Active and passive integrated rehabilitation device

Abstract

The invention provides an active and passive integrated rehabilitation device which comprises a base assembly, an upper limb movement assembly, a lower limb movement assembly and a bridge type movement assembly, and the bridge type movement assembly comprises a bridge type support, a first connecting rod, a second connecting rod, a third connecting rod, a movement plate, a bridge type gas spring, a bridge type main push rod and a bridge type auxiliary push rod. The upper limb movement assembly and the lower limb movement assembly are connected in a non-fixed mode, so that the rotation center can change in space, the rotation center of the upper limb movement assembly coincides with the rotation center of the upper limb of a user during movement, and bridge type rehabilitation is achieved through mutual cooperation of connecting rods in the bridge type movement assembly and two power sources. Meanwhile, non-fixed connection is adopted, the bridge type movement assembly can be attached to the waist of a user, and active and passive combination of stretching, standing up and sitting, bridge type movement, air treading and standing posture actions is achieved through mutual cooperation of all the assemblies.

Description

Technical Field

[0001] The present invention relates to the field of rehabilitation nursing appliances, and in particular to an active and passive integrated rehabilitation device. Background Art

[0002] In the rehabilitation training process for lung patients, stretching and sit-ups in sitting and lying positions, bridge exercises, air pedaling, and standing and sitting exercises can all play a relatively effective role in rehabilitation. However, existing rehabilitation exercises are often difficult for patients to complete alone, and existing rehabilitation devices also have some defects.

[0003] Chinese patent CN11515496A discloses a nursing bed, which includes a folding plate assembly, a rotating assembly and a moving assembly. The folding plate assembly is installed with the moving assembly through the rotating assembly, which meets the use requirements of hemiplegic patients, is convenient for medical staff or family members to care and use, and reduces the nursing burden.

[0004] Chinese patent CN114631945A discloses a big data-based post-cardiology interventional limb care device, which includes a nursing bed, which is also equipped with a hemostasis component, a nursing component, a detection component and a control component. The real-time wireless communication between the microcomputer and the cloud server is achieved through 5G secure signals, which solves the problem that medical staff in the prior art cannot provide targeted care and assistance to patients in a timely manner.

[0005] However, the above mechanism cannot complete stretching sit-ups, bridge exercises, air pedaling, standing up, sitting down and other sports movements. At the same time, the rotation center of the nursing device is different from that of the user during use, so it cannot provide precise assistance, and the force direction of the mechanism cannot be changed according to the different force directions of the user. Therefore, an active and passive integrated rehabilitation device is needed to better solve the problems of the existing technology that cannot be adaptively adjusted and the overall movement of the mechanism is not accurate enough. Summary of the invention

[0006] In view of the problems existing in the prior art, the present invention provides an active-passive integrated rehabilitation device. Through the non-fixed connection adopted by the upper limb motion component and the lower limb motion component, the rotation center of the upper limb motion component can be changed in space, so that the rotation center of the upper limb motion component coincides with the rotation center of the upper limb of the user during exercise, thereby avoiding secondary injuries. Bridge-type rehabilitation is achieved through the mutual cooperation of each connecting rod and two power sources in the bridge-type motion component. At the same time, the non-fixed connection is adopted, so that the bridge-type motion component can fit the user's waist to avoid discomfort during exercise. Through the mutual cooperation of each component, assistance is provided when the user's force is insufficient, thereby realizing active and passive combined auxiliary rehabilitation of stretching sit-ups, bridge exercises, aerial cycling and standing movements.

[0007] The present invention provides an active-passive integrated rehabilitation device, which comprises a base assembly, an upper limb movement assembly, a lower limb movement assembly and a bridge movement assembly, wherein the base assembly comprises a main body frame and a head support plate; the upper limb movement assembly comprises a horizontal linear module, an inclined push rod, an inclined push rod bracket, a back support plate and a back main push rod, the horizontal linear module is symmetrically arranged on both sides of the main body frame of the base assembly, the fixed end of the inclined push rod is rotatably connected to the horizontal linear module through the inclined push rod bracket, the back support plate is connected to the telescopic rod of the inclined push rod, the fixed end of the back main push rod is rotatably connected to the main body frame in the base assembly, and the telescopic rod of the back main push rod is rotatably connected to the back support plate; The lower limb motion assembly includes a waist support plate, a lower limb connecting shaft, a connecting shaft bracket, a leg support plate, a reduction motor, a transmission shaft, a screw, a gear set, a linear guide rail, a slider, a screw connector, a foot pedal, a lower limb push rod, a lower limb gas spring, a locking bracket and a leg guardrail. The waist support plate is engaged with the main frame of the base assembly, the lower limb connecting shaft is connected to the main frame through the connecting shaft bracket, the leg support plate is rotatably connected to the lower limb connecting shaft, the reduction motor is connected to the leg support plate, the transmission shaft is connected to the output end of the reduction motor, the screw and the two ends of the transmission shaft are connected through the gear set, the linear guide rail is symmetrically arranged on both sides of the leg support plate, and the screw connector is connected through The sliding block is slidably connected to the linear guide rail, and the foot pedal is slidably connected to the screw through the screw connector; the fixed end of the lower limb push rod is rotatably connected to the leg support plate, the telescopic rod of the lower limb push rod is rotatably connected to the waist support plate, the fixed end of the lower limb gas spring is rotatably connected to the main frame, the piston rod of the lower limb gas spring is rotatably connected to the leg support plate, the locking bracket is symmetrically arranged below the leg support plate, the leg guardrail is symmetrically arranged on both sides of the leg support plate, and the leg guardrail is rotatably connected to the leg support plate; the bridge motion assembly includes a bridge bracket, a first connecting rod, a second connecting rod, a third connecting rod, a motion plate, a bridge gas spring, a bridge main push rod and a bridge. The auxiliary push rod, the bridge bracket is connected to the main frame of the base assembly, the first end of the first connecting rod is rotatably connected to the bridge bracket, the first end of the second connecting rod is rotatably connected to the second end of the first connecting rod, the first end of the third connecting rod is rotatably connected to the second end of the second connecting rod, the moving plate is rotatably connected to the second end of the third connecting rod, the fixed end of the bridge gas spring is rotatably connected to the middle part of the third connecting rod, the piston rod of the bridge gas spring is rotatably connected to the third end of the first connecting rod, the fixed end of the bridge main push rod and the fixed end of the bridge auxiliary push rod are both rotatably connected to the bridge bracket, the telescopic rod of the bridge main push rod and the telescopic rod of the bridge auxiliary push rod are both rotatably connected to the moving plate.

[0008] Preferably, the upper limb movement component is located above the base component and also includes a neck pad arranged on one side of the back support plate.

[0009] In a preferred embodiment, it also includes an aerial pedaling assembly located on both sides of the lower limb motion assembly, the aerial pedaling assembly including a pedaling fixed seat, a rotating bracket, a rotating motor, an extension inner cylinder, an extension push rod, an extension outer cylinder, a knee joint fixed seat, a thigh fixing plate and a calf fixing plate, the pedaling fixed seat is connected to the main frame of the base assembly, the rotating bracket is connected to the pedaling fixed seat, the fixed end of the rotating motor is connected to the rotating bracket, the extension inner cylinder is rotatably connected to the rotating bracket, and the extension inner cylinder is rotatably connected to the output shaft of the rotating motor through a synchronous pulley set, the fixed end of the extension push rod is connected to the extension inner cylinder, the extension outer cylinder is connected to the telescopic rod of the extension push rod, and the extension outer cylinder is slidably connected to the extension inner cylinder, the first end of the knee joint fixed seat is connected to the extension outer cylinder, and the thigh fixing plate and the calf fixing plate are both rotatably connected to the second end of the knee joint fixed seat.

[0010] Preferably, the base assembly also includes a head guard plate, a limit clamp and a universal wheel, the head support plate is connected to the main frame, the head guard plate is connected to the head support plate, the limit clamp is symmetrically arranged on both sides of the main frame, and the universal wheel is arranged at the four corners of the main frame.

[0011] Preferably, an electromagnet and a spring locking wedge are arranged inside the limit clamp, and when the leg support plate is in a vertical state, the electromagnet in the limit clamp is demagnetized, and the spring locking wedge pops out and is inserted into the locking bracket.

[0012] Preferably, an electromagnet is installed inside the waist support plate, and the lumbar support plate is magnetically engaged with the main frame through the magnetic attraction of the electromagnet.

[0013] Preferably, the neck pad is composed of three pads, and the pads on both sides are rotatably connected to the middle pad.

[0014] Preferably, the rotation axis of the transmission shaft is perpendicular to the rotation axis of the screw, the rotation axis of the rotary motor is parallel to the rotation axis of the extension inner cylinder, and the rotation axis of the thigh fixing plate is parallel to the rotation axis of the rotary motor.

[0015] Preferably, the first connecting rod, the second connecting rod, the third connecting rod and the bridge gas spring are arranged in a mirror-symmetrical manner on both sides of the bridge main push rod, the lead screw is symmetrically arranged on both sides of the leg support plate, and the foot pedal is slidably connected to the leg support plate.

[0016] The characteristics and beneficial effects of the present invention are:

[0017] 1. The active and passive integrated rehabilitation device of the present invention adopts a non-fixed connection between the upper limb movement component and the lower limb movement component, so that the rotation center of the upper limb movement component can be changed in space, so that the rotation center of the upper limb movement component coincides with the rotation center of the upper limb of the user during exercise, thereby avoiding secondary injuries.

[0018] 2. The active and passive integrated rehabilitation device of the present invention realizes bridge-type rehabilitation through the mutual cooperation of each connecting rod in the bridge-type motion component and the two power sources. At the same time, it adopts a non-fixed connection, which can enable the bridge-type motion component to fit the user's waist and avoid discomfort during exercise.

[0019] 3. The active and passive integrated rehabilitation device of the present invention, through the cooperation of various components and the appropriate arrangement of some force sensors for data collection and feedback, can better realize the compensatory force when the user's force is insufficient, and realize the active and passive combined auxiliary rehabilitation of stretching sit-ups, bridge exercises, aerial cycling and standing movements. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the active and passive integrated rehabilitation device of the present invention;

[0021] Figure 2 It is a schematic diagram of the structure of the base assembly and the upper limb movement assembly in the present invention;

[0022] Figure 3 It is a partial structural schematic diagram of the lower limb movement component in the present invention;

[0023] Figure 4 It is a schematic diagram of the front view structure of the present invention in a lying position;

[0024] Figure 5 It is a schematic diagram of the overall structure of the present invention in a sitting position;

[0025] Figure 6 It is a structural schematic diagram of the bridge motion assembly in the present invention;

[0026] Figure 7 It is a schematic diagram of the structure of the aerial pedaling assembly of the present invention;

[0027] Figure 8 It is the overall sitting posture of the present invention.

[0028] Fig. 9 This is the overall standing posture structural intention of the present invention;

[0029] Fig.10 It is the structural intention of the overall standing posture of the present invention.

[0030] Main reference numerals:

[0031] Base assembly 1, main frame 11, head support plate 12, head guard plate 13, limit card 14, universal wheel 15, upper limb movement assembly 2, horizontal linear module 21, tilt push rod 22, tilt push rod bracket 23, back support plate 24, neck pad 25, back main push rod 26, lower limb movement assembly 3, waist support plate 301, lower limb connecting shaft 302, connecting shaft bracket 303, leg support plate 304, reduction motor 305, transmission shaft 306, screw 307, gear set 308, linear guide rail 309, slider 310, screw connector 3 11, foot pedal 312, lower limb push rod 313, lower limb gas spring 314, locking bracket 315, leg guardrail 316, bridge motion assembly 4, bridge bracket 41, first connecting rod 42, second connecting rod 43, third connecting rod 44, motion plate 45, bridge gas spring 46, bridge main push rod 47, bridge auxiliary push rod 48, aerial pedal assembly 5, pedal fixed seat 51, rotating bracket 52, rotating motor 53, extension inner cylinder 54, extension push rod 55, extension outer cylinder 56, knee joint fixed seat 57, thigh fixing plate 58, calf fixing plate 59. DETAILED DESCRIPTION

[0032] In order to fully describe the technical content, structural features, objectives and effects of the present invention, the following will be described in detail with reference to the accompanying drawings.

[0033] The active and passive integrated rehabilitation device of the present invention is as follows Figure 1 As shown, it includes a base assembly 1, an upper limb motion assembly 2, a lower limb motion assembly 3, a bridge motion assembly 4 and an air pedal assembly 5, the upper limb motion assembly 2 is located above the base assembly 1, the lower limb motion assembly 3 is located on one side of the upper limb motion assembly 2, the bridge motion assembly 4 is located below the lower limb motion assembly 3, and the air pedal assembly 5 is located on both sides of the lower limb motion assembly 3.

[0034] like Figure 2 and Figure 3As shown, the base assembly 1 includes a main frame 11, a head support plate 12, a head guard plate 13, a limit card 14 and a universal wheel 15. The head support plate 12 is connected to the main frame 11, the head guard plate 13 is connected to the head support plate 12, the limit card 14 is symmetrically arranged on both sides of the main frame 11, and the universal wheel 15 is arranged at the four corners of the main frame 11; the upper limb movement assembly 2 includes a horizontal linear module 21, an inclined push rod 22, an inclined push rod bracket 23, a back support plate 24, a neck pad 25 and a back main push rod 26. The horizontal linear module 21 is symmetrically arranged on both sides of the main frame 11 of the base assembly 1, the fixed end of the inclined push rod 22 is rotatably connected to the horizontal linear module 21 through the inclined push rod bracket 23, the back support plate 24 is connected to the telescopic rod of the inclined push rod 22, and the neck pad 25 is arranged On one side of the back support plate 24, the fixed end of the back main push rod 26 is rotatably connected to the main frame 11 in the base assembly 1, and the telescopic rod of the back main push rod 26 is rotatably connected to the back support plate 24; the neck pad 25 is composed of three pads, and the pads on both sides are rotatably connected to the middle pad to fit the user's neck posture; a head pad 13 is arranged on the head support plate 12; a back pad is arranged on the back support plate 21, and force sensors are arranged on the back pads; the main power of the upper limb motion assembly 2 is provided by five electric push rods, which provide power in three directions, so that the entire upper limb motion assembly 2 can realize three-degree-of-freedom spatial movement. At the same time, the force sensor on the back pad can record the user's force and active force in real time, and adjust the back pad to fit the user's back posture in real time through the control program.

[0035] like Figure 3 to Figure 5As shown, the lower limb motion assembly 3 includes a waist support plate 301, a lower limb connecting shaft 302, a connecting shaft bracket 303, a leg support plate 304, a reduction motor 305, a transmission shaft 306, a lead screw 307, a gear set 308, a linear guide 309, a slider 310, a lead screw connector 311, a foot pedal 312, a lower limb push rod 313, a lower limb gas spring 314, a locking bracket 315 and a leg guardrail 316. The waist support plate 301 is engaged with the main frame 11 of the base assembly 1, and the lower limb connecting shaft 302 is connected to the main frame 11 through the connecting shaft bracket 303. The leg support plate 304 is connected to the lower limb connecting shaft 302, the reduction motor 305 is connected to the leg support plate 304, the transmission shaft 306 is connected to the output end of the reduction motor 305, the lead screw 307 is connected to both ends of the transmission shaft 306 through a gear set 308, the linear guide rails 309 are symmetrically arranged on both sides of the leg support plate 304, the lead screw connector 311 is slidably connected to the linear guide rails 309 through a slider 310, and the foot pedal 312 is slidably connected to the lead screw through the lead screw connector 311; the fixed end of the lower limb push rod 313 The leg support plate 304 is rotatably connected, the telescopic rod of the lower limb push rod 313 is rotatably connected to the waist support plate 301, the fixed end of the lower limb gas spring 314 is rotatably connected to the main frame 11, the piston rod of the lower limb gas spring 314 is rotatably connected to the leg support plate 304, the locking bracket 315 is symmetrically arranged below the leg support plate 304, the leg guardrail 316 is symmetrically arranged on both sides of the leg support plate 304, and the leg guardrail 316 is rotatably connected to the leg support plate 304; an electromagnet is installed inside the waist support plate 301, which is magnetically attracted to the main frame by the electromagnet. 11 magnetic engagement; an electromagnet and a spring locking wedge are arranged inside the limit clamp 14. When the leg support plate 304 is in a vertical state, the electromagnet in the limit clamp 14 is demagnetized, and the spring locking wedge pops out and is inserted into the locking bracket 315, thereby locking the lower limb movement component and stably using the overall device. The lead screw 307 is symmetrically arranged on both sides of the leg support plate 304, and the foot pedal 311 is slidably connected to the leg support plate 304; a waist pad is arranged on the waist support plate 301, and force sensors are arranged on the waist pad, and a leg pad is arranged on the leg support plate 304.

[0036] like Figure 6As shown, the bridge motion assembly 4 includes a bridge bracket 41, a first connecting rod 42, a second connecting rod 43, a third connecting rod 44, a motion plate 45, a bridge gas spring 46, a bridge main push rod 47 and a bridge auxiliary push rod 48. The bridge bracket 41 is connected to the main frame 11 of the base assembly 1, the first end of the first connecting rod 42 is rotatably connected to the bridge bracket 41, the first end of the second connecting rod 43 is rotatably connected to the second end of the first connecting rod 42, and the first end of the third connecting rod 44 is rotatably connected to the second connecting rod 42. The second end of the bridge type push rod 43 is rotatably connected, the motion plate 45 is rotatably connected to the second end of the third connecting rod 44, the fixed end of the bridge type gas spring 46 is rotatably connected to the middle part of the third connecting rod 44, the piston rod of the bridge type gas spring 46 is rotatably connected to the third end of the first connecting rod 42, the fixed end of the bridge type main push rod 47 and the fixed end of the bridge type auxiliary push rod 48 are both rotatably connected to the bridge type bracket 41, and the telescopic rod of the bridge type main push rod 47 and the telescopic rod of the bridge type auxiliary push rod 48 are both rotatably connected to the motion plate 45. The main power of the bridge type motion assembly is provided by two electric push rods, which provide power in two directions, so that the entire bridge type motion assembly can achieve two degrees of freedom in space. At the same time, the force sensor of the waist pad can record the user's force and active force in real time, and adjust the waist pad to fit the user's waist posture through the control program; the main power of the lower limb motion assembly 3 is provided by an electric push rod, which provides power in one direction, so that the entire lower limb motion assembly 3 can achieve fixed axis rotation around the lower limb connection axis 302. The first connecting rod 42 , the second connecting rod 43 , the third connecting rod 44 and the bridge-type gas spring 46 are arranged on both sides of the bridge-type main push rod 47 in a mirror-symmetrical manner.

[0037] like Figure 7 As shown, the aerial pedaling assembly 5 includes a pedaling fixed seat 51, a rotating bracket 52, a rotating motor 53, an extension inner cylinder 54, an extension push rod 55, an extension outer cylinder 56, a knee joint fixed seat 57, a thigh fixing plate 58 and a calf fixing plate 59. The pedaling fixed seat 51 is connected to the main frame 11 of the base assembly 1, the rotating bracket 52 is connected to the pedaling fixed seat 51, the fixed end of the rotating motor 53 is connected to the rotating bracket 52, the extension inner cylinder 54 is rotatably connected to the rotating bracket 52, and the extension inner cylinder 54 is rotatably connected to the output shaft of the rotating motor 53 through a synchronous pulley set, the fixed end of the extension push rod 55 is connected to the extension inner cylinder 54, and the extension push rod 55 is connected to the extension inner cylinder 54. The long outer tube 56 is connected to the telescopic rod of the extension push rod 55, and the extension outer tube 56 is slidably connected to the extension inner tube 54. The first end of the knee joint fixing seat 57 is connected to the extension outer tube 56, and the thigh fixing plate 58 and the calf fixing plate 59 are both rotatably connected to the second end of the knee joint fixing seat 57; the aerial pedaling assembly 5 has two degrees of freedom and can be adjusted according to the user's lower limb hip joint rotation point, so that the aerial pedaling assembly 5 has the same rotation center as the user; the rotation axis of the rotating motor 53 is parallel to the rotation axis of the extension inner tube 54, and the rotation axis of the thigh fixing plate 58 is parallel to the rotation axis of the rotating motor 53.

[0038] The following is a further description of an active and passive integrated rehabilitation device of the present invention in combination with an embodiment. The use process of the active and passive integrated rehabilitation device of the present invention is as follows:

[0039] The device can actively assist the user in rehabilitation movements from lying to sitting and from sitting to standing. At the same time, the device can also provide the user with active rehabilitation assistance for air cycling and bridge exercises. The active assistance process of each movement will be described in detail below.

[0040] The device provides active rehabilitation assistance to the user from lying position to sitting position in the following process: the user lies flat on the device, the neck pad 25 is adjusted to fit the user's neck, the user's back fits the pad on the back support plate 24, the user's buttocks fit the pad on the waist support plate 301, the user's legs fit the pad on the leg support plate 304, and the foot pedal 312 is adjusted by the screw 307 to adapt to the user's height so that the foot pedal 312 fits the sole of the user's foot, thus completing the preparations before use. The horizontal linear module 21, the tilt push rod 22 and the back main push rod 26 work together. The horizontal linear module 21 controls the rotation center of the tilt push rod 22 in the horizontal direction. The tilt push rod 22 controls the movement of the back support plate 24 in the vertical direction and the horizontal direction. The back main push rod 26 controls the rotation of the back support plate 24 around the tilt push rod bracket 23. The back main push rod 26 serves as the main power source to drive the pad on the back support plate 24 to fit the user's back. At the same time, the force detection device on the pad on the back support plate 24 can detect the force condition of the user's back in real time and provide a signal to the driving element to ensure that the instantaneous center of movement of the back support plate 24 is consistent with the instantaneous center of the user's back when it bends and rotates.

[0041] The lower limb push rod 313 serves as the main driving element of the lower limb movement component 3, controlling the fixed-axis rotation of the leg support plate 304 around the lower limb connecting shaft 302 to conform to the downward trend of the user's lower limbs. At the same time, the lower limb gas spring 314 serves as a support when the device is in a lying position, and plays a buffering role in the process of the device changing from a lying position to a sitting position, making the whole process smoother. The locking bracket 315 will cooperate with the limit card 14 after the leg support plate 304 becomes a vertical state, so as to achieve the stability of the state of the device and realize the active rehabilitation assistance process of the device changing from a lying state to a sitting state.

[0042] like Figure 8 to Figure 10As shown, the device provides the user with active rehabilitation assistance from sitting to standing position: the lumbar support plate 301 is disconnected from the magnetic connection with the moving plate 45 and the main frame 11 respectively by the electromagnet, and the lower limb push rod 313 is used as the main driving element to push the pad on the lumbar support plate 301 to fit the user's buttocks and rotate around the lower limb connection shaft 302. The foot pedal 312 is adjusted in the vertical direction by the screw 307 so that the foot pedal 312 fits the sole of the user to provide support for the user. The horizontal linear module 21, the tilt push rod 22 and the back main push rod 26 work together to drive the pad on the back support plate 24 to fit the user's back, thereby realizing the active rehabilitation assistance process of the device changing from a sitting state to a standing state.

[0043] The device provides the user with an active rehabilitation assistance process of bridge movement: the main bridge push rod 47 serves as the main power element, the auxiliary bridge push rod 48 serves as the auxiliary power element, and the motion plate 45 rotates around the bridge support 41 and moves in the horizontal direction to achieve the active rehabilitation assistance process of bridge movement in which the pad on the lumbar support plate 301 fits the user's waist. The force sensor on the pad on the lumbar support plate 301 can automatically adjust the mechanism posture to adapt to the user according to the force situation of the user.

[0044] The device provides the user with the following active rehabilitation assistance process for aerial cycling: the rotating motor 53 is used as the main power element, and the extension push rod 55 is used as the auxiliary power element to control the rotation of the knee joint fixing seat 57, the thigh fixing plate 58 and the calf fixing plate 59 around the rotating bracket and the movement in the horizontal and vertical directions, so as to realize the active rehabilitation assistance process of aerial cycling so that the knee joint fixing seat 57, the thigh fixing plate 58 and the calf fixing plate 59 fit the user's knee joint, thigh and calf. The extension push rod 55 can adjust the overall length of the component according to the different leg lengths of the user before the action starts, and can also automatically adjust the length of the component during the action according to the user's comfort and stress conditions to ensure that the knee joint fixing seat 57 always corresponds to the user's knee joint position.

[0045] The active and passive integrated rehabilitation device of the present invention, through the non-fixed connection adopted by the upper limb movement component 2 and the lower limb movement component 3, allows the rotation center of the upper limb movement component 3 to change in space, so that the rotation center of the upper limb movement component 2 coincides with the rotation center of the upper limb of the user during exercise, thereby avoiding secondary injuries; and bridge rehabilitation is achieved through the mutual cooperation of each connecting rod and the two power sources in the bridge movement component 4. At the same time, it adopts a non-fixed connection, which can enable the bridge movement component 4 to fit the user's waist to avoid discomfort during exercise; through the mutual cooperation of each component and through the data collection and feedback of each force sensor, the force can be compensated when the user's force is insufficient, thereby realizing a rehabilitation exercise mechanism that combines active and passive stretching, bridge exercise, aerial cycling and standing movements.

[0046] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. An active and passive integrated rehabilitation device, characterized in that: It includes a base component, an upper limb motion component, a lower limb motion component and a bridge motion component. The base assembly includes a main frame and a head support plate; The upper limb movement assembly includes a horizontal linear module, an inclined push rod, an inclined push rod bracket, a back support plate and a back main push rod. The horizontal linear module is symmetrically arranged on both sides of the main frame of the base assembly. The fixed end of the inclined push rod is rotatably connected to the horizontal linear module through the inclined push rod bracket, the back support plate is connected to the telescopic rod of the inclined push rod, the fixed end of the back main push rod is rotatably connected to the main frame of the base assembly, and the telescopic rod of the back main push rod is rotatably connected to the back support plate; The lower limb motion assembly includes a waist support plate, a lower limb connecting shaft, a connecting shaft bracket, a leg support plate, a reduction motor, a transmission shaft, a screw, a gear set, a linear guide rail, a slider, a screw connector, a foot pedal, a lower limb push rod, a lower limb gas spring, a locking bracket and a leg guardrail. The waist support plate is engaged with the main frame of the base assembly, the lower limb connecting shaft is connected to the main frame through the connecting shaft bracket, the leg support plate is rotatably connected to the lower limb connecting shaft, the reduction motor is connected to the leg support plate, the transmission shaft is connected to the output end of the reduction motor, the screw is connected to both ends of the transmission shaft through the gear set, and the linear The guide rails are symmetrically arranged on both sides of the leg support plate, the screw connector is slidably connected to the linear guide rail through a slider, and the foot pedal is slidably connected to the screw through the screw connector; the fixed end of the lower limb push rod is rotatably connected to the leg support plate, the telescopic rod of the lower limb push rod is rotatably connected to the waist support plate, the fixed end of the lower limb gas spring is rotatably connected to the main frame, the piston rod of the lower limb gas spring is rotatably connected to the leg support plate, the locking bracket is symmetrically arranged below the leg support plate, the leg guardrails are symmetrically arranged on both sides of the leg support plate, and the leg guardrails are rotatably connected to the leg support plate; The bridge motion assembly includes a bridge bracket, a first connecting rod, a second connecting rod, a third connecting rod, a motion plate, a bridge gas spring, a bridge main push rod and a bridge auxiliary push rod. The bridge bracket is connected to the main frame of the base assembly, the first end of the first connecting rod is rotatably connected to the bridge bracket, the first end of the second connecting rod is rotatably connected to the second end of the first connecting rod, the first end of the third connecting rod is rotatably connected to the second end of the second connecting rod, the motion plate is rotatably connected to the second end of the third connecting rod, the fixed end of the bridge gas spring is rotatably connected to the middle part of the third connecting rod, the piston rod of the bridge gas spring is rotatably connected to the third end of the first connecting rod, the fixed end of the bridge main push rod and the fixed end of the bridge auxiliary push rod are both rotatably connected to the bridge bracket, and the telescopic rod of the bridge main push rod and the telescopic rod of the bridge auxiliary push rod are both rotatably connected to the motion plate.

2. The active and passive integrated rehabilitation device according to claim 1, characterized in that: The upper limb movement component is located above the base component and also includes a neck pad arranged on one side of the back support plate.

3. The active and passive integrated rehabilitation device according to claim 1, characterized in that: It also includes an aerial pedaling assembly located on both sides of the lower limb motion assembly, the aerial pedaling assembly including a pedaling fixed seat, a rotating bracket, a rotating motor, an extension inner cylinder, an extension push rod, an extension outer cylinder, a knee joint fixed seat, a thigh fixing plate and a calf fixing plate, the pedaling fixed seat is connected to the main frame of the base assembly, the rotating bracket is connected to the pedaling fixed seat, the fixed end of the rotating motor is connected to the rotating bracket, the extension inner cylinder is rotatably connected to the rotating bracket, and the extension inner cylinder is rotatably connected to the output shaft of the rotating motor through a synchronous pulley set, the fixed end of the extension push rod is connected to the extension inner cylinder, the extension outer cylinder is connected to the telescopic rod of the extension push rod, and the extension outer cylinder is slidably connected to the extension inner cylinder, the first end of the knee joint fixed seat is connected to the extension outer cylinder, and the thigh fixing plate and the calf fixing plate are both rotatably connected to the second end of the knee joint fixed seat.

4. The active and passive integrated rehabilitation device according to claim 1, characterized in that: The base assembly also includes a head guard plate, a limit clamp and a universal wheel. The head support plate is connected to the main frame, the head guard plate is connected to the head support plate, the limit clamp is symmetrically arranged on both sides of the main frame, and the universal wheel is arranged at the four corners of the main frame.

5. The active and passive integrated rehabilitation device according to claim 4, characterized in that: An electromagnet and a spring locking wedge are arranged inside the limit clamp. When the leg support plate is in a vertical state, the electromagnet in the limit clamp is demagnetized, and the spring locking wedge pops out and is inserted into the locking bracket.

6. The active and passive integrated rehabilitation device according to claim 1, characterized in that: An electromagnet is installed inside the waist support plate, and the electromagnet is magnetically engaged with the main frame through magnetic attraction.

7. The active and passive integrated rehabilitation device according to claim 2, characterized in that: The neck pad consists of three pads, and the pads on both sides are rotatably connected with the middle pad.

8. The active and passive integrated rehabilitation device according to claim 3, characterized in that: The rotation axis of the transmission shaft is perpendicular to the rotation axis of the lead screw, the rotation axis of the rotary motor is parallel to the rotation axis of the extension inner cylinder, and the rotation axis of the thigh fixing plate is parallel to the rotation axis of the rotary motor.

9. The active and passive integrated rehabilitation device according to claim 1, characterized in that: The first connecting rod, the second connecting rod, the third connecting rod and the bridge gas spring are arranged on both sides of the bridge main push rod in a mirror-symmetrical manner, the lead screw is arranged on both sides of the leg support plate in a symmetrical manner, and the foot pedal is slidably connected to the leg support plate.

Images