed at a certain angle, but can change angle and rebound with stepping, which increases the freedom of the foot. Whether in internal and external rotation training, flexion and extension training, or adduction and abduction training, the foot can freely dorsiflex and plantar flex, and the ankle joint is more relaxed, which not only avoids sports injuries, but also greatly improves the training effect. It is also in line with the ankle pump training mode for preventing deep vein thrombosis of the lower limbs. Many elderly people have poor compliance in doing ankle pump training independently after knee surgery. This machine can be used instead of active training, which can also achieve the effect of preventing deep vein thrombosis of the lower limbs.

[0057] And by using the rebound assistance of this structure, the whole lower limb muscle relaxation exercise can be easily achieved. This method realizes the relaxation training of the five meridians of traditional Chinese medicine, making the patient feel comfortable and relaxing the lower limb muscles. Because it is also a meridian therapy, it can dredge the meridians and smooth the blood circulation, further effectively preventing deep vein thrombosis in the lower limbs. In clinical practice, it is found that assisting patients with lower limb overall exercise in the supine position through manipulation can promote the rapid recovery of muscle strength and muscle tension.

[0058] 4. The device of the present invention can imitate the movement of the hip, knee, ankle and toe joints of the human body when walking, and realize a walking training mode in a supine position. Avoid the lower limb robot movement in the prior art, which forces patients with lower limb muscle strength below level 3 (i.e., through the three major machine structures of the suspension device, exoskeleton bracket, and walking device) to stand. This training mode only emphasizes the imitation of normal functional training of the human body, ignores the pathological state of lower limb dysfunction, and does not pay enough attention to the lower limb multiple manipulation training mode. Practice has shown that it does not enable patients with muscle strength below level 3 to achieve lower limb function rehabilitation. However, through the supine imitation walking training mode of the present invention, the applicant has enabled two patients with high paraplegia with muscle strength of level 1 or below to achieve standing and walking functions in a short-term trial experiment.

[0059] 5. The device of the present invention is convenient for anti-spasm treatment, especially in the further optimized technical solution, the design of -5° dorsiflexion of the foot in the initial state is adopted, which is very convenient for anti-spasm training, and the unlocking of the initial state is very convenient.

[0060] 6. The device of the present invention can pull the pull rope to a certain extent and fix it, maintain a body position for a certain period of time, and lower limb lifting training is also very convenient to perform, especially further providing a telescopic rod on the support frame, which is very convenient for passive lifting training.

[0061] 7. The device of the present invention is based on the successful experience of the applicant in various manual treatments, and integrates various functional training modes, multi-joint training, and the mode of imitating human walking into one device. This device is also small and easy to carry, and is very convenient to operate for medical staff, caregivers, and patients themselves. Moreover, the structure is ingenious and simple, and the cost is low.

[0062] 8. In a further technical solution, the present invention also adopts electric control. When the patient is completely unable to perform active training or assisted training, the motor can be started to start rehabilitation training as soon as possible. A whole set of holistic rehabilitation training functions can also be started with one click. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 It is a three-dimensional schematic diagram of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention.

[0064] Figure 2 It is a three-dimensional schematic diagram from another angle of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention.

[0065] Figure 3 It is a three-dimensional schematic diagram of the base of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0066] Figure 4 The present invention is a schematic diagram of the foot pedal and the direction of the pull rope of the multifunctional lower limb rehabilitation training device that combines rigidity and flexibility.

[0067] Figure 5 It is a partial cross-sectional schematic diagram of the front end of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0068] Figure 6 It is a partially enlarged three-dimensional schematic diagram of the front end of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0069] Figure 7 It is a partially enlarged stereoscopic schematic diagram of the front end of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention from another angle.

[0070] Figure 8It is a three-dimensional schematic diagram of the calf support at the connection between the rigid-flexible multifunctional lower limb rehabilitation training device and the foot support of the present invention.

[0071] Fig. 9 It is a partial cross-sectional schematic diagram of the connection between the calf support and the foot support of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0072] Fig.10 It is a three-dimensional schematic diagram of the hip and ankle joint internal and external rotation training mechanism of the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention.

[0073] Fig.11 yes Figure 5 A partial enlarged view of part A.

[0074] Fig.12 It is a schematic diagram of the track for adduction and abduction of the rigid-flexible multifunctional lower limb rehabilitation training device of the present invention.

[0075] Fig.13 It is a schematic diagram of the installation of gears for the adduction and abduction of the multifunctional lower limb rehabilitation training device that combines rigidity and flexibility of the present invention.

[0076] Fig.14 It is a structural schematic diagram of the flexion and extension roller of the present invention installed with a first motor.

[0077] Fig.15 It is a schematic structural diagram of the internal and external rotating roller of the present invention having a third motor built therein.

[0078] Fig.16 It is a structural schematic diagram of the inward and outward gear of the present invention installed with a fourth motor.

[0079] Fig.17 It is a structural schematic diagram of a second motor for plantar flexion and dorsiflexion installed at the foot support plate of the present invention. DETAILED DESCRIPTION

[0080] The technical solutions of the preferred embodiments of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0081] For the convenience of description, Figure 1 For reference, the end of the device with the thigh support is defined as the head end, and the end with the electric control box and the foot support is defined as the end end; when describing the direction of movement, reference is made to the feeling of a person's legs when operating the training device. Movement of the foot toward the electric control box is defined as forward, and movement of the foot toward the thigh is defined as backward.

[0082] like Figure 1-13As shown, the multifunctional lower limb rehabilitation training device integrating rigidity and flexibility of the present invention mainly includes a base 100, a flexion and extension bracket 200, a hip and knee joint flexion and extension autonomous training control mechanism 300, an ankle joint dorsiextension and plantar flexion training mechanism 400, a hip and ankle joint internal and external rotation autonomous training mechanism 500, and a hip joint adduction and abduction autonomous training mechanism 600.

[0083] like Figure 1-3 As shown, the base 100 is composed of a linear guide rail 110 and a head end connector 120, and the flexion and extension bracket 200 is composed of a thigh bracket 210, a calf bracket 220 and a foot bracket 230 that are rotatably connected in sequence. The thigh bracket is hinged at the end to the head end connector 120, and the flexion and extension roller 231 under the foot bracket is supported in the linear groove 111 on the upper surface of the linear guide rail 110, so that the entire flexion and extension bracket 200 is supported above the base. The base also carries, supports and accommodates the above-mentioned various training mechanisms. This is the basic structure of the device.

[0084] The flexion and extension training of the hip and knee joints is to support the affected limb on the flexion and extension bracket, apply force to the flexion and extension roller 231, so that it reciprocates in the linear groove 111, thereby driving the flexion and extension bracket 200 to flex and extend repeatedly, and the hip and knee joints are flexed and extended. The flexion and extension roller 231 can be built-in with the first motor 710, such as Fig.14 As shown, when the patient's hands and feet have no strength to flex and extend the hip and knee joints by themselves, passive flexion and extension training is performed. In order to better restore the patient, the device is provided with a hip and knee joint flexion and extension autonomous training control mechanism 300 based on the background technology. The most important parts of this mechanism include: a flexion and extension hand rope 310, a foot pedal 320 and a foot pedal rope 330. The flexion and extension hand rope 310 is located on each side of the base, one end of each flexion and extension hand rope is detachably connected to the outer side surface of the head end connector 120, and the other end is connected to the bottom of the foot bracket. The outer side surface of the head end connector 120 is specially reserved with a fixed position or a hanging ring for the flexion and extension hand rope 310 to be detachably connected. As a preferred mode, the two flexion and extension hand ropes 310 on both sides of the head end connector 120 of the base can also be directly inserted into the interior of the linear guide 110 from the side surface of the head end connector, and combined into one rope, and the end is connected to the bottom end of the foot bracket. The patient pulls the two flexion and extension hand ropes 310 with his left and right hands at the same time, and the flexion and extension support can be flexed. Figure 1 , Figure 2 and Figure 4As shown, the linear guide 110 is hollow, and a long accommodating groove 150 is provided on each of the two side surfaces in the middle. The foot pedals 320 are a pair, located at the accommodating grooves 150 on both sides of the middle part of the linear guide 110. A fixed connection block 321 is rotatably connected between the two foot pedals 320, and the fixed connection block 321 is fixedly connected to the middle part of the inner part of the linear guide; a pair of fixed pulleys 3211 are arranged side by side in the fixed connection block, and the head end of each of the pedal pull ropes 330 is fixedly connected to the outer end of a foot pedal 320, and then sleeved in the fixed pulley, and then respectively pass around a groove of a double-groove fixed pulley 322, and finally fixedly connected to the rotating shaft of the flexion and extension roller 231; the double-groove fixed pulley 322 is fixedly connected to the empty groove in the end of the linear guide 110 (as shown in FIG. Figure 5 Thus, by stepping on any one of the pedals, the pedal pull rope 330 can be pulled to move the flexion and extension roller 231 forward (i.e., toward the end of the linear guide rail 110), and the flexion and extension bracket is straightened again. Figure 4 As shown. Each footrest 320 is retractable in length, and has a limit position in front of the footrest, and can only be rotated forward to open, and rotated backward to be folded and stored, so that the footrest can be folded at the accommodating groove 150 on the side of the linear guide 110 when not in use, and a switch door 151 can be set to close it. When a footrest is needed, the switch door 151 is opened, and the footrest is rotated and pulled out. The switch door is preferably a sliding door, which is hidden in the hollow inside the linear guide when it is pulled open.

[0085] Due to the setting of the above-mentioned hip and knee joint flexion and extension autonomous training control mechanism 300, when using the above-mentioned device for flexion and extension training, single-limb training, or three-limb linkage, or four-limb linkage can be achieved. If the patient needs to train only one lower limb, and the affected limb has the strength to perform autonomous flexion and extension on the flexion and extension bracket, the foot pedal and the flexion and extension hand rope can be omitted; if the affected limb cannot complete the flexion and extension training autonomously, the flexion and extension hand rope 310 can be removed, and the flexion and extension hand rope can be pulled with one or both hands to assist the flexion and extension bracket to flex the affected limb, and then the other healthy foot steps on the foot pedal to straighten the flexion and extension bracket forward. And so on.

[0086] When the patient is relatively strong and needs a relatively strong training, the resistance mechanism on the side of the linear groove 111 can be used to increase the friction force when the flexion and extension roller 231 is running. Figure 1-3 See Figure 6 , Fig.13, the resistance mechanism is arranged along the side of the linear groove 111, and can be arranged only on one side of a linear groove, or on both sides, or on both sides of the two linear grooves 111. The resistance mechanism is mainly facing the resistance surface 140 in the linear groove. The resistance surface is attached to a substrate. The substrate is relatively hard and rigid. The push rod 141 passes through the linear guide 110 from the side and is connected to the substrate, so that the telescopic function can be achieved by pressing. When the push rod 141 is pressed, the resistance surface and its substrate will be pushed inward to the set position, rubbing against the flexion and extension roller 231, increasing the resistance of active flexion and extension training; pressing the push rod 141 again, the push rod will withdraw, the resistance surface will retreat, and the friction with the flexion and extension roller 231 will be released. The push rod structure can be arranged according to the conventional prior art.

[0087] A hook 125 is also provided on the side of the head end connector 120 to fix the rope that is pulled to a certain extent and needs to be positioned. For example, the flexion and extension hand rope pulls the flexion and extension bracket to bend up to a suitable angle or height, and then the flexion and extension hand rope is hung on the hook 125 and tied up for a certain period of time, and calf raising training can be performed.

[0088] The ankle dorsiextension and plantar flexion training mechanism 400 of the present invention is, at its most basic, to allow the heel to swing back and forth and to set an elastic component on the sole of the foot. A further preferred solution is that dorsiextension and plantar flexion movements can be performed while training the internal and external rotation of the hip and ankle joints. The movements are natural and flexible, and combined with the aforementioned flexion and extension movements, it is a walking gait in a supine position.

[0089] like Figure 1 , Figure 2 , Figure 5-10 As shown, the most basic structure of the ankle dorsiflexion and plantar flexion training mechanism 400 includes: a support plate 410 is arranged outside the foot support plate 232 of the foot bracket 230, the lower end of the support plate 410 is hinged at the heel of the foot support plate 232, and an elastic component 420 is arranged between the upper end of the support plate and the forefoot of the foot support plate 232. The elastic component can be a spring or a hydraulic rod. In this embodiment, 9 hydraulic rods are preferably used in a circular distribution, and an encapsulation shell 421 is used between the foot support plate 232 and the support plate 410 to encapsulate the elastic component 420. In the initial natural state, the hydraulic rod is stretched. Due to the setting of the elastic component at the bottom of the foot support plate, the foot has room for movement after being placed in the foot support plate, and can be freely and dynamically adjusted according to the required degree of activity of the ankle joint. Comfortable adjustment. When the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle dorsiflexion and plantar flexion training. Due to the restoring force of the elastic component, the training is easier to perform.

[0090] The heel of the foot support plate 232 is rotatably connected to the calf support connecting rod 223 of the calf support 220 through the foot hinge shaft 430. Figure 8 , Fig. 9 As shown; in the initial state, the connection between the two is limited to the state of -5° dorsiflexion of the foot support. This dorsiflexion angle limitation can be maintained or loosened during use, and a pen-like pressing structure is used to achieve the releasable function: when the pressing column 440 is pressed, it passes through the calf support connecting rod 223 and extends into the foot hinge shaft 430, the two are stuck to form the initial state of -5° dorsiflexion of the foot support; when the pressing column 440 is pressed again, it will rebound and escape from the foot hinge shaft 430, and only stay in the calf support connecting rod 223, thereby loosening the state of -5° dorsiflexion of the foot support. Fixing the foot support in the state of -5° dorsiflexion can resist spasms. When the patient has lower limb contracture or lower limb spasm, passive training is still needed. The foot support plate can be fixed at the dorsiflexion -5° (adjusting this degree needs to ensure that there is no fracture and soft tissue damage in the ankle joint). At this time, the first motor 710 built into the flexion and extension roller 231 can be started to passively perform hip and knee flexion and extension training for 5-10 minutes. This training method can promote the lengthening of contracted muscles and relieve lower limb spasm. When it is used as power training, the first motor 710 stops. If the patient has no lower limb spasm, press the push column 440 to release the dorsiflexion -5° position of the foot support plate, so that the ankle joint is in a free and comfortable state for training after the foot is placed in the foot support plate.

[0091] like Figure 1 , 2 As shown in FIGS. 6 and 7, the main body of the foot support plate 232 is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad 2327, provided with a detachable instep strap 2328, and a heel support 2329 with a memory foam pad connected to the heel; and equipped with an openable pressure plate 23271, which is convenient for installing and replacing the foot memory foam pad 2327. The heel area of ​​the foot support plate 232 is provided with a pressure sensor 233, which can be placed under the foot memory foam pad 2327, and the pressure sensor is electrically connected to a pressure display screen 234, and the pressure display screen is exposed on the side of the foot support plate.

[0092] For those who are unable to actively perform dorsiflexion and plantar flexion training, the present invention has a second motor 720 built into the two hinge shafts 430 connected to the two calf support connecting rods 223 of the calf support 220 at the heel of the foot support plate 232, such as Fig.17 As shown, the two second motors are synchronously controlled to rotate forward and reversely to perform passive dorsiflexion and plantar flexion training.

[0093] By adopting the device of the present invention, autonomous dorsiflexion and plantar flexion training can also be performed, and the control mechanism of the autonomous dorsiflexion and plantar flexion training is integrated with the autonomous training of internal and external rotation of the hip and ankle joints.

[0094] like Figure 2 , 3 As shown in Figures 6, 7, and 11, the most basic structure of the hip and ankle joint internal and external rotation autonomous training mechanism 500 of the present invention includes: a support frame 510 arranged outside the support plate 232, and an internal and external rotation training arc track 520 is arranged on the support frame, a through hole 521 is provided at the top of the internal and external rotation training arc track 520, and an internal and external rotation roller 450 that can be inserted into the through hole and supported to rotate on the track is provided at a corresponding position of the support bottom plate; one end of a pair of internal and external rotation training pull ropes 530 are detachably connected to the outer side surface of the head end connecting head 120 for the user to pull, and the other end can drive the internal and external rotation roller 450 to rotate left and right on the internal and external rotation training arc track 520 through the support frame 510, thereby pulling the foot support plate 232 to rotate left and right, thereby realizing the internal and external rotation training of the user's foot. If it is used only for internal and external rotation training, the support frame can be of various types, as long as the upper part is provided with an internal and external rotation training arc track 520 to provide support for the internal and external rotation roller 450 to roll left and right, and the internal and external rotation training pull rope 530 can be directly or indirectly connected to the internal and external rotation roller 450, as long as it can drive it to roll left and right. As a preferred mode of this embodiment, a triangular support frame can be used, for example: the support frame 510 includes triangular supports on both sides; each triangular support is composed of a telescopic rod 550, a support rod 560 and a bottom connecting rod 570; the telescopic rod 550 is located on the inner side, close to the vertical connecting plate 130, and is rotatably connected to the vertical connecting plate 130 through a rotating shaft 580; the upper end of the support rod 560 is sleeved on the outside of the telescopic rod 540 to allow it to be telescopic; the bottom connecting rod 560 is fixedly connected between the telescopic rod 550 and the bottom of the support rod 560; the top of the telescopic rod 550 is connected to the internal and external rotation training arc track 520 to form a bow-shaped support frame. Since the telescopic rod 550 can be extended and shortened up and down on the triangular bracket, it can also be used for calf raising training.

[0095] In order to integrate active dorsiflexion and plantar flexion training with the internal and external rotation autonomous training mechanism, the present invention optimizes the support scheme and adopts a support frame structure that can fall forward and return to its original position, specifically:

[0096] On both sides of the linear guide rail 110, near the support frame 510, a vertical connecting plate 130 is extended horizontally, and the inner side of the support frame 510 is connected to the outer side of the vertical connecting plate 130 in a rotatable manner forward and backward, specifically through a rotating shaft 580; from the outer edge of each vertical connecting plate 130, a circular arc track 131 is fixedly extended forward, preferably a quarter arc, with the track groove facing upward, and a return spring (not shown in the figure) is built in at its lowest point; from the telescopic rods 550 on both sides of the support frame 510, a rigid vertical sliding rod 540 is extended vertically forward respectively, and the outer end of each vertical sliding rod is limited to slide in the circular arc track 131 at the corresponding position; in order to hold the support frame more firmly and restore the vertical state of the support frame more forcefully, a hydraulic rod connecting seat 132 is connected to the back of each vertical connecting plate 130, and a hydraulic rod 133 is extended from it to be connected to the telescopic rod 550 of the support frame 510. In the initial state without external force, the support frame is upright, the outer end of the vertical slide bar 540 is at the top of the circular arc track 131, and the spring is in a free state; when the user's foot is actively or passively or assisted in plantar flexion training, the foot support plate 232 and the support plate 410 are pressed toward the support frame 510, the telescopic rod 550 and the support frame 510 fall forward, and the outer end of the vertical slide bar 540 slides down in the circular arc track 131, squeezing the reset spring; when the plantar flexion force is withdrawn, the restoring force of the reset spring and the hydraulic rod causes the outer end of the vertical slide bar 540 to move upward, and the support frame 510 is upright again.

[0097] like Figure 1-3 As shown, on the outer side of each of the vertical connecting plates 130, a support frame shell 501 is used to protect the lower part of the arc track 131, the vertical sliding rod 540 and the telescopic rod 550; narrow openings are correspondingly provided at the top and bottom ends of the support frame shell 501 for the telescopic rod 550 to swing back and forth; the support rod 560 and the bottom connecting rod 570 are located outside the support frame shell 501.

[0098] In order to autonomously perform plantar flexion and dorsiflexion training, it is necessary to autonomously control the tilting of the support frame. A pull rope can be simply connected to both sides of the bottom of the support frame, extending to both ends of the first end connector 120 of the base. When pulled manually, the support frame can tilt forward. When the tension is released, the support frame returns to an upright position. However, in order to share the pull rope with internal and external rotation training, the preferred solution of this embodiment is as follows Figure 6 , Figure 7 , Fig.10As shown: a pair of internal and external rotation training ropes 530 are respectively inserted upward from the narrow openings at the bottom of the support frame housing 501 on both sides, and connected to the internal and external rotation rollers 450. The connection can be direct or indirect. When the two internal and external rotation training ropes 530 are pulled at the same time, the support frame will tilt forward. When the pulling force is removed, the support frame will rebound under the action of the return force of the hydraulic rod 133 and the return spring of the arc track 131, thereby realizing active plantar flexion and dorsiflexion training controlled by the ropes. Fig.10 As shown, a tension ring 525 is provided at the through hole 521 of the internal and external rotation training arc track 520, which can be slidably clamped in the track, and the internal and external rotation roller 450 is sleeved in the tension ring 525. The two internal and external rotation training ropes 530 are respectively connected to the two sides of the tension ring, which belongs to the internal and external rotation training ropes 530 indirectly connected to drive the internal and external rotation rollers 450. Fig.11 As shown, the internal and external rotation training arc track 520 is provided with a roller groove 522 for accommodating the internal and external rotation roller 450 and a support rail 523 for supporting the roller to run. The through hole 521 faces one side of the support plate 410 and accommodates the internal and external rotation roller 450 to enter and exit the roller groove 522. On the side close to the support plate 410, a tension ring running groove 524 parallel to the roller groove 522 is also provided. When the trainer pulls the internal and external rotation training rope 530 with his left hand, the tension ring 525 pulls the internal and external rotation roller 450 to rotate leftward on the internal and external rotation training arc track 520, and the hip joint of the affected leg rotates to the left; when the internal and external rotation training rope 530 is pulled by the right hand, the hip joint of the affected leg rotates to the right; when both hands pull the internal and external rotation training rope 530 at the same time, the support frame tilts forward and then resets, which shows that autonomous internal and external rotation training combined with autonomous plantar flexion and dorsiflexion training is achieved. At the same time, the sole of the foot can also step on the elastic component 420, which makes training more comfortable and free. These structures make it possible to simulate a more natural gait in the supine position, and the training effect is greatly improved. Patients who are still unable to train independently need early and timely training. A third motor 730 is built into the internal and external rotation roller 450 to provide passive training, such as Fig.15 shown.

[0099] like Figure 1-3As shown in Figures 5, 12, and 13, the hip joint adduction and abduction autonomous training mechanism 600 of the present invention comprises: an adduction and abduction training arc track 610 is provided inside the support frame 510 and located at the lower end of the linear guide 110, and its arc is the same arc as the trajectory rotating with the base end as the center and the base length as the radius, and its arc-shaped inner concave surface is provided with meshing teeth 611, and the meshing teeth are preferably in two upper and lower rows parallel to each other; an I-shaped adduction and abduction gear 620 is rotatably and vertically fixed in an I-shaped groove 622 at a corresponding position at the lower end of the linear guide 110, with gears at the upper and lower ends and a core shaft 621 in the middle, and its gears The wheel surface meshes with the meshing teeth 611; the adduction and abduction gear 620 has a rotatable core shaft 621, and two adduction and abduction training ropes 630 are respectively connected to the two sides of the core shaft, or only one adduction and abduction training rope 630 is fixedly connected to the two sides of the core shaft of the adduction and abduction gear 620 through and then extends along the linear guide 110 to the first end connector 120 of the base and is detachably fixed on both sides, so that the user can pull with his left and right hands in turn to drive the adduction and abduction gear 620 to roll back and forth on the meshing teeth 611, thereby driving the linear guide 110 to swing in an arc left and right, and realizing active training of adduction and abduction of the hip joint. Patients who are still unable to train independently need early and timely training. A fourth motor 740 for automatic adduction and abduction training is built into the core shaft 621 of the adduction and abduction gear 620, which can provide passive training, such as Fig.16 shown.

[0100] In order to facilitate control, a common control method in the prior art can be adopted. For example, as shown in the figure, an electric control box 700 is connected to the end of the linear guide 110. The control box has a built-in power supply or can be connected to a power supply, and is provided with a display screen 701 and a control button 702. The display screen 701 can view the rotation angle, speed and other parameters during passive rehabilitation training; the control button 702 can turn on and off the machine and start the four passive rehabilitation training modes of the first, second, third and fourth motors, and can also start the overall rehabilitation training function with one key; the wire interface 703 extending from the electric control box is electrically connected to the circuit connector 113 at the hollow part below the linear guide 110; the electric control box 700 is plugged into the plug interface 112 on the linear guide 110 through the plug column 704. The first motor 710, the second motor 720, the third motor 730 and the fourth motor 740 are electrically connected to the electric control box to achieve control.

[0101] For ease of use, each pair of the flexion and extension hand ropes 310, the internal and external rotation training ropes 530, and the adduction and abduction training ropes 630 are distinguished by different colors, and the ends can be hung on the fixed positions or hanging rings of the corresponding colors of the ropes on both sides of the head end connector 120 of the base. The middle part of each of the internal and external rotation training ropes 530 and the adduction and abduction training ropes 630 passes through the rope fixing tubes 160 set on the two sides of the linear guide rail 110.

[0102] The preferred embodiment of the base and the flexion-extension bracket of the present invention is further described, which is basically similar to the background technology.

[0103] The head end connector 120 of the base is composed of a T-shaped plug-in slot 122 in the middle and two nearly L-shaped plug-in parts 123; the main plug-in slot of the T-shaped plug-in slot 122 is sleeved outside the linear guide 110, and one of the plug-in parts 123 is respectively plugged in on both sides. The plug-in depth is adjusted by pressing the depth adjustment button 124, and then the width of the head end connector 120 is adjusted. The ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two plug-in parts 123 through a rotating shaft. By pressing the depth adjustment button 124, the spacing between the two telescopic rods at the bottom can be adjusted to adapt to different leg circumferences. The linear guide is hollow inside, and grooves are opened on the upper surface, side surfaces and front to accommodate or connect other components. Two parallel linear grooves 111 are provided on the upper surface of the linear guide rail along the length direction. The flexion and extension roller 231 connected to the bottom end of the foot bracket is I-shaped and is received in the linear groove 111. It can reciprocate back and forth, thereby realizing the reciprocating flexion and extension of the flexion and extension bracket above the base.

[0104] like Figure 1-2As shown, the thigh support 210 and the calf support 220 each have four retractable rods arranged roughly in a matrix, forming a channel for accommodating the thighs and calves along the direction of the retractable rods; a left-right retractable sheet is connected between the two retractable rods at the bottom, and the outside of the left-right retractable sheet is wrapped with a flexible cloth-like material 212, which can be fabric, or plastic or leather. When the spacing between the two retractable rods at the bottom is adjusted, the retractable sheet can be adaptively retracted, and the main function of the left-right retractable sheet is to support the thigh and prevent it from sagging; if each retractable rod is divided into two retractable sections, the flexible cloth-like material 212 can be divided into two pieces, one piece is connected to the front section of the retractable rod, and the other piece is connected to the rear section of the retractable rod, so that the retraction of the retractable rod will not be affected by the flexible cloth-like material; an elastic binding strap 213 is connected between the two retractable rods at the top; the upper and lower retractable rods are connected by a vertical support rod 214. The thigh support and the calf support are rotatably connected via a chuck 241 that can limit the upper limit of the rotation angle and a first degree rotating wheel 242 with a rotation degree mark. A first parallel pointer 243 is provided on the outer side of the first degree rotating wheel with a degree mark. When the flexion and extension support 200 flexes and extends, the rotation angle can be indicated. This structure is the same as the background technology.

[0105] For more information on the connection between the calf support and the foot support, please refer to Figure 8 , 9 15. The foot support plate 232 is connected to the connecting rod 223 of the two calf supports through a foot hinge shaft 430 arranged on the foot support plate, which can limit the rotation range. A second degree rotating wheel 2324 with degree markings is also provided on the outer side of each calf support connecting rod 223. A second parallel pointer 2325 is also provided on the outer side of the second degree rotating wheel 2324 to display the rotation angle of the foot support plate.

[0106] Taking the left lower limb as an example, the working process of the rigid-flexible fusion lower limb rehabilitation robot training device of the present invention is as follows:

[0107] Step 1: Preparation stage: The patient lies flat on his back, and the training device is placed parallel to the patient's affected limb. The affected limb is placed into the device according to the position of the thigh, calf, and foot, and the device is adjusted according to the size and length of the affected limb.

[0108] Step 2: Hip and knee joint training When performing passive training, operate the electrical control box to start the corresponding first motor 710, so that the patient's hip and knee joints can be trained with the flexion and extension of the flexion and extension bracket. This method is suitable for passive exercise without help, when the patient is performing passive training 6 hours after lower limb surgery or 24 hours after the condition of stroke or paraplegia has stabilized.

[0109] When the patient has lower limb contracture or lower limb spasm, passive training is still required. The foot support plate of the ankle joint training device can be fixed at the dorsiflexion position of -5° (to adjust this degree, ensure that there is no fracture or soft tissue injury in the ankle joint), and then turn on the corresponding motor to perform hip and knee flexion and extension training for 5-10 minutes (this training method can promote the lengthening of contracted muscles and relieve lower limb spasm).

[0110] Active training is the most recommended training program for rehabilitation training. When performing the power training mode, the motor is not turned on. If there is no lower limb spasm, there is no need to emphasize the fixed dorsiflexion position of -5° on the foot support. After the foot is placed in the foot support, the ankle joint is in a free and comfortable state. The two healthy upper limbs pull the flexion and extension hand rope 310 in the centripetal direction, so that the device can flex the lower limbs under the drive of the rope; instruct the patient to push the foot support with the left lower limb (if the patient has undergone lower limb fracture surgery, the force should be applied according to the degree of pain and muscle tightness to avoid excessive force that may cause internal bone fixation displacement or wound rupture). If the strength of the affected limb cannot change the device from the flexed state to the extended state, the right lower limb should step on the foot pedal 320, and both lower limbs should push in the toe direction with appropriate force to promote Straighten the left lower limb. If the ankle joint is in a free position, the force of the foot will promote the joint movement of the hip, knee, ankle and toe joints when it is straightened. This movement pattern also imitates the range of motion of the four joints of the human body when walking. Due to the elastic component setting of the support plate at the bottom of the foot support and the return setting of the support frame, the ankle and toe joints can move together during the flexion and extension of the hip and knee joints. When the hip and knee joints are flexed, the rebound device of the support frame promotes dorsiflexion of the ankle and toe joints. When the hip and knee joints are straightened, each toe of the foot gently presses the elastic component on the sole of the foot support to promote plantar flexion of the ankle and toe joints. Therefore, this movement pattern is also called gait training in supine position or lower limb core muscle training.

[0111] Step 3: Ankle dorsiflexion and plantar flexion training Release the foot support plate to dorsiflex -5°, keep the left lower limb in an extended position, and place the foot in a free position. When it is used as a passive training, operate the electric control box, start the corresponding second motor 720, and the left lower limb ankle joint performs passive dorsiflexion and plantar flexion training as the foot support plate rotates with the dorsiflexion and plantar flexion. When it is used as a power training, stop the motor operation and change to manual autonomous training. At this time, the patient can step on the foot support plate with the healthy right foot to plantar flex the left ankle joint. After the healthy right foot releases the foot support plate, the elastic component 234 at the bottom of the sole of the foot support plate, and the return spring of the support frame and the rebound force of the hydraulic rod 133 are used to promote the dorsiflexion training of the left ankle joint. When used as active training, the elastic component 234 of the foot support plate, the return spring of the support frame and the rebound force of the hydraulic rod 133 keep the left ankle joint in the dorsiflexion state. At this time, only a small amount of force is needed to press the foot support plate with each toe to achieve plantar flexion training of the ankle-toe joint. When the toes are relaxed and no force is applied, the dorsiflexion training of the ankle-toe joint is promoted due to the rebound effect.

[0112] Step 4: Hip and ankle joint internal and external rotation training Keep the left lower limb in an extended position. When doing passive training, start the corresponding third motor 730, plantar flex the foot support plate, and let the roller 450 on the dorsal side of the internal and external rotation pass through the through hole 521, support it to roll back and forth in the arc track, and realize the passive training of hip and ankle joint internal and external rotation. When doing power training, stop the motor, pull the corresponding internal and external rotation training rope 530 with both upper limbs, and drive the roller to roll back and forth in the arc track through the tension ring 525, so as to realize the power training of hip and ankle joint internal and external rotation. When actively training the affected limb, you only need to make the main movement of the left foot to rotate internally and externally, and you can easily and freely perform internal and external rotation in the slide rail.

[0113] Step 5: Hip abduction and adduction training. Keep the left lower limb in an extended position. When doing passive training, the lower limb is in an extended position. Start the corresponding fourth motor 740 to drive the I-shaped gear to move inward and outward on the arc track to achieve hip abduction and adduction training. When doing power-assisted training, stop the motor, pull the adduction and abduction training rope 630 with both upper limbs to assist the device to move on the arc track to achieve hip abduction and adduction power-assisted training. When doing active training, just place the left lower limb on the device of the present invention, and use appropriate force to move the left lower limb inward and outward on the arc track to achieve active hip abduction and adduction training.

[0114] Step 6: Lower limb relaxation training: Keep the left lower limb in an extended position and place the foot freely; continue to keep the left lower limb in an extended position, plantar flex the foot support plate, use the roller 450 for internal and external rotation to be sleeved on the internal and external rotation training arc track 520, and step on the foot support plate with each toe of the left foot at a radius of 5-10° for 1-2 minutes (20-30 times / minute back and forth). Through the rebound force, the ankle joint can be quickly extended and plantar flexed, which can drive the rapid vibration of the front and back muscle groups of the entire lower limb. Through the support frame, the left foot is quickly swung 5-10° to the left and outward for 1-2 minutes (20-30 times / minute back and forth), realizing the rapid vibration of the internal and external muscle groups of the left lower limb. These two actions realize the lower limb relaxation treatment of traditional Chinese medicine.

[0115] Step 7: Calf raising training, instruct the patient to pull the flexion and extension hand rope 310 upwards with both healthy upper limbs to make the flexion and extension bracket 200 bend the knee (30-60°), and wrap the rope around the hook 125 on the side of the first end connector 120 of the base; fix the rope, instruct the patient to straighten the knee joint (active knee extension movement can be performed with muscle strength of level 2 or above), that is, to achieve calf raising training. This training program can quickly restore muscle strength to level 3.

[0116] The multifunctional lower limb rehabilitation training device of the present invention, which integrates rigidity and flexibility, is provided with a one-button start holistic rehabilitation training function in its electric control box. Through the one-button start, hip and knee joint flexion and extension training is first performed for 10 minutes, then ankle joint dorsiflexion and plantar flexion training is performed for 10 minutes, followed by hip and ankle joint internal and external rotation training for 3 minutes, followed by hip joint abduction and adduction training for 3 minutes, and finally relaxation training is performed for 1-2 minutes. The whole process takes about 30 minutes and runs automatically throughout the process.

Claims

1. A multifunctional lower limb rehabilitation training device that integrates rigidity and flexibility, comprising a base (100) and a flexion and extension bracket (200); the main body of the base (100) is a linear guide rail (110), which is connected to a head end connector (120), and a linear groove (111) is provided on the linear guide rail along the length direction; the flexion and extension bracket (200) is composed of a thigh bracket (210), a calf bracket (220) and a foot bracket (230) that are rotatably connected in sequence; the outer end of the thigh bracket (210) is rotatably connected to the head end connector (120), and the bottom end of the foot bracket (230) is connected to a flexion and extension roller (231), and the flexion and extension roller (231) can reciprocate on the linear groove (111) to realize the reciprocating flexion and extension of the flexion and extension bracket above the base; characterized in that The rigid-flexible multifunctional lower limb rehabilitation training device also includes a hip and knee joint flexion and extension autonomous training control mechanism (300), an ankle joint dorsiflexion and plantar flexion training mechanism (400), a hip and ankle joint internal and external rotation autonomous training mechanism (500), and a hip joint adduction and abduction autonomous training mechanism (600); The hip and knee joint flexion and extension autonomous training control mechanism (300) comprises: a flexion and extension hand rope (310), a foot pedal (320) and a foot pedal rope (330); the flexion and extension hand rope (310) is located at each side of the base, one end of each flexion and extension hand rope is detachably connected to the outer side surface of the head end connector (120), and the other end is connected to the bottom of the foot support, and the two flexion and extension hand ropes (310) are pulled toward the head end connector (120) of the base at the same time to allow the flexion and extension support to flex; the foot pedal (320) is a pair of slidably connected to both sides of the middle part of the linear guide rail (110), and stepping on any one of the foot pedals can pull the foot pedal rope (330) to allow the flexion and extension support to straighten again; The ankle joint dorsiflexion and plantar flexion training mechanism (400) comprises: a support plate (410) is provided outside the foot support plate (232) of the foot support (230), the lower end of the support plate (410) is hinged to the heel of the foot support plate (232), and an elastic component (420) is provided between the upper end of the support plate and the forefoot of the foot support plate (232), when the user's foot repeatedly steps on and releases the foot support plate, the elastic component can be compressed and released to perform ankle joint dorsiflexion and plantar flexion training; The hip and ankle joint internal and external rotation autonomous training mechanism (500) comprises: a support frame (510) arranged outside the support plate (232), an internal and external rotation training arc track (520) being provided on the support frame, a through hole (521) being provided at the top of the internal and external rotation training arc track (520), and an internal and external rotation roller (450) being provided at the bottom of the support plate and being capable of being inserted into the through hole and supported to rotate on the track; one end of a pair of internal and external rotation training pull ropes (530) being detachably connected to the outer side surface of the head end connector (120) for the user to pull, and the other end thereof being capable of driving the internal and external rotation rollers (450) to rotate left and right on the internal and external rotation training arc track (520) through the support frame (510), thereby pulling the foot support plate (232) to rotate left and right, thereby realizing internal and external rotation training of the user's foot; The hip joint adduction and abduction autonomous training mechanism (600) comprises: an adduction and abduction training arc track (610) is provided inside the support frame (510) and at the lower end of the linear guide rail (110), the arc shape of which is the same arc as the trajectory of rotation with the base end as the center and the base length as the radius, and the inner concave surface of the arc is provided with meshing teeth (611); an adduction and abduction gear (620) is rotatably connected vertically at a corresponding position at the lower end of the linear guide rail (110), and the adduction and abduction gear (620) is meshed with the meshing teeth (611); the adduction and abduction gear (61 ... 20) has a rotatable core shaft (621), two adduction and abduction training ropes (630) are respectively connected to the two sides of the core shaft, or only one adduction and abduction training rope (630) is fixedly connected to the two sides of the core shaft of the adduction and abduction gear (620) through the linear guide rail (110), and then extends to the two sides of the head end connector (120) of the base and is detachably fixed, so that the user can pull it by hand to drive the adduction and abduction gear (620) to mesh and roll on the meshing teeth (611), thereby driving the linear guide rail (110) to swing in an arc to the left and right, so as to realize active adduction and abduction training of the hip joint.

2. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: A pair of foot pedals (320) are fixedly connected to the middle part below the linear guide rail via a fixed connection block (321) therebetween; a pair of fixed pulleys arranged side by side are arranged in the fixed connection block; the head end of each foot pedal pull rope is fixedly connected to the outer end of a foot pedal (320), then sleeved in the fixed pulley, then respectively passed through a groove of a double-groove fixed pulley (322), and finally fixedly connected to the rotating shaft of the flexion and extension roller (231); the double-groove fixed pulley (322) is fixedly connected to the empty groove in the end of the linear guide rail (110); The foot pedal (320) is rotatably and foldably connected to the fixed connection block (321), so that the foot pedal can be opened and closed, folded, and attached to the accommodating groove (150) in the linear guide rail (110).

3. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 is characterized in that: A retractable resistance mechanism is provided along at least one side surface of each linear groove (111), including a resistance surface (140) facing the linear groove, the resistance surface being attached to a base plate, and a push rod (141) which can realize a retractable function by pressing passes through the linear guide rail (110) from the side and is connected to the base plate, and pressing the push rod (141) can push the resistance surface and its base plate to move inward, rubbing against the flexion and extension roller (231), thereby increasing the resistance of active flexion and extension training; pressing the push rod (141) again can release the friction between the resistance surface and the flexion and extension roller (231).

4. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 is characterized in that: The two flexing and extending hand-pulling ropes (310) on both sides of the base are connected to the inside of the linear guide rail and combined into one rope, and the ends are connected to the bottom end of the foot support.

5. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 1 is characterized in that: The thigh support (210) and the calf support (220) each have four retractable rods arranged in a matrix to form a channel for accommodating the thigh and calf, a flexible cloth (212) is connected between the two retractable rods at the bottom, and an elastic binding strap (213) is connected between the two retractable rods at the top; the upper and lower retractable rods are connected by a vertical support rod (214); The head end connector (120) of the base is composed of a T-shaped plug-in slot (122) in the middle and two nearly L-shaped plug-in parts (123); the main plug-in slot of the T-shaped plug-in slot (122) is sleeved outside the linear guide rail (110), and one of the plug-in parts (123) is respectively plugged in on both sides, and the plug-in depth is adjusted by pressing the depth adjustment button (124); the ends of the two telescopic rods at the bottom of the thigh support are connected to the top through holes of the two plug-in parts (123) through a rotating shaft, and the depth adjustment button (124) can be pressed to adjust the distance between the two telescopic rods at the bottom to adapt to different leg circumferences; The thigh support and the calf support are rotatably connected via a chuck (241) capable of limiting the upper limit of the rotation angle and a first degree rotating wheel (242) with a rotation degree mark. The first degree rotating wheel with the degree mark is provided with a first parallel pointer (243) outside, which can indicate the rotation angle when the flexion and extension support (200) is flexed and extended.

6. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 is characterized in that: Each pair of the flexion and extension hand ropes (310), internal and external rotation training ropes (530), and adduction and abduction training ropes (630) are distinguished by different colors, and the ends can be hung on the two sides of the head end connector (120) of the base on the fixed positions or hanging rings of the corresponding colors of the ropes.

7. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 is characterized in that: The head end connector (120) is also provided with a hook (125) for fixing the rope that is pulled to a certain extent and needs to be positioned.

8. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 is characterized in that: The middle portion of each of the internal and external rotation training ropes (530) and the adduction and abduction training ropes (630) passes through rope fixing tubes (160) set on two side surfaces of the linear guide rail (110).

9. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: The heel of the foot support plate (232) is rotatably connected to the calf support connecting rod (223) of the calf support (220) via a foot hinge shaft (430); in an initial state, the connection between the two is limited to a state where the foot support plate is dorsiflexed at -5°; this dorsiflexion angle limit can be maintained or loosened during use.

10. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 9, characterized in that: A pen-like pressing structure is used to realize the releasable function: when the pressing column (440) is pressed, it passes through the calf support connecting rod (223) and extends into the foot hinge shaft (430), the two are stuck to form an initial state; when the pressing column (440) is pressed again, it will rebound and disengage from the foot hinge shaft (430) and only stay in the calf support connecting rod (223), thereby releasing the foot support plate from the -5° dorsiflexion state.

11. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: A second degree rotating wheel (2324) with degree markings and a second parallel pointer (2325) are provided on the outer side of the calf support connecting rod (223) hinged to the foot support plate (232) to display the rotation angle of the foot support plate.

12. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 9, characterized in that: A pressure sensor (233) is provided in the heel area of ​​the foot support plate (232), and the pressure sensor is electrically connected to a pressure display screen (234), and the pressure display screen is exposed on the side of the foot support plate.

13. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: The main body of the foot support plate (232) is a foot-shaped hollow metal plate, which is covered with a foot memory foam pad (2327), is provided with a detachable instep strap (2328), and is connected to a heel support (2329) with a memory foam pad at the heel; the foot memory foam pad (2327) is also equipped with a replaceable openable and closable pressure plate (23271).

14. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: A packaging shell (421) is used between the foot support plate (232) and the support plate (410) to package the elastic component (420).

15. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: The elastic component (420) is a spring or a hydraulic rod.

16. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 10, characterized in that: A vertical connecting plate (130) is extended horizontally from each side of the linear guide rail (110) near the support frame (510), and the inner side of the support frame (510) is connected to the outer side of the vertical connecting plate (130) in a manner that it can rotate forward and backward; a circular arc track (131) is fixedly extended forward from the outer edge of each vertical connecting plate (130), the track groove faces upward, and a return spring is built into the lowest point; a rigid vertical sliding rod (540) is extended vertically forward from each side of the support frame (510), and the outer end of each vertical sliding rod is limited to slide in the circular arc track (131); when not affected by In the initial state of the external force, the support frame is in an upright state, the outer end of the vertical slide bar (540) is at the top of the circular arc track (131), and the spring is in a free state; when the user's foot is actively or passively or assisted in plantar flexion training, the foot support plate (232) and the support plate (410) are pressed down toward the support frame (510), and the support frame (510) falls forward, and the outer end of the vertical slide bar (540) slides down in the circular arc track (131), squeezing the reset spring; when the plantar flexion force is withdrawn, the restoring force of the reset spring causes the outer end of the vertical slide bar (540) to move upward, and the support frame (510) is upright again.

17. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 16, characterized in that: A hydraulic rod connection seat (132) is connected to the rear of each vertical connection plate (130), from which a hydraulic rod (133) extends and is connected to the support frame (510).

18. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 16, characterized in that: The circular arc track (131) is a quarter circular arc.

19. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 16, characterized in that: Pull ropes are connected to both sides of the bottom of the support frame.

20. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 16, characterized in that: The support frame (510) includes triangular supports on both sides; each triangular support is composed of a telescopic rod (550), a support rod (560) and a bottom connecting rod (570); the telescopic rod (550) is located on the inner side and close to the vertical connecting plate (130), and is rotatably connected to the vertical connecting plate (130) through a rotating shaft (580); the upper end of the support rod (560) is sleeved on the outside of the telescopic rod (540) to allow its extension and retraction; the bottom connecting rod (560) is fixedly connected between the telescopic rod (550) and the bottom of the support rod (560); the top end of the telescopic rod (550) is connected to the internal and external rotation training arc track (520) to form a bow-shaped support frame.

21. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 20, characterized in that: On the outside of each vertical connecting plate (130), a support frame shell (501) is used to protect the lower part of the circular arc track (131), the vertical sliding rod (540) and the telescopic rod (550); the top and bottom ends of the support frame shell (501) are respectively provided with narrow openings for the telescopic rod (550) to swing back and forth; the support rod (560) and the bottom connecting rod (570) are located outside the support frame shell (501).

22. The multifunctional lower limb rehabilitation training device integrating rigidity and flexibility according to claim 20, characterized in that: A pair of internal and external rotation training pull ropes (530) respectively go up from the narrow openings at the bottom of the support frame shell (501) on both sides, and are directly or indirectly connected to the internal and external rotation rollers (450); when the two internal and external rotation training pull ropes (530) are pulled at the same time, the support frame will tilt forward, and when the pulling force is removed, the support frame will rebound under the action of the return force of the hydraulic rod (133) and the return spring of the arc track (131), thereby realizing active plantar flexion and dorsiflexion training controlled by the pull ropes.

23. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1 or 22, characterized in that: A tension ring (525) slidably mounted in the track is provided at the through hole (521) of the internal and external rotation training arc track (520); the internal and external rotation roller (450) is sleeved in the tension ring (525); and two internal and external rotation training pull ropes (530) are respectively connected to two sides of the tension ring.

24. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 23, characterized in that: The internal and external rotation training arc track (520) is provided with a roller groove (522) for accommodating the internal and external rotation roller (450) and a support rail (523) for supporting the operation of the roller; the through hole (521) faces one side of the support plate (410) to accommodate the internal and external rotation roller (450) to enter and exit the roller groove (522); on the side close to the support plate (410), a tension ring running groove rail (524) parallel to the roller groove (522) is also provided.

25. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 1, characterized in that: The inward and outward gear (620) is an I-shaped gear, with gears at the upper and lower ends and a core shaft (621) in the middle. Correspondingly, the meshing teeth are in two upper and lower rows parallel to each other. The I-shaped inward and outward gear (620) is clamped in the I-shaped groove (622) of the linear guide rail (110).

26. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 9, characterized in that: The two foot hinge shafts (430) are respectively equipped with second motors (720) for automatic dorsiflexion and plantar flexion training, and the two second motors are electrically connected to the control system and are synchronously controlled.

27. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 26, characterized in that: The flexion and extension roller (231) has a built-in first motor (710) for automatic flexion and extension training; The internal and external rotation roller (450) has a built-in third motor (730) for automatic internal and external rotation training; The core shaft (621) of the adduction and abduction gear (620) has a built-in fourth motor (740) for automatic adduction and abduction training; The first motor (710), the third motor (730) and the fourth motor (740) are electrically connected to a control system to achieve control.

28. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 27, characterized in that: The first motor (710), the second motor (720), the third motor (730) and the fourth motor (740) are electrically connected to an electric control box (700).

29. The multifunctional lower limb rehabilitation training device combining rigidity and flexibility according to claim 28, characterized in that: The electric control box (700) is connected to the end of the linear guide rail (110); the control box has a built-in power supply or can be connected to a power supply, and is provided with a control display screen (701) and a control button (702); a wire interface (703) extending from the electric control box is electrically connected to a circuit connector (113) at a hollow portion below the linear guide rail (110); and the electric control box (700) is plugged into a plug interface (112) on the linear guide rail (110) via a plug post (704).

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