Multi-position lower limb rehabilitation system and use method

Abstract

The invention belongs to the technical field of lower limb rehabilitation, and particularly relates to a multi-position lower limb rehabilitation system and a use method. The multi-position lower limb rehabilitation system comprises at least one lower limb training device arranged on the ground or a training platform and a transformation chair device which is positioned and mounted with the lower limb training device through a positioning and connecting mechanism; a first angle adjusting assembly in the chair changing device is arranged in the middle of a seat plate, the first angle adjusting assembly drives the seat plate to rotate along a seat plate middle line parallel to the Y axis, and a second angle adjusting assembly drives a back plate to rotate along a seat plate edge line parallel to the Y axis. The first angle adjusting assembly and the second angle adjusting assembly which are installed at different positions are ingeniously adopted to achieve transformation of standing, sitting and lying postures, complex supporting and driving are not needed, the lower limb training device and the transformation chair device are light in structure, can move separately and can be suitable for family type rehabilitation, and meanwhile the rehabilitation effect is good. And the stability of multi-pose transformation in the rehabilitation process can be ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of lower limb rehabilitation, and in particular relates to a multi-position lower limb rehabilitation system and a use method thereof. Background Art

[0002] A lower limb rehabilitation system generally includes a rehabilitation bed and two lower limb rehabilitation legs arranged inside or on the side of the rehabilitation bed. When the patient needs to undergo rehabilitation training in different postures, the shape of the rehabilitation bed needs to be changed to adapt to the patient's rehabilitation. The posture change of the rehabilitation bed is relatively cumbersome, occupies a large space, and is not very flexible, which deviates from the current goal of lightweight machinery requirements and cannot be adapted to the use of home rehabilitation systems.

[0003] Furthermore, existing home rehabilitation systems mostly install the rehabilitation legs on the seats, which makes the seats bear a large weight. When the patients are undergoing rehabilitation training with changing postures, in order to ensure the stability of the seats in various postures, the seat mechanism requires a more complex support and posture change drive structure, making the entire rehabilitation system complex, cumbersome in structure, large in size and not very stable. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art that the seat has a large load-bearing capacity, a complex structure and is unstable, and to provide a multi-position lower limb rehabilitation system and a method of use.

[0005] The technical solution adopted by the present invention to solve the technical problem is:

[0006] As a first aspect, a multi-position lower limb rehabilitation system includes at least one lower limb training device disposed on the ground or on a training platform and a conversion chair device positioned and installed with the lower limb training device via a positioning connection mechanism;

[0007] The chair conversion device includes a chair frame, at least two front moving wheels and two rear driving wheels installed at the lower end of the chair frame, a seat plate rotatably installed on the upper part of the chair frame through a first angle adjustment component, and a back plate 36 rotatably installed with the seat plate through a second angle adjustment component; the first angle adjustment component (34) is arranged in the middle position of the seat plate, the first angle adjustment component drives the seat plate to rotate along the middle line of the seat plate parallel to the Y-axis, and the second angle adjustment component drives the back plate to rotate along the edge line of the seat plate parallel to the Y-axis.

[0008] Furthermore, when the sitting posture is converted to the lying posture, the second angle adjustment component is activated to rotate the back plate to be on the same horizontal plane as the seat plate;

[0009] When the chair conversion device is converted from a sitting posture to a standing posture, the second adjustment component is activated to rotate the back panel to be on the same horizontal plane as the seat panel, and the first angle adjustment component is activated to rotate the back panel and the seat panel on the same horizontal plane to a vertical state.

[0010] Furthermore, the lower limb training device includes a leg support frame, a leg connecting plate installed on the leg support frame through a lifting device, a rehabilitation leg installed on the leg connecting plate through a left and right adjustment mechanism, and front and rear ground wheels installed on the leg support frame.

[0011] Further, the positioning and connecting mechanism includes an X-axis positioning component for positioning the lower limb training device and the conversion chair device in the X-axis direction and a Y-axis connecting component for connecting the lower limb training device and the conversion chair device in the Y-axis direction;

[0012] The X-axis positioning assembly includes a positioning track arranged on the ground or the training platform along the X-axis direction, a positioning slot arranged on the positioning track, a rear limit plate fixedly installed on one side of the positioning track, and a front limit plate slidably engaged with one side of the positioning track;

[0013] During installation, the front ground wheel on one side of the lower limb training device is cooperated and connected with the corresponding front limit plate; the rear ground wheel on one side of the lower limb training device is cooperated and connected with the corresponding rear limit plate; the front moving wheel and the rear driving wheel of the convertible chair device close to the lower limb training device are both moved into the positioning groove.

[0014] Furthermore, the Y-axis connection assembly includes a Y-axis electric push rod installed on the leg support frame, two positioning shafts fixedly connected to the telescopic end of the Y-axis electric push rod through a connecting rod, three positioning holes provided on the chair frame, and three limiting grooves provided at the bottom of the positioning groove for limiting the driving wheel; the three limiting grooves respectively correspond to the lying posture, sitting posture and standing posture of the chair conversion device;

[0015] The positioning holes include a standing posture positioning hole, a sitting posture positioning hole and a lying posture positioning hole which are sequentially opened on the side rods of the chair frame from front to back;

[0016] When the convertible chair device is in different postures, the positioning shaft is inserted into the corresponding positioning hole, and the rear driving wheel is arranged in the corresponding limiting groove.

[0017] Further, the two positioning axes are respectively a Y+ positioning axis and a Y- positioning axis, and the Y+ positioning axis and the Y- positioning axis are parallel to each other;

[0018] When the Y-axis electric push rod drives the Y+ positioning shaft to extend out of the leg support frame, the Y- positioning shaft retracts inward from the outside of the leg support frame;

[0019] When the Y-axis electric push rod drives the Y-positioning axis to extend out of the leg support frame, the Y+positioning axis retracts inward from the outside of the leg support frame.

[0020] Furthermore, the rehabilitation leg comprises a hip joint rehabilitation mechanism, a thigh rehabilitation mechanism, a knee joint rehabilitation mechanism, a calf rehabilitation mechanism, an ankle joint rehabilitation mechanism and a rehabilitation foot pedal which are rotatably connected in sequence; the hip joint rehabilitation mechanism is installed at the output end of the left and right adjustment mechanism through a hip joint connecting plate;

[0021] The hip joint rehabilitation mechanism, knee joint rehabilitation mechanism and ankle joint rehabilitation mechanism all adopt an integrated drive module of a servo motor and a harmonic reducer; a three-dimensional force sensor is provided at the connection between the rehabilitation foot pedal and the ankle joint mechanism for feeding back the human-machine interaction force of the patient's leg.

[0022] Furthermore, the lifting device includes a lifting electric push rod with a fixed end installed on the leg support frame, and at least two lifting guide rods arranged on the leg support frame parallel to the lifting electric push rod; the telescopic end of the lifting electric push rod is fixedly connected to the connecting plate.

[0023] Furthermore, it also includes a suspension mechanism installed on the back plate; the suspension mechanism includes a suspension electric push rod installed on the rear side of the back plate, two optical axes that are consistent with the extension and contraction direction of the suspension electric push rod and pass through the upper end surface of the back plate, and a suspension frame installed on the upper end of the optical axis;

[0024] The telescopic end of the suspension electric push rod is fixedly installed with the optical axis. When the suspension electric push rod is telescopic, it drives the optical axis to move along the Z-axis direction to adjust the height of the suspension frame relative to the ground or the training platform.

[0025] As a second aspect, a method for using a multi-position lower limb rehabilitation system comprises the following steps:

[0026] Step 1: Move the lower limb training device to the positioning connection mechanism, and use the X-axis positioning assembly to limit and fix the front and rear wheels of the lower limb training device;

[0027] Step 2: Start the driving wheel of the conversion chair device, and move the driving wheel and the moving wheel close to the lower limb training device into the positioning groove;

[0028] Step 3: According to the input training posture information, the changing chair device and the lower limb training device are installed in coordination; that is, the changing chair device is moved until the driving wheel falls into the limiting groove of the corresponding posture, and the Y-axis electric push rod is started to insert the positioning shaft into the corresponding positioning hole;

[0029] Step 4: According to the training posture information, the corresponding postures of the transformation chair device and the lower limb training device are adjusted; that is, the first angle adjustment component and the second angle adjustment component are activated to transform the posture of the transformation chair device, and the hip joint rehabilitation mechanism is activated to transform the posture of the rehabilitation leg;

[0030] Step 5: Adjust the position of the rehabilitation leg according to the input information of the patient to be rehabilitated; the information of the patient to be rehabilitated includes body height, fatness, thigh length, and calf length;

[0031] Step 6: Determine the active training mode and the passive training mode; that is, determine the training mode based on the feedback system;

[0032] Step 7: Rehabilitation training and training adjustment; that is, starting the motors of each joint of the rehabilitation leg to conduct rehabilitation training for the patient, and at the same time, according to the feedback during the training, the intention of the rehabilitation patient is recognized and the patient's rehabilitation is adjusted in real time;

[0033] Step 8: Training is complete.

[0034] The beneficial effects of the multi-position lower limb rehabilitation system and the use method of the present invention are:

[0035] The present invention adopts relatively independent lower limb training device and conversion chair device, avoiding the situation in the prior art that the rehabilitation legs are set on the seat mechanism, which makes the seat mechanism cumbersome and the posture change unstable. The conversion chair device cleverly adopts the first angle adjustment component and the second angle adjustment component in different installation positions to realize the transformation of the three postures of standing, sitting and lying. It does not require more complicated support and drive, and the structure is simple and reliable. The conversion chair device is connected with the lower limb training device through a positioning connection mechanism to complete rehabilitation training in standing posture, sitting posture and lying posture. The whole lower limb rehabilitation system has a compact structure, is easy to disassemble and install, and is convenient to move with each other. At the same time, the lower limb training device and the conversion chair device structure that are independent of each other and cooperate with each other are light in structure and can be moved separately. They can be suitable for family-type rehabilitation and can ensure the stability of multi-posture transformation during rehabilitation.

[0036] The relatively independent lower limb training device and the conversion chair device in the present invention are connected through a specially designed positioning connection mechanism. The positioning connection mechanism positions the conversion chair device in the X-axis direction through the design of the positioning track and the positioning groove. At the same time, the lower limb training device is positioned in the X-axis direction through the setting of the front limit plate and the rear limit plate; the positioning of the lower limb training device and the conversion chair device in the Y-axis direction is achieved through the setting of the positioning hole and the positioning axis, thereby ensuring the rapidity and high accuracy of the docking and positioning of the lower limb training device and the conversion chair device. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0038] Figure 1 It is a front perspective stereoscopic diagram of the multi-position lower limb rehabilitation system according to an embodiment of the present invention.

[0039] Figure 2 It is a rear perspective stereoscopic view of the multi-position lower limb rehabilitation system according to an embodiment of the present invention.

[0040] Figure 3 It is a partial structural schematic diagram of a convertible chair device according to an embodiment of the present invention.

[0041] Figure 4 It is a diagram showing the coordination between the chair conversion device and the positioning connection mechanism according to an embodiment of the present invention.

[0042] Figure 5 It is a partial structural schematic diagram of a multi-position lower limb rehabilitation system according to an embodiment of the present invention.

[0043] Figure 6 It is a diagram of the coordination between the lower limb training device and the positioning connection mechanism according to an embodiment of the present invention.

[0044] Figure 7 It is a schematic structural diagram of a Y-axis connection assembly according to an embodiment of the present invention.

[0045] Figure 8 2 is a schematic diagram of the structure of a rehabilitation leg according to an embodiment of the present invention.

[0046] Fig. 9 Detailed diagram of the internal structure of the rehabilitation leg according to an embodiment of the present invention.

[0047] Fig.10 It is a flow chart of the method of using the multi-position lower limb rehabilitation system according to an embodiment of the present invention.

[0048] Fig.11 4 is a flow chart of the rehabilitation leg adjustment according to an embodiment of the present invention.

[0049] In the figure: 1. lower limb training device, 11. leg support frame, 12. lifting device, 121. lifting electric push rod, 122. lifting guide rod, 13. leg connecting plate, 14. left and right adjustment mechanism, 141. left and right adjustment electric push rod, 142. left and right adjustment guide rail, 143. left and right adjustment slider, 15. rehabilitation leg, 151. hip joint rehabilitation mechanism, 152. thigh rehabilitation mechanism, 1521. thigh upper arm, 1522. thigh lengthening component, 1522 1. Thigh lengthening electric push rod, 15222. Thigh lengthening guide rail, 15223. Thigh lengthening slider, 1523. Thigh lower arm, 153. Knee joint rehabilitation mechanism, 154. Calf rehabilitation mechanism, 1541. Calf upper arm, 1542. Calf lengthening assembly, 15421. Calf lengthening electric push rod, 15422. Calf lengthening guide rail, 15423. Calf lengthening slider, 1543. Calf lower arm, 155. Ankle joint rehabilitation mechanism, 156. Compound pedal, 157, hip joint connecting plate, 16, front ground wheel, 17, rear ground wheel, 19, three-dimensional force sensor, 2, positioning connection mechanism, 21, X-axis positioning assembly, 211, positioning track, 212, positioning groove, 213, rear limit plate, 214, front limit plate, 215, trumpet-shaped opening, 22, Y-axis connecting assembly, 221, Y-axis electric push rod, 222, positioning axis, 2221, Y+ positioning axis, 2222, Y- positioning axis, 223, fixed Position hole, 224, limiting groove, 225, connecting rod, 23, limiting lever, 3, chair conversion device, 31, chair frame, 32, front moving wheel, 33, rear driving wheel, 34, first angle adjustment assembly, 35, seat plate, 36, back plate, 37, second angle adjustment assembly, 38, double foot pedal assembly, 381, V-shaped foot pedal connecting rod, 382, ​​first foot pedal, 383, second foot pedal, 4, suspension mechanism, 41, suspension electric push rod, 42, optical axis, 43, suspension frame. DETAILED DESCRIPTION

[0050] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, which only illustrate the basic structure of the present invention in a schematic manner, and therefore only show the components related to the present invention.

[0051] like Figure 1-Figure 9 The specific embodiment of a multi-position lower limb rehabilitation system of the present invention shown in the figure comprises at least one lower limb training device 1 arranged on the ground or on a training platform and a conversion chair device 3 positioned and installed with the lower limb training device 1 through a positioning connection mechanism 2. In this embodiment, the lower limb training device 1 comprises a leg support frame 11, a leg connecting plate 13 mounted on the leg support frame 11 through a lifting device 12, and a rehabilitation leg 15 mounted on the leg connecting plate 13 through a left and right adjustment mechanism 14.

[0052] Reference Figures 1 to 5The chair conversion device 3 in this embodiment includes a chair frame 31, at least two front moving wheels 32 and two rear driving wheels 33 installed at the lower end of the chair frame 31, a seat plate 35 rotatably installed on the upper part of the chair frame 31 through a first angle adjustment component 34, and a back plate 36 rotatably installed with the seat plate 35 through a second angle adjustment component 37; the first angle adjustment component (34) is arranged in the middle position of the seat plate 35, the first angle adjustment component 34 drives the seat plate 35 to rotate along the middle line of the seat plate 35 parallel to the Y-axis, and the second angle adjustment component 37 drives the back plate 36 to rotate along the edge line of the seat plate 35 parallel to the Y-axis.

[0053] When in use, when the convertible chair device 3 is converted from a sitting posture to a lying posture, the second angle adjustment component 37 is activated to rotate the back panel 36 to the same horizontal plane as the seat panel 35. When the convertible chair device 3 is converted from a sitting posture to a standing posture, the second adjustment component 37 is activated to rotate the back panel 36 to the same horizontal plane as the seat panel 35, and the first angle adjustment component 34 is activated to rotate the back panel 36 and the seat panel 35 on the same horizontal plane to a vertical state. That is, when the convertible chair device 3 is converted from a sitting posture to a lying posture, it is only necessary to activate the second angle adjustment component 34 to adjust the angle, and when the convertible chair device 3 is converted from a sitting posture to a standing posture, it is only necessary to activate the first angle adjustment component 34 and the second angle adjustment component 37 to adjust the angle together. The convertible chair device 3 of the present application is simple and reliable in changing the posture, and greatly reduces the overall occupied space of the convertible chair device 3 used to carry patients.

[0054] The present embodiment adopts relatively independent lower limb training device 1 and conversion chair device 3, avoiding the prior art of setting the rehabilitation leg 15 on the seat mechanism, which makes the seat mechanism cumbersome and the posture change unstable. The conversion chair device 3 cleverly adopts the first angle adjustment component 34 and the second angle adjustment component 37 in different installation positions to realize the transformation of the three postures of standing, sitting and lying. It does not require more complicated support and drive, and has a simple and reliable structure. The conversion chair device 3 is connected with the lower limb training device 1 through the positioning connection mechanism 2 to complete rehabilitation training in standing, sitting and lying postures. The whole lower limb rehabilitation system has a compact structure, is easy to disassemble and install, and is convenient to move with each other. At the same time, the lower limb training device 1 and the conversion chair device 3, which are independent and cooperate with each other, greatly improve the stability during the rehabilitation process, and can be suitable for family rehabilitation with a wide range of applications.

[0055] In the present embodiment, the changing chair device 3 can change the postures of standing, sitting and lying by only starting the first angle adjustment component 34 and the second angle adjustment component 37 to adjust the angle, without the need for a complex driving or supporting mechanism, with a compact structure and a simple and reliable implementation. In actual use, a lower limb training device 1 is provided on one side of the changing chair device 3 or a lower limb training device 1 is provided on both sides of the changing chair device 3 to implement single-leg training or double-leg training for the patient, further increasing the scope of application of the training scene.

[0056] It should be further explained that the lower limb training device 1 in this embodiment includes a leg support frame 11, a leg connecting plate 13 installed on the leg support frame 11 through a lifting device 12, a rehabilitation leg 15 installed on the leg connecting plate 13 through a left and right adjustment mechanism 14, and a front ground wheel 16 and a rear ground wheel 17 installed on the leg support frame 11.

[0057] like Fig. 9 As shown, the rehabilitation leg 15 in this embodiment includes a hip joint rehabilitation mechanism 151, a thigh rehabilitation mechanism 152, a knee joint rehabilitation mechanism 153, a calf rehabilitation mechanism 154, an ankle joint rehabilitation mechanism 155 and a rehabilitation foot pedal 156 which are rotatably connected in sequence; the hip joint rehabilitation mechanism 151 is installed at the output end of the left and right adjustment mechanism 14 through a hip joint connecting plate 157. The hip joint rehabilitation mechanism 151, the knee joint rehabilitation mechanism 153 and the ankle joint rehabilitation mechanism 155 all adopt an integrated drive module of a servo motor and a harmonic reducer, and a three-dimensional force sensor 19 is provided at the connection between the rehabilitation foot pedal 156 and the ankle joint mechanism to feedback the human-machine interaction force of the patient's leg.

[0058] See also Fig.10 The thigh rehabilitation mechanism 152 in this embodiment includes a thigh upper arm 1521 connected to the output end of the hip joint rehabilitation mechanism 151, and a thigh lower arm 1523 connected to the thigh upper arm 1521 through a thigh lengthening assembly 1522; one end of the thigh lower arm 1523 close to the knee joint rehabilitation mechanism 153 is connected to the knee joint rehabilitation mechanism 153. The thigh lengthening assembly 1522 includes a thigh lengthening electric push rod 15221 with one end mounted on the thigh upper arm 1521 and the other end mounted on the thigh lower arm 1523, a thigh lengthening guide rail 15222 fixedly mounted on the thigh upper arm 1521, and a thigh lengthening slider 15223 slidably matched with the thigh lengthening guide rail 15222, and the thigh lengthening slider 15223 is fixedly connected to the thigh lower arm 1523.

[0059] The calf rehabilitation mechanism 154 in this embodiment includes a calf upper arm 1541 connected to the output end of the knee joint rehabilitation mechanism 153, and a calf lower arm 1543 connected to the calf upper arm 1541 through a calf lengthening assembly 1542; one end of the calf lower arm 1543 close to the ankle joint rehabilitation mechanism 155 is connected to the ankle joint rehabilitation mechanism 155. The calf lengthening assembly 1542 includes a calf lengthening electric push rod 15421 installed at one end on the calf upper arm 1541 and at the other end on the calf lower arm 1543, a calf lengthening guide rail 15422 fixedly installed on the calf upper and lower arms 1541, and a calf lengthening slider 15423 slidably matched with the calf lengthening guide rail 15422, and the calf lengthening slider 15423 is fixedly connected to the calf lower arm 1543.

[0060] In this embodiment, the thigh rehabilitation mechanism 152 and the calf rehabilitation mechanism 154 are both provided with length adjustment components. The length adjustment components can meet the rehabilitation requirements of different patients' leg lengths. At the same time, the length adjustment components in this embodiment use electric push rods with Hall sensors as length adjustment drives, and do not require the installation of additional length point meters, making the thigh rehabilitation mechanism 152 and the calf rehabilitation mechanism 154 with length adjustment functions more compact and lightweight. In combination with the fact that the hip joint rehabilitation mechanism 151, the knee joint rehabilitation mechanism 153, and the ankle joint rehabilitation mechanism 155 in this embodiment all use an integrated drive module of a servo motor and a harmonic reducer, together achieving the effect of a compact structure and a small size of the rehabilitation leg 15.

[0061] As an embodiment, the conversion chair device 3 also includes a foot pedal assembly 38 installed on the chair frame 31; the foot pedal assembly 38 includes a foot pedal connecting rod 381 symmetrically mounted on the chair frame 31, and a conversion chair foot pedal 382 installed at one end of the foot pedal connecting rod 381. When the conversion chair device 3 is in a sitting position, the patient's feet step on the conversion chair foot pedal 382. When the conversion chair device 3 is in a lying position, the patient's feet are connected and fixed to the rehabilitation foot pedal 156 of the rehabilitation leg 15 in the lower limb training device 1, and the rehabilitation leg 15 drives the patient's lower limbs to complete active rehabilitation training and passive rehabilitation training. When the conversion chair device 3 is in a standing position, the patient's feet step on the ground, and the patient can achieve assisted walking with the assistance of the suspension device 4 of the conversion chair device 3.

[0062] The following focuses on describing the positioning connection mechanism 2 designed in this embodiment to adapt the lower limb training device 1 and the change chair device 3 to multiple postures. Figures 4 to 7 As shown, the positioning and connecting mechanism 2 in this embodiment includes an X-axis positioning component 21 for positioning the lower limb training device 1 and the conversion chair device 3 in the X-axis direction and a Y-axis connecting component 22 for connecting the lower limb training device 1 and the conversion chair device 3 in the Y-axis direction. Among them, the X-axis positioning component 21 includes a positioning track 211 set on the ground or training platform along the X-axis direction, a positioning groove 212 set on the positioning track 211, a rear limit plate 213 fixedly installed on one side of the positioning track 211, and a front limit plate 214 slidably engaged on one side of the positioning track 211. During installation, the front ground wheel 16 and the rear ground wheel 17 on one side of the lower limb training device 1 are respectively connected with the corresponding front limit plate 214 and rear limit plate 213; the front moving wheel 32 and the rear driving wheel 33 of the conversion chair device 3 close to the lower limb training device 1 move in the positioning groove 212.

[0063] As an embodiment, a trumpet-shaped opening 215 is provided at one end of the positioning groove 212 for easy entry of the moving wheel and the driving wheel. A limit rod is provided at the rear end of the lower limb training device 1 for preventing the excessive movement of the conversion chair device 3. The limit rod is slidably arranged with the leg support frame 11 through two guide blocks installed on the leg support frame 11. When in use, the limit rod can be adjusted to extend to the left or right side of the leg support frame 11 according to the lower limb training device 1 being arranged on different sides of the conversion chair device 3, so as to achieve the limitation of the conversion chair device 3 at different positions.

[0064] like Figure 5 and Figure 7 As shown, the Y-axis connection assembly 22 includes a Y-axis electric push rod 221 installed on the leg support frame 11, two positioning shafts 222 fixedly connected to the telescopic end of the Y-axis electric push rod 221 through a connecting rod 225, at least three positioning holes 223 opened on the chair frame 31, and three limiting grooves 224 opened at the bottom of the positioning groove 212 for limiting the driving wheel; the three limiting grooves 224 respectively correspond to the lying posture, sitting posture and standing posture of the changing chair device 3.

[0065] It should be noted that, in this embodiment, the positioning holes 223 include a standing posture positioning hole 223, a sitting posture positioning hole 223 and a lying posture positioning hole 223 which are sequentially opened on the side rods of the chair frame 31 from front to back. When the convertible chair device 3 is in different postures, the positioning shaft 222 is inserted into the corresponding positioning hole 223, and the rear driving wheel 33 is set in the corresponding limiting groove 224.

[0066] During specific use, the rear ground wheel 17 of the lower limb training device 1 and the change chair device 3 cooperate to move to the inside of the rear limit plate 213, and then the front limit plate 214 is inserted from one side of the positioning track 211 to position and lock the lower limb training device 1 in the X-axis direction; the driving wheel is started to drive the change chair device 3 to move, and the driving wheel and the moving wheel of the change chair device 3 close to the lower limb training device 1 are moved to the positioning groove 212 on the positioning guide rail until the driving wheel moves to the limit groove 224 corresponding to the required posture, thereby realizing the positioning of the change chair device 3 and the lower limb training device 1 in the X-axis direction. The lower limb training device 1 and the change chair device 3 are both positioned with reference to the positioning connection mechanism 2, avoiding the problem of easy error in positioning accuracy caused by direct positioning of the two in the prior art.

[0067] After the positioning of the lower limb training device 1 and the conversion chair device 3 in the X-axis direction is completed, the Y-axis electric push rod 221 is started, and the positioning shaft 222 installed on the lower limb training device 1 is inserted into the posture corresponding positioning hole 223 opened on the conversion chair device 3 to fix it in the Y-axis direction, thereby realizing the positioning connection of the conversion chair device 3 and the lower limb training device 1 on the Y-axis. The ingenious design of the positioning groove 212, the positioning hole 223, etc. in this embodiment solves the problem of the difficulty in positioning and connection caused by the mutual independence of the lower limb training device 1 and the conversion chair device 3. In order to avoid the patient's excessive weight, a certain counterweight can also be set in the lower limb training device 1 to ensure the stability of the lower limb training device 1 and the conversion chair device 3. There is no absolute limitation on the position and number of the counterweight.

[0068] In this embodiment, the two positioning shafts 222 are respectively the Y+ positioning shaft 2221 and the Y- positioning shaft 2222, and the two positioning shafts 222 are parallel to each other. When the Y-axis electric push rod 221 drives the Y+ positioning shaft 2221 to extend out of the leg support frame 11, the Y- positioning shaft 2222 retracts from the outside of the leg support frame 11 to the inside. When the Y-axis electric push rod 221 drives the Y- positioning shaft 2222 to extend out of the leg support frame 11, the Y+ positioning shaft 2221 retracts from the outside of the leg support frame 11 to the inside. The design of the two positioning shafts 222 allows the lower limb training device 1 to be applied to the left and / or right side of the conversion chair device 3. When it is necessary to respectively set the two lower limb rehabilitation training devices on the left and right sides of the conversion chair device 3 to realize the simultaneous training of the left and right legs of the patient, it is only necessary to set the corresponding positioning connection mechanism 2 on both the left and right sides of the conversion chair device 3. Compared with the rehabilitation system in the prior art, the lower limb rehabilitation system of this embodiment has the advantages of compact structure, small space occupation, convenient movement and wide applicability.

[0069] It should be specifically explained that the left-right adjustment mechanism 14 in this embodiment includes a left-right adjustment electric push rod 141 installed on the leg connection plate 13, a left-right adjustment guide rail 142 fixedly installed on the leg connection plate 13 along the Y-axis direction, and a left-right adjustment slider 143 slidably matched with the left-right adjustment guide rail 142. In this embodiment, the hip joint connection plate 157 and the left-right adjustment slider 143 are fixedly installed, and the left-right adjustment electric push rod 141 is started to drive the left-right adjustment slider 143 to move along the left-right adjustment guide rail 142, thereby driving the hip joint connection plate 157 to adjust the distance relative to the conversion chair device 3 in the X-axis direction, that is, to achieve the distance adjustment between the rehabilitation leg 15 and the conversion chair device 3 in the X-axis direction, which is suitable for the rehabilitation requirements of different fat and thin patients.

[0070] The lifting device 12 in this embodiment includes a lifting electric push rod 121 whose fixed end is mounted on the leg support frame 11, and at least two lifting guide rods 122 arranged on the leg support frame 11 in parallel with the lifting electric push rod 121; the telescopic end of the lifting electric push rod 121 is fixedly connected to the connecting plate. In this embodiment, the lifting electric push rod 121 with a large stroke is used to drive the position adjustment of the rehabilitation leg 15 in the Z-axis direction, so that the rehabilitation leg 15 can meet the rehabilitation training in the sitting posture, lying posture and standing posture.

[0071] like Figure 3 As shown, the multi-position lower limb rehabilitation system of this embodiment also includes a suspension mechanism 4 installed on the back plate 36; the suspension mechanism 4 includes a suspension electric push rod installed on the rear side of the back plate 36, two optical axes 42 that are consistent with the telescopic direction of the suspension electric push rod and pass through the upper end surface of the back plate 36, and a suspension frame 43 installed on the upper end of the optical axis 42. The telescopic end of the suspension electric push rod is fixedly installed with the optical axis 42. When the suspension electric push rod is telescopic, it drives the optical axis 42 to move along the Z-axis direction to adjust the height of the suspension frame 43 relative to the ground or the training platform. The setting of the suspension electric push rod and the optical axis 42 enables the suspension mechanism 4 to be used by patients of different heights, further increasing the wide applicability of the multi-position lower limb rehabilitation system.

[0072] Reference Fig.10 The method for using the multi-position lower limb rehabilitation system includes the following steps:

[0073] Step 1: Move the lower limb training device 1 to the positioning connection mechanism 2, and use the X-axis positioning assembly 21 to limit and fix the front ground wheels 16 and the rear ground wheels 17 of the lower limb training device 1;

[0074] Step 2: Start the driving wheel of the conversion chair device 3, and move the driving wheel and the moving wheel close to the lower limb training device 1 into the positioning groove 212;

[0075] Step 3: According to the input training posture information, the changing chair device 3 and the lower limb training device 1 are installed in coordination; that is, the changing chair device 3 is moved until the driving wheel falls into the limiting groove 224 of the corresponding posture, and the Y-axis electric push rod 221 is started to insert the positioning shaft 222 into the corresponding positioning hole 223;

[0076] Step 4: According to the training posture information, the corresponding postures of the transformation chair device 3 and the lower limb training device 1 are adjusted; that is, the first angle adjustment component 34 and the second angle adjustment component 37 are activated to transform the posture of the transformation chair device 3, and the hip joint rehabilitation mechanism 151 is activated to transform the posture of the rehabilitation leg 15;

[0077] Step 5: Adjust the position of the rehabilitation leg 15 according to the input information of the patient to be rehabilitated; the information of the patient to be rehabilitated includes body height, fatness, thigh length, and calf length;

[0078] Step 6: Determine the active training mode and the passive training mode; that is, determine the training mode based on the feedback system;

[0079] Specifically, the active training mode in this embodiment uses precise on-demand auxiliary force as a feedforward control item to obtain an active training control rate and realize an active training process.

[0080] The precise on-demand auxiliary force acquisition in this embodiment includes the following steps:

[0081] The human-machine interaction force of the foot was measured using a three-dimensional force sensor 19, and the radial basis function neural network was used to accurately estimate the muscle strength of the patient's lower limbs;

[0082] By collecting the human-computer interaction force and human-computer coupling system status data of healthy subjects, the parameters of the human body's sensory-balance interaction force model are identified; the interaction force τ provided by normal people in active training is calculated in real time through the sensory-balance interaction force model and system status. h ;

[0083] Using neural network to calculate and perceive the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ p By making the difference, the precise on-demand auxiliary force that the control system needs to provide can be obtained.

[0084] The active training mode of this embodiment adopts the above method compared with the active training method in the prior art. First, a three-dimensional force sensor 19 is used to measure the human-computer interaction force of the foot, and a radial basis function neural network is used to accurately estimate the patient's lower limb muscle strength, and accurate on-demand auxiliary force is introduced to achieve a more accurate active training mode for this system.

[0085] Specifically, passive rehabilitation training is a robot driving the human lower limbs to complete a predetermined trajectory tracking training, which includes the following steps:

[0086] H1. Construct a human-machine coupling dynamics model for the rehabilitation system. The human-machine coupling dynamics model is:

[0087] Where M(q) is the inertia matrix, is the centrifugal force and Coriolis force matrix, G(q) is the gravity matrix, τ is the input torque, i.e. the control law to be designed, τ d is an external disturbance that includes the unmodeled dynamics of the system.

[0088] H2. Design a disturbance observer to estimate external disturbances, the formula is:

[0089]

[0090] In the formula, For pending function.

[0091] H3. Design the system control law. The system control law formula is:

[0092]

[0093] where q d is the desired motion trajectory, is the estimate of the external disturbance, e and are the position and velocity errors of the motion trajectory respectively. d , K p is the controller gain. Reasonable selection of their values ​​can make the trajectory of human lower limb rehabilitation training accurately track the expected trajectory.

[0094] In order to achieve precise on-demand assistance in active training, a three-dimensional force sensor was used to measure the human-computer interaction force of the foot, and a radial basis function neural network was used to achieve accurate estimation of the patient's lower limb muscle strength.

[0095] By collecting data on the human-computer interaction force and human-computer coupling system status of healthy subjects, the parameters of the human body sensory-balance interaction force model are identified, and the interaction force τ provided by normal people in active training is calculated in real time through the model and system status. h . Use neural network to calculate and perceive the patient's real-time lower limb muscle strength and its corresponding human-computer interaction force τ p , by making the difference, we can get the precise on-demand assistive force that the rehabilitation robot control system should provide, which can be used as a feedforward control item to further obtain the control law of active training.

[0096] Step 7: Rehabilitation training and training adjustment; that is, start the motors of each joint of the rehabilitation leg 15 to conduct rehabilitation training for the patient. At the same time, according to the feedback during the training, the feedback signals mainly include the position and speed signals of the three servo motors of the hip, knee and ankle, and the human-computer interaction force signal of the three-dimensional force sensor of the foot. According to the feedback of the kinematic mechanics signal, the radial basis function neural network is used to recognize the intention of the rehabilitation patient and adjust the torque required for the patient's rehabilitation training in real time.

[0097] Step 8: Training is complete.

[0098] Among them, Fig.11 As shown, step five in this embodiment, adjusting the position of the rehabilitation leg 15 according to the input information of the patient to be rehabilitated specifically includes the following contents:

[0099] S501. According to the patient's calf length and thigh length, the thigh length adjustment electric push rod and the calf length adjustment electric push rod are activated to adaptively adjust the lengths of the thigh rehabilitation mechanism 152 and the calf rehabilitation mechanism 154 respectively;

[0100] S502. According to the patient's height and rehabilitation posture, the electric lift push rod 121 is started to adjust the height of the rehabilitation leg 15;

[0101] S503. According to the patient's weight, the left and right adjustment electric push rods 141 are activated to adjust the distance between the rehabilitation leg 15 and the conversion chair device 3.

[0102] It should be understood that this embodiment has no absolute limitation on the adjustment order of steps S501 , S502 , and S503 .

[0103] It should be understood that the specific embodiments described above are only used to explain the present invention, and are not used to limit the present invention. Obvious changes or modifications derived from the spirit of the present invention are still within the protection scope of the present invention.

Claims

1. A multi-position lower limb rehabilitation system, characterized in that: It comprises at least one lower limb training device (1) arranged on the ground or on a training platform and a conversion chair device (3) which is positioned and installed with the lower limb training device (1) via a positioning connection mechanism (2); The chair conversion device (3) comprises a chair frame (31), at least two front moving wheels (32) and two rear driving wheels (33) installed at the lower end of the chair frame (31), a seat plate (35) rotatably installed on the upper part of the chair frame (31) via a first angle adjustment component (34), and a back plate 36 rotatably installed with the seat plate (35) via a second angle adjustment component (37); the first angle adjustment component (34) is arranged at the middle position of the seat plate (35), the first angle adjustment component (34) drives the seat plate (35) to rotate along the middle line of the seat plate (35) parallel to the Y-axis, and the second angle adjustment component (37) drives the back plate (36) to rotate along the edge line of the seat plate (35) parallel to the Y-axis.

2. A multi-position lower limb rehabilitation system according to claim 1, characterized in that: When the chair conversion device (3) is converted from a sitting posture to a lying posture, the second angle adjustment component (37) is activated to rotate the back panel (36) to be on the same horizontal plane as the seat panel (35); When the chair conversion device (3) is converted from a sitting posture to a standing posture, the second adjustment component (37) is activated to rotate the back panel (36) to be on the same horizontal plane as the seat panel (35), and the first angle adjustment component (34) is activated to rotate the back panel (36) and the seat panel (35) on the same horizontal plane to a vertical state.

3. A multi-position lower limb rehabilitation system according to claim 1, characterized in that: The lower limb training device (1) comprises a leg support frame (11), a leg connecting plate (13) mounted on the leg support frame (11) via a lifting device (12), a rehabilitation leg (15) mounted on the leg connecting plate (13) via a left and right adjustment mechanism (14), and front ground wheels (16) and rear ground wheels (17) mounted on the leg support frame (11).

4. A multi-position lower limb rehabilitation system according to claim 3, characterized in that: The positioning connection mechanism (2) comprises an X-axis positioning component (21) for positioning the lower limb training device (1) and the conversion chair device (3) in the X-axis direction, and a Y-axis connection component (22) for connecting the lower limb training device (1) and the conversion chair device (3) in the Y-axis direction; The X-axis positioning assembly (21) comprises a positioning track (211) arranged on the ground or on a training platform along the X-axis direction, a positioning groove (212) arranged on the positioning track (211), a rear limiting plate (213) fixedly mounted on one side of the positioning track (211), and a front limiting plate (214) slidably engaged with one side of the positioning track (211); During installation, the front ground wheel (16) on one side of the lower limb training device (1) is connected in cooperation with the corresponding front limit plate (214); the rear ground wheel (17) on one side of the lower limb training device (1) is connected in cooperation with the corresponding rear limit plate (213); and the front moving wheel (32) and the rear driving wheel (33) on the side of the conversion chair device (3) close to the lower limb training device (1) are both moved into the positioning groove (212).

5. A multi-position lower limb rehabilitation system according to claim 4, characterized in that: The Y-axis connection assembly (22) comprises a Y-axis electric push rod (221) mounted on the leg support frame (11), two positioning shafts (222) fixedly connected to the telescopic end of the Y-axis electric push rod (221) through a connecting rod (225), three positioning holes (223) provided on the chair frame (31), and three limiting grooves (224) provided at the bottom of the positioning groove (212) for limiting the driving wheel; the three limiting grooves (224) respectively correspond to the lying posture, sitting posture and standing posture of the chair conversion device (3); The positioning holes (223) include a standing posture positioning hole (223), a sitting posture positioning hole (223) and a lying posture positioning hole (223) which are sequentially opened on the side rod of the chair frame (31) from front to back; When the convertible chair device (3) is in different postures, the positioning shaft (222) is inserted into the corresponding positioning hole (223), and the rear driving wheel (33) is arranged in the corresponding limiting groove (224).

6. A multi-position lower limb rehabilitation system according to claim 5, characterized in that: The two positioning axes (222) are respectively a Y+ positioning axis (2221) and a Y- positioning axis (2222), and the Y+ positioning axis (2221) and the Y- positioning axis (2222) are parallel to each other; When the Y-axis electric push rod (221) drives the Y+ positioning shaft (2221) to extend out of the leg support frame (11), the Y- positioning shaft (2222) retracts from the outside of the leg support frame (11) to the inside; When the Y-axis electric push rod (221) drives the Y-positioning shaft (2222) to extend out of the leg support frame (11), the Y+positioning shaft (2221) retracts inward from the outside of the leg support frame (11).

7. The multi-position lower limb rehabilitation system according to claim 1, characterized in that: The rehabilitation leg (15) comprises a hip joint rehabilitation mechanism (151), a thigh rehabilitation mechanism (152), a knee joint rehabilitation mechanism (153), a calf rehabilitation mechanism (154), an ankle joint rehabilitation mechanism (155) and a rehabilitation foot pedal (156) which are rotatably connected in sequence; the hip joint rehabilitation mechanism (151) is installed at the output end of the left and right adjustment mechanism (14) via a hip joint connecting plate (157); The hip joint rehabilitation mechanism (151), the knee joint rehabilitation mechanism (153) and the ankle joint rehabilitation mechanism (155) all adopt a servo motor and a harmonic reducer integrated drive module; a three-dimensional force sensor (19) is provided at the connection between the rehabilitation foot pedal (156) and the ankle joint mechanism for feeding back the human-machine interaction force of the patient's leg.

8. The multi-position lower limb rehabilitation system according to claim 1, characterized in that: The lifting device (12) comprises a lifting electric push rod (121) whose fixed end is mounted on the leg support frame (11), and at least two lifting guide rods (122) arranged on the leg support frame (11) in parallel with the lifting electric push rod (121); the telescopic end of the lifting electric push rod (121) is fixedly connected to the connecting plate.

9. The multi-position lower limb rehabilitation system according to claim 1, characterized in that: It also includes a suspension mechanism (4) mounted on the back plate (36); the suspension mechanism (4) includes a suspension electric push rod mounted on the rear side of the back plate (36), two optical axes (42) that are consistent with the extension and contraction directions of the suspension electric push rod and pass through the upper end surface of the back plate (36), and a suspension frame (43) mounted on the upper end of the optical axis (42); The telescopic end of the suspension electric push rod is fixedly mounted on the optical axis (42). When the suspension electric push rod is telescopic, it drives the optical axis (42) to move along the Z-axis direction to adjust the height of the suspension frame (43) relative to the ground or the training platform.

10. The method for using the multi-position lower limb rehabilitation system according to claim 3, characterized in that: The following steps are involved: Step 1: Move the lower limb training device (1) to the positioning connection mechanism (2), and use an X-axis positioning component (21) to limit and fix the front ground wheels (16) and the rear ground wheels (17) of the lower limb training device (1); Step 2: Start the driving wheel of the conversion chair device (3) and move the driving wheel and the moving wheel close to the lower limb training device (1) into the positioning groove (212); Step 3: According to the input training posture information, the change chair device (3) and the lower limb training device (1) are installed in coordination; that is, the change chair device (3) is moved until the driving wheel falls into the limiting groove (224) of the corresponding posture, and the Y-axis electric push rod (221) is started to pass the positioning shaft (222) through the corresponding positioning hole (223); Step 4: According to the training posture information, the postures of the transformation chair device (3) and the lower limb training device (1) are adjusted accordingly; that is, the first angle adjustment component (34) and the second angle adjustment component (37) are activated to transform the posture of the transformation chair device (3), and the hip joint rehabilitation mechanism (151) is activated to transform the posture of the rehabilitation leg (15); Step 5: adjusting the position of the rehabilitation leg (15) according to the input information of the patient to be rehabilitated; the information of the patient to be rehabilitated includes body height, fatness, thigh length, and calf length; Step 6: Determine the active training mode and the passive training mode; that is, determine the training mode based on the feedback system; Step 7: rehabilitation training and training adjustment; that is, starting the motors of each joint of the rehabilitation leg (15) to conduct rehabilitation training for the patient, and at the same time, according to the feedback during the training, identifying the intention of the rehabilitation patient, and making real-time adjustments to the patient's rehabilitation; Step 8: Training is complete.

Images