Upper and lower limb rehabilitation training equipment

Abstract

The invention relates to the technical field of medical instruments, in particular to upper and lower limb rehabilitation training equipment. The upper and lower limb rehabilitation training equipment comprises a machine body, a power system, a training crank and a training accessory module, wherein the power system is arranged on the machine body; the number of the training cranks is two, the two training cranks are both in transmission connection with the power system and are arranged on the two opposite sides of the machine body respectively, and the power system is configured to be capable of driving the two training cranks to move; the training accessory module comprises multiple pairs of training accessories, the multiple pairs of training accessories correspond to different training modes respectively, and the two training accessories arranged in pairs can be detachably connected with the two training cranks respectively. The upper and lower limb rehabilitation training equipment provided by the invention can be used for training a plurality of training parts of a patient, meets the training requirements of different joint parts of the patient, and avoids risks and burdens brought to the patient when equipment is replaced for training.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and more particularly to an upper and lower limb rehabilitation training device. Background Art

[0002] The main inducing causes of functional disorders and defects of the upper and lower limbs of the human body include stroke, traffic accidents, work injuries, etc. In particular, stroke in spinal cord injury and cerebrovascular diseases accounts for the majority of patients. According to data statistics, 85% of stroke survivors will have problems with upper and lower limb dysfunction, and the number is increasing day by day. In addition to surgical treatment and drug treatment, these patients can also fundamentally improve upper and lower limb dysfunction by means of a rehabilitation training plan formulated by a rehabilitation therapist, so that the patients can gradually return to a healthy state. The rehabilitation training device can effectively help patients complete rehabilitation training, thereby helping patients return to their families and lives as soon as possible. Therefore, the rehabilitation training device has important clinical significance and social value for a large number of stroke patients.

[0003] However, the training mechanism of the existing domestic rehabilitation training devices is not perfect, the training parts of the devices are single, the same device cannot meet the training needs of different joint parts of patients, and replacing the device for training requires patients to move positions repeatedly, which brings great risks and burdens to patients. Summary of the Invention

[0004] The purpose of the present invention is to provide an upper and lower limb rehabilitation training device to solve the technical problem of single training parts existing in the existing rehabilitation training devices.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] An upper and lower limb rehabilitation training device includes a body, a power system, training cranks, and a training accessory module, wherein:

[0007] The power system is installed on the body;

[0008] The number of the training cranks is two, and both of the two training cranks are in transmission connection with the power system and are respectively arranged on opposite sides of the body, and the power system is configured to be able to drive the two training cranks to move;

[0009] The training accessory module includes multiple pairs of training accessories, multiple pairs of the training accessories respectively correspond to different training modes, and the two training accessories in a pair can be respectively detachably connected to the two training cranks.

[0010] Further, the power system has two power output ends, and the two power output ends are respectively connected to the two training cranks, and the power system is configured to be able to drive the two training cranks to rotate;

[0011] The training crank includes a crank body and a locking member, wherein: the crank body has a first end and a second end oppositely arranged along the length direction, and the first end of the crank body is rotatably connected to the corresponding power output end; the locking member is installed at the first end of the crank body, and it can lock or release the relative position of the crank body and the power output end.

[0012] Further, the power system has two power output shafts, and a U-shaped groove is provided at the first end of the crank body, and the U-shaped groove is sleeved on the corresponding power output shaft;

[0013] The locking member is arranged at the opening of the U-shaped groove, and it can close the opening of the U-shaped groove to clamp the corresponding power output shaft.

[0014] Further, the training crank further includes a quick-release connecting shaft, the quick-release connecting shaft is installed at the second end of the crank body, and a connecting structure for plugging and matching with the quick-release connecting shaft is provided on the training accessory;

[0015] And / or, in the crank body and the training accessory, a limiting hole is provided on one of them, and a limiting pin is provided on the other, and the limiting hole is plugged and matched with the limiting pin.

[0016] Further, a clamping groove is provided on the quick-release connecting shaft, the connecting structure is a plug-in self-locking connector, and the quick-release connecting shaft can be plugged with the connecting structure and limited by the clamping groove;

[0017] And / or, the training crank further includes a buffer washer sleeved on the quick-release connecting shaft, and the buffer washer is arranged between the crank body and the training accessory.

[0018] Further, the multiple pairs of training accessories include one or several of a pair of upper limb circumferential accessories, a pair of upper limb wrist accessories, a pair of lower limb circumferential accessories, and a pair of lower limb ankle accessories arranged in pairs.

[0019] Further, each upper limb circumferential accessory includes a hand gripping handle, and first blocking edges are respectively arranged at both axial ends of the hand gripping handle;

[0020] Each upper limb wrist accessory includes a finger-separating hand grip, and second blocking edges are respectively arranged on the inner and outer sides of the finger-separating hand grip;

[0021] Each of the lower limb circumferential accessories comprises a foot pedal, and the inner side, outer side and rear side of the foot pedal are respectively provided with a third rib;

[0022] Each lower limb ankle accessory comprises an ankle-foot flexion and extension plate, a rear side of the ankle-foot flexion and extension plate is provided with an adjustment rib, and the adjustment rib can be moved forward and / or backward and adjusted relative to the ankle-foot flexion and extension plate.

[0023] Furthermore, the plurality of pairs of training accessories also include forearm pad accessories arranged in pairs, and the two forearm pad accessories arranged in pairs correspond to and are used in conjunction with the two upper limb wrist accessories arranged in pairs;

[0024] The upper and lower limb rehabilitation training equipment also includes an accessory mounting seat, which is installed on the body. Two forearm pad accessories arranged in pairs are respectively installed at the opposite ends of the accessory mounting seat and are respectively arranged on the rear side of the corresponding upper limb wrist accessories.

[0025] Furthermore, it also includes two self-resetting connection structures, which are respectively installed at opposite ends of the accessory mounting seat and respectively connected to the two forearm cushion accessories arranged in pairs, and the self-resetting connection structures are configured to release or lock the relative position of the forearm cushion accessories and the accessory mounting seat;

[0026] And / or, the forearm cushion accessory is plug-fitted into the accessory mounting seat.

[0027] Furthermore, it also includes a control system and an electrical system, wherein the control system and the electrical system are both installed on the machine body;

[0028] And / or, it also includes a human-machine interaction component installed on the body, and the human-machine interaction component includes one or more of a human-machine interaction interface, a start-stop button, an emergency stop button, and a status indicator light.

[0029] Beneficial effects of the present invention:

[0030] The upper and lower limb rehabilitation training equipment provided by the present invention includes a body, a power system, a training crank and a training accessory module, wherein: the power system is installed on the body; there are two training cranks, both of which are transmission-connected to the power system and are respectively arranged on opposite sides of the body, and the power system is configured to drive the two training cranks to move; the training accessory module includes multiple pairs of training accessories, and the multiple pairs of training accessories correspond to different training modes, and the two training accessories arranged in pairs can be detachably connected to the two training cranks respectively. The upper and lower limb rehabilitation training equipment provided by the present application can train multiple training parts of the patient, meet the training needs of different joint parts of the patient, and avoid the risks and burdens brought to the patient by changing equipment for training. Brief Description of the Drawings

[0031] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for the description of the specific embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 Overall schematic of the upper and lower limb rehabilitation training device (excluding training accessories) provided by an embodiment of the present invention Figure 1 ;

[0033] Figure 2 Overall schematic of the upper and lower limb rehabilitation training device (excluding training accessories) provided by an embodiment of the present invention Figure 2 ;

[0034] Figure 3 Internal structure schematic of the upper and lower limb rehabilitation training device (excluding training accessories) provided by an embodiment of the present invention;

[0035] Figure 4 Structural schematic diagram of the training crank provided by an embodiment of the present invention;

[0036] Figure 5 Overall schematic of the upper and lower limb rehabilitation training device after installing the upper limb circular accessory provided by an embodiment of the present invention;

[0037] Figure 6 Schematic diagram of the disassembly and assembly process of the upper limb circular accessory in the upper and lower limb rehabilitation training device provided by an embodiment of the present invention;

[0038] Figure 7 Structural schematic diagram of the upper limb circular accessory provided by an embodiment of the present invention;

[0039] Figure 8 Overall schematic of the upper and lower limb rehabilitation training device after installing the upper limb wrist accessory and the forearm soft pad accessory provided by an embodiment of the present invention;

[0040] Figure 9 Position structure schematic diagram of a corresponding set of upper limb wrist accessories and forearm soft pad accessories provided by an embodiment of the present invention;

[0041] Figure 10 Structural schematic diagram of the accessory mounting seat provided by an embodiment of the present invention;

[0042] Figure 11 Overall schematic of the upper and lower limb rehabilitation training device after installing the lower limb circular accessory provided by an embodiment of the present invention;

[0043] Figure 12 Schematic structural diagram of the lower limb circumferential fitting provided by an embodiment of the present invention;

[0044] Figure 13 Overall schematic diagram of the upper and lower limb rehabilitation training device provided by an embodiment of the present invention after installing the lower limb ankle fitting;

[0045] Figure 14 Schematic structural diagram of the lower limb ankle fitting provided by an embodiment of the present invention.

[0046] Icon:

[0047] 1 - Body;

[0048] 2 - Power system;

[0049] 3 - Training crank; 31 - Crank body; 311 - U-shaped groove; 312 - Limit hole; 32 - Locking part; 33 - Quick-release connecting shaft;

[0050] 4 - Training fitting module; 41 - Training fitting; 411 - Upper limb circumferential fitting; 4111 - Hand gripping handle; 4112 - First edge; 412 - Upper limb wrist fitting; 4121 - Finger separation grip for hand; 4122 - Second edge; 413 - Lower limb circumferential fitting; 4131 - Foot pedal; 4132 - Third edge; 414 - Lower limb ankle fitting; 4141 - Ankle-foot flexion and extension plate; 4142 - Fourth edge; 4143 - Position adjustment edge; 4144 - Position adjustment knob; 415 - Forearm cushion fitting; 4151 - Forearm support plate; 4152 - Clamping plate; 42 - Connection structure; 43 - Limit pin;

[0051] 5 - Fitting mounting seat; 51 - Limit hole groove;

[0052] 6 - Self-resetting connection structure;

[0053] 7 - Control system;

[0054] 8 - Electrical system;

[0055] 91 - Human-machine interface; 92 - Start / stop button; 93 - Emergency stop button; 94 - Status indicator light. Detailed implementation manners

[0056] Next, the technical solutions of the present invention will be clearly and completely described in conjunction with the embodiments. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] It should be noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0058] It should be noted that in the description of the present invention, the terms "connection" and "installation" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or connected through an intermediate medium; it can be a mechanical connection or an electrical connection. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0059] The present invention provides a rehabilitation training device for upper and lower limbs. Figures 1 to 14 The upper and lower limb rehabilitation training device comprises a body 1, a power system 2, a training crank 3 and a training accessory module 4, wherein:

[0060] The power system 2 is mounted on the machine body 1;

[0061] There are two training cranks 3, both of which are transmission-connected to the power system 2 and are respectively arranged on opposite sides of the machine body 1, and the power system 2 is configured to be able to drive the two training cranks 3 to move;

[0062] The training accessory module 4 includes a plurality of pairs of training accessories 41 , each pair of training accessories 41 corresponds to a different training mode, and two training accessories 41 arranged in a pair can be detachably connected to two training cranks 3 , respectively.

[0063] The upper and lower limb rehabilitation training equipment provided by the present application is equipped with multiple pairs of training accessories 41 corresponding to different training modes, and the two training accessories 41 arranged in pairs can be detachably connected to the two training cranks 3, respectively, so that when it is necessary to train other joint parts of the patient during the training process, the current training accessories 41 can be removed and replaced with other training accessories 41. Therefore, the upper and lower limb rehabilitation training equipment provided by the present application can train multiple training parts of the patient, meet the training needs of different joint parts of the patient, and avoid the risk and burden of changing equipment for training on the patient.

[0064] Reference Figure 3, the upper and lower limb rehabilitation training device further includes a control system 7 and an electrical system 8, both of which are installed on the machine body 1. In this embodiment, the power system 2, the control system 7, and the electrical system 8 are integrally integrated inside the machine body 1. This setting can, on the one hand, improve the signal transmission stability, and on the other hand, compress the overall size and weight of the device to achieve the portability and mobility of the device, facilitating the movement of the device to various training scenarios (such as the bed surface, desktop, ground, etc.), so that the device can adapt to multiple training scenarios and meet the training needs of patients in different scenarios such as standing, sitting, and lying postures.

[0065] Continue to refer to Figure 3 , the upper and lower limb rehabilitation training device further includes a human-machine interaction component installed on the machine body 1, and the human-machine interaction component includes one or more of a human-machine interaction interface 91, a start / stop button 92, an emergency stop button 93, and a status indicator light 94.

[0066] In this embodiment, the human-machine interaction component includes a human-machine interaction interface 91, a start / stop button 92, an emergency stop button 93, and a status indicator light 94, where: the human-machine interaction interface 91 is arranged on the upper side surface of the machine body 1 to facilitate the patient to adjust and view the training parameters; the start / stop button 92 and the emergency stop button 93 are both arranged on the upper side surface of the machine body 1 to facilitate the patient to press; the number of status indicator lights 94 is one or more, and can be arranged on one side surface or both side surfaces of the machine body 1 to indicate the working state of the device. Through various human-machine interaction components, the safety and effectiveness of the training can be ensured.

[0067] Optionally, the power system 2 is configured to be able to drive the two training cranks 3 to rotate or move, and the power output mode of the power system 2 can be adjusted according to the actual training needs.

[0068] Refer to Figures 1 to 4 , in this embodiment, the power system 2 has two power output ends, and the two power output ends are respectively connected to the two training cranks 3, and the power system 2 is configured to be able to drive the two training cranks 3 to rotate.

[0069] Further, the training crank 3 includes a crank body 31 and a locking member 32, where: the crank body 31 has a first end and a second end oppositely arranged along the length direction, and the first end of the crank body 31 is rotatably connected to the corresponding power output end; the locking member 32 is installed on the first end of the crank body 31, and it can lock or release the relative position of the crank body 31 and the power output end.

[0070] As Figure 1 and Figure 2As shown, the relative positions of a corresponding set of crank bodies 31 and the power output end can be adjusted, so that the included angle between the two crank bodies 31 can be adjusted to adapt to various training requirements. Taking the adjustment of the relative positions of a corresponding set of crank bodies 31 and the power output end as an example, first control the locking member 32 to release the relative positions of the crank body 31 and the power output end, and then rotate the crank body 31 until the included angle between the two crank bodies 31 is adjusted to the required angle. After that, control the locking member 32 to lock the relative positions of the crank body 31 and the power output end, and the adjustment of the included angle between the two crank bodies 31 can be completed.

[0071] Referring to Figure 3 and Figure 4 , in this embodiment, the power system 2 has two power output shafts. The first end of the crank body 31 is provided with a U-shaped groove 311, and the U-shaped groove 311 is sleeved on the corresponding power output shaft.

[0072] The locking member 32 is arranged at the opening of the U-shaped groove 311, and it can close the opening of the U-shaped groove 311 so that the U-shaped groove 311 clamps the corresponding power output shaft.

[0073] Specifically, the locking member 32 is connected between the two side walls of the U-shaped groove 311, and it can make the two side walls of the U-shaped groove 311 approach or move away from each other to clamp or release the corresponding power output shaft. Optionally, the locking member 32 is a locking handle, or a screw rod, or a bolt.

[0074] Referring to Figures 4 to 7 , the training crank 3 further includes a quick-release connecting shaft 33. The quick-release connecting shaft 33 is installed at the second end of the crank body 31, and the training accessory 41 is provided with a connecting structure 42 for plugging and mating with the quick-release connecting shaft 33. The installation and disassembly of the training crank 3 and the training accessory 41 can be quickly realized through the quick-release connecting shaft 33 and the connecting structure 42.

[0075] Optionally, the quick-release connecting shaft 33 is provided with a card slot, the connecting structure 42 is a plug-in self-locking connector, and the quick-release connecting shaft 33 can be plugged with the connecting structure 42 and limited by the card slot;

[0076] And / or, the training crank 3 further includes a buffer washer sleeved on the quick-release connecting shaft 33, and the buffer washer is arranged between the crank body 31 and the training accessory 41.

[0077] In this embodiment, the connection structure 42 is specifically a plug-in self-locking connector, which can automatically engage and limit the quick-release connecting shaft 33 after the quick-release connecting shaft 33 is inserted, further improving the convenience of disassembling and assembling the training crank 3 and the training accessory 41, thus reducing the working time and intensity of replacing the training accessory 41, while reducing the waiting time of the patient and enhancing the patient's initiative in rehabilitation. The plug-in self-locking connector is a conventional structure, and its structure will not be described in detail herein.

[0078] In this embodiment, a buffer washer is further provided between the crank body 31 and the training accessory 41 to prevent wear between the two.

[0079] Referring to Figures 5 to 14 , optionally, the multiple pairs of training accessories 41 include one or more of the paired upper limb circumferential accessories 411, the paired upper limb wrist accessories 412, the paired lower limb circumferential accessories 413, and the paired lower limb ankle accessories 414. Among them: the upper limb circumferential accessory 411 is used to connect with the training crank 3 when the patient performs upper limb circumferential movement, and can drive the patient to perform compound movements of large joints such as the shoulder and elbow of the upper limb; the upper limb wrist accessory 412 is used to connect with the training crank 3 when the patient performs upper limb wrist flexion and extension movement, and can drive the patient to perform flexion and extension movements of small joints of the upper limb wrist; the lower limb circumferential accessory 413 is used to connect with the training crank 3 when the patient performs lower limb circumferential movement, and can drive the patient to perform compound movements of large joints such as the hip and knee of the lower limb; the lower limb ankle accessory 414 is used to connect with the equipment body when the patient performs lower limb ankle flexion and extension movement, and can drive the patient to perform flexion and extension movements of small joints of the lower limb ankle.

[0080] When the patient needs to perform bilateral wrist or ankle flexion and extension training, the relative position (i.e., the included angle) of the two training cranks 3 can be adjusted so that the two training cranks 3 are in the same direction (as shown in Figure 8 and Figure 13 ). When the patient needs to perform bilateral upper limb or lower limb circumferential training, the relative position of the two training cranks 3 can be adjusted so that the two training cranks 3 are in the opposite direction (as shown in Figure 5 and Figure 11 ).

[0081] Referring to Figures 5 to 7, two upper limb circumferential fittings 411 arranged in pairs can be detachably connected to the two training cranks 3 respectively. Specifically, each upper limb circumferential fitting 411 includes a hand gripping handle 4111. A connecting structure 42 is provided at one end of the hand gripping handle 4111 along the axial direction. The hand gripping handle 4111 is connected to the second end of the corresponding training crank 3 (i.e., the end far from the power output end of the power system 2) through the connecting structure 42. During the training process of the patient's upper limb circumferential movement, the patient's both hands respectively grip the two hand gripping handles 4111. Thus, when the training crank 3 rotates, it drives the patient to perform compound movements of large joints such as the shoulder and elbow of the upper limb.

[0082] Furthermore, first retaining edges 4112 are respectively provided at both ends of the hand gripping handle 4111 along the axial direction. The setting of the first retaining edges 4112 can prevent the hand from slipping out of the hand gripping handle 4111, thereby improving the training effect.

[0083] Refer to Figures 8 to 10 , two upper limb wrist fittings 412 arranged in pairs can be detachably connected to the two training cranks 3 respectively. Specifically, each upper limb wrist fitting 412 includes a hand finger-separating grip 4121. A plurality of partition strips are provided on the surface of the hand finger-separating grip 4121 that contacts the hand. The five fingers of the hand can be separated and maintained in the resting position through the partition strips to prevent the generation of deformities such as hand contracture in the patient. A connecting structure 42 is provided inside the hand finger-separating grip 4121. The hand finger-separating grip 4121 is connected to the second end of the corresponding training crank 3 through the connecting structure 42.

[0084] In order to prevent the hand from slipping out, second retaining edges 4122 can be respectively provided on the inner and outer sides of the hand finger-separating grip 4121. The hand finger-separating grip 4121 and the second retaining edges 4122 can be fixedly connected in an integrally formed manner.

[0085] It should be noted that the inner side refers to the side of the training fitting 41 close to the training crank 3, and the outer side refers to the side of the training fitting 41 far from the training crank 3.

[0086] Refer to Figure 4 and Figure 9, among the crank body 31 and the training accessory 41, a limiting hole 312 is provided on one of them, and a limiting pin 43 is provided on the other. The limiting hole 312 is in plug-in fit with the limiting pin 43. Exemplarily, a limiting hole 312 is provided in the middle of the crank body 31 (i.e., the part between the first end and the second end), and a limiting pin 43 is provided on the inner side of the finger-holding handle 4121 of the hand part; after the finger-holding handle 4121 of the hand part is installed with the training crank 3, the connecting structure 42 on the inner side of the finger-holding handle 4121 of the hand part is connected to the quick-release connecting shaft 33 on the crank body 31, and the limiting pin 43 on the inner side of the finger-holding handle 4121 of the hand part is inserted into the limiting hole 312 on the crank body 31, and the relative displacement between the finger-holding handle 4121 of the hand part and the training crank 3 is restricted by the two-point fixing method to meet the training requirements.

[0087] Continue to refer to Figures 8 to 10 , the multiple pairs of training accessories further include a pair of forearm cushion accessories 415 arranged in pairs. The two forearm cushion accessories 415 arranged in pairs correspond to and are used in cooperation with the two upper limb wrist accessories 412 arranged in pairs;

[0088] The upper and lower limb rehabilitation training device further includes an accessory mounting seat 5. The accessory mounting seat 5 is installed on the machine body 1, and the two forearm cushion accessories 415 arranged in pairs are both installed on the accessory mounting seat 5 and are respectively arranged at the rear sides of the corresponding upper limb wrist accessories 412.

[0089] It should be noted that the "rear side" mentioned above refers to the side of the training accessory 41 close to the human body during the training process. Correspondingly, the "front side" refers to the side of the training accessory 41 far from the human body during the training process.

[0090] In the above structure, the two forearm cushion accessories 415 are used to support the forearms on both sides of the patient during the training process. The support surface of the forearm cushion accessory 415 is covered with a flexible pad, or the part of the forearm cushion accessory 415 in contact with the patient is made of a flexible material to improve the comfort of the patient.

[0091] Optionally, the accessory mounting seat 5 is fixed to the rear side of the machine body 1 (i.e., the side close to the human body) by screwing or welding. Preferably, the accessory mounting seat 5 is fixed to the machine body 1 by screwing, so that the accessory mounting seat 5 can be removed when the accessory mounting seat 5 is not needed.

[0092] Refer to Figure 9 and Figure 10The upper and lower limb rehabilitation training equipment also includes two self-resetting connection structures 6, which are both installed on the accessory mounting seat 5 and are respectively connected to two forearm pad accessories 415 arranged in pairs. The self-resetting connection structure 6 is configured to release or lock the relative position of the forearm pad accessory 415 and the accessory mounting seat 5 to achieve rapid disassembly and assembly of the forearm pad accessory 415 and the accessory mounting seat 5.

[0093] In this embodiment, the self-resetting connection structure 6 is specifically a self-resetting knob plunger, which is mounted on the accessory mounting seat 5, and its telescopic end can be inserted into the corresponding forearm cushion accessory 415. The self-resetting knob plunger is a conventional accessory in the mechanical field, and its structure is not described in detail here.

[0094] In other embodiments, the self-resetting connection structure 6 may also be replaced by a spring and a telescopic pin. Specifically, the telescopic pin is slidably connected to the accessory mounting seat 5, and the spring is connected between the accessory mounting seat 5 and one end of the telescopic pin. The spring pushes the telescopic pin to move so that the other end of the telescopic pin can be inserted into the forearm cushion accessory 415.

[0095] Reference Figure 9 and Figure 10 , the forearm cushion accessory 415 is plugged and matched with the accessory mounting seat 5. Specifically, the forearm cushion accessory 415 includes a forearm support plate 4151 for supporting the forearm, and a clamping plate 4152 is arranged on the forearm support plate 4151; a limiting hole slot 51 is respectively arranged at both ends of the accessory mounting seat 5, and the clamping plates 4152 of the two forearm cushion accessories 415 arranged in pairs are respectively inserted into the two limiting hole slots 51, and the position of the forearm cushion accessory 415 can be limited by the limiting hole slots 51, thereby improving the installation stability of the forearm cushion accessory 415. Furthermore, a connecting hole is provided on the clamping plate 4152, and the self-resetting knob plunger is installed on the hole wall of the corresponding limiting hole slot 51, and the telescopic end of the self-resetting knob plunger extends into the corresponding limiting hole slot 51 and is inserted into the connecting hole on the clamping plate 4152 in the limiting hole slot 51, so as to prevent the forearm cushion accessory 415 from falling off from the accessory mounting seat 5.

[0096] On the basis of the above structure, the clamping plate 4152 is a rectangular plate, and the cross section of the limiting hole groove 51 is a rectangle that matches the shape of the clamping plate 4152 .

[0097] Continue to refer to Figure 9 In some embodiments, the inner and outer sides of the forearm support plate 4151 are respectively provided with guard edges to prevent the forearm from falling out, and the forearm support plate 4151 and the guard edges can be integrally formed.

[0098] Reference Figure 11 and Figure 12, two paired lower limb circumferential fittings 413 can be detachably connected to the two training cranks 3 respectively. Specifically, each lower limb circumferential fitting 413 includes a foot pedal 4131, and a connecting structure 42 is arranged on the inner side of the foot pedal 4131. The foot pedal 4131 is connected to the second end of the corresponding training crank 3 through the connecting structure 42.

[0099] Refer to Figure 12 , in order to prevent the foot from slipping out, third retaining edges 4132 are respectively arranged on the inner side, outer side and rear side of the foot pedal 4131. In some embodiments, a third retaining edge can also be arranged on the front side of the foot pedal 4131 to block all around the foot.

[0100] Refer to Figure 13 and Figure 14 , two paired lower limb ankle fittings 414 can be detachably connected to the two training cranks 3 respectively. Specifically, a connecting structure 42 is arranged on the inner side of each lower limb ankle fitting 414, and the lower limb ankle fitting 414 is connected to the second end of the corresponding training crank 3 through the connecting structure 42.

[0101] Furthermore, each lower limb ankle fitting 414 includes an ankle-foot flexion and extension plate 4141, and an adjustment retaining edge 4143 is arranged on the rear side of the ankle-foot flexion and extension plate 4141. The adjustment retaining edge 4143 can move forward and / or backward relative to the ankle-foot flexion and extension plate 4141 for adjustment. In the above structure, the adjustment retaining edge 4143 can support at the patient's ankle joint. Since the adjustment retaining edge 4143 can move forward and / or backward relative to the ankle-foot flexion and extension plate 4141 for adjustment, the front and rear positions of the patient's ankle joint relative to the device body can be adjusted to correct the movement compensation caused by the dislocation of the patient's ankle and the rotation center of the device body.

[0102] Refer to Figure 14 , each lower limb ankle fitting 414 further includes an adjustment knob 4144. The adjustment knob 4144 is connected between the ankle-foot flexion and extension plate 4141 and the adjustment retaining edge 4143. By rotating the adjustment knob 4144, the adjustment retaining edge 4143 can move forward and / or backward relative to the ankle-foot flexion and extension plate 4141, so as to adjust the front and rear positions of the adjustment retaining edge 4143 relative to the ankle-foot flexion and extension plate 4141.

[0103] In some embodiments, the positioning knob 4144 includes a screw and a knob head disposed at one end of the screw, and the end of the screw away from the knob head passes through the positioning retaining edge 4143 and is screwed to the ankle-foot flexion and extension plate 4141; the screw is also provided with a compression spring, which is connected between the ankle-foot flexion and extension plate 4141 and the positioning retaining edge 4143, and is used to push the positioning retaining edge 4143 away from the ankle-foot flexion and extension plate 4141 and abut against the knob head. In order to prevent the positioning retaining edge 4143 from rotating relative to the ankle-foot flexion and extension plate 4141, the bottom of the positioning retaining edge 4143 is bent toward the ankle-foot flexion and extension plate 4141 to form a bent plate, and the bent plate is in surface contact with the ankle-foot flexion and extension plate 4141. In the above structure, turning the positioning knob 4144 can push the positioning retaining edge 4143 to move forward and backward.

[0104] Optionally, a flexible pad is attached to the side of the positioning retaining edge 4143 close to the patient's ankle joint to improve the patient's comfort.

[0105] Furthermore, fourth retaining edges 4142 for preventing the ankle-foot flexion and extension plate 4141 from slipping out are respectively provided on the inner and outer sides.

[0106] Continue to refer to Figure 14 A limiting pin 43 is provided on the inner side of each lower limb ankle accessory 414; after the lower limb ankle accessory 414 and the training crank 3 are installed, the connecting structure 42 on the inner side of the lower limb ankle accessory 414 is connected to the quick-release connecting shaft 33 on the crank body 31, and the limiting pin 43 on the inner side of the lower limb ankle accessory 414 is inserted into the limiting hole 312 on the crank body 31, and the relative displacement of the lower limb ankle accessory 414 and the training crank 3 is limited by two-point fixing to meet the training requirements.

[0107] It should be noted that the inner side of the upper limb wrist accessory 412 and the inner side of the lower limb ankle accessory 414 (i.e., the side close to the training crank 3) are both provided with a limit pin 43, which is connected to the limit hole 312 on the crank body 31 to achieve torque transmission of the upper limb wrist accessory 412 and the lower limb ankle accessory 414. The upper limb circumferential accessory 411 and the lower limb circumferential accessory 413 need to rotate around the axis of the quick-release connecting shaft 33 of the training crank 3 during training, so they are not provided with a limit pin 43.

[0108] In summary, the upper and lower limb rehabilitation training device provided by the present application can be portably moved, thereby meeting the rehabilitation training of multiple parts of patients in multiple scenarios. In the case of one-to-one between the patient and the device, it does not move the patient and brings risks and burdens to them. In addition, the device is equipped with multiple pairs of training accessories 41 corresponding to different training modes, and the replacement of the training accessories 41 is quick and simple, shortening the training time interval of different parts and the waiting time of patients, improving the rehabilitation initiative of patients, enhancing the effectiveness of training, reducing the workload of medical staff, improving the training effect to a certain extent and saving human resources.

[0109] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An upper and lower limb rehabilitation training device, characterized in that: The invention comprises a machine body (1), a power system (2), a training crank (3) and a training accessory module (4), wherein: The power system (2) is installed on the machine body (1); The number of the training cranks (3) is two, the two training cranks (3) are both transmission-connected to the power system (2) and are respectively arranged on opposite sides of the machine body (1), and the power system (2) is configured to be able to drive the two training cranks (3) to move; The training accessory module (4) comprises a plurality of pairs of training accessories (41), the plurality of pairs of training accessories (41) respectively corresponding to different training modes, and the two training accessories (41) arranged in pairs can be detachably connected to the two training cranks (3) respectively.

2. The upper and lower limb rehabilitation training equipment according to claim 1, characterized in that: The power system (2) has two power output ends, the two power output ends are respectively connected to the two training cranks (3), and the power system (2) is configured to drive the two training cranks (3) to rotate; The training crank (3) comprises a crank body (31) and a locking member (32), wherein: the crank body (31) has a first end and a second end arranged opposite to each other along the length direction, and the first end of the crank body (31) is rotatably connected to the corresponding power output end; the locking member (32) is installed at the first end of the crank body (31), and can lock or release the relative position of the crank body (31) and the power output end.

3. The upper and lower limb rehabilitation training device according to claim 2, characterized in that: The power system has two power output shafts, and the first end of the crank body (31) is provided with a U-shaped groove (311), and the U-shaped groove (311) is sleeved on the corresponding power output shaft; The locking member (32) is arranged at the opening of the U-shaped groove (311), and can close the opening of the U-shaped groove (311) so that the U-shaped groove (311) clamps the corresponding power output shaft.

4. The upper and lower limb rehabilitation training device according to claim 2, characterized in that: The training crank (3) further comprises a quick-release connecting shaft (33), wherein the quick-release connecting shaft (33) is mounted on the second end of the crank body (31), and the training accessory (41) is provided with a connecting structure (42) for plugging and matching with the quick-release connecting shaft (33); And / or, one of the crank body (31) and the training accessory (41) is provided with a limit hole (312), and the other is provided with a limit pin (43), and the limit hole (312) is plug-fitted with the limit pin (43).

5. The upper and lower limb rehabilitation training device according to claim 4, characterized in that: The quick-release connection shaft (33) is provided with a slot, the connection structure (42) is a plug-in self-locking connector, and the quick-release connection shaft (33) can be plugged into the connection structure (42) and limited by the slot; And / or, the training crank (3) further comprises a buffer washer mounted on the quick-release connecting shaft (33), and the buffer washer is arranged between the crank body (31) and the training accessory (41).

6. The upper and lower limb rehabilitation training device according to claim 1, characterized in that: The plurality of pairs of training accessories (41) include one or more of a pair of upper limb circumferential accessories (411), a pair of upper limb wrist accessories (412), a pair of lower limb circumferential accessories (413), and a pair of lower limb ankle accessories (414).

7. The upper and lower limb rehabilitation training device according to claim 6, characterized in that: Each of the upper limb circumferential accessories (411) comprises a hand gripping handle (4111), and first retaining edges (4112) are respectively provided at two ends of the hand gripping handle (4111) along the axial direction; Each of the upper limb wrist accessories (412) comprises a hand finger grip (4121), and the inner and outer sides of the hand finger grip (4121) are respectively provided with second retaining edges (4122); Each of the lower limb circumferential accessories (413) comprises a foot pedal (4131), and the inner side, outer side and rear side of the foot pedal (4131) are respectively provided with a third rib (4132); Each lower limb ankle accessory (414) includes an ankle-foot flexion and extension plate (4141), and a positioning retaining edge (4143) is provided on the rear side of the ankle-foot flexion and extension plate (4141). The positioning retaining edge (4143) can be moved forward and / or backward relative to the ankle-foot flexion and extension plate (4141).

8. The upper and lower limb rehabilitation training device according to claim 7, characterized in that: The plurality of pairs of training accessories (41) further include forearm soft pad accessories (415) arranged in pairs, wherein the two forearm soft pad accessories (415) arranged in pairs correspond to and are used in conjunction with the two upper limb wrist accessories (412) arranged in pairs; The upper and lower limb rehabilitation training equipment also includes an accessory mounting seat (5), which is mounted on the body (1), and the two forearm cushion accessories (415) arranged in pairs are both mounted on the accessory mounting seat (5) and are respectively arranged on the rear side of the corresponding upper limb wrist accessories (412).

9. The upper and lower limb rehabilitation training device according to claim 8, characterized in that: It also includes two self-resetting connection structures (6), both of which are mounted on the accessory mounting seat (5) and are respectively connected to the two forearm cushion accessories (415) arranged in pairs, and the self-resetting connection structures (6) are configured to release or lock the relative position of the forearm cushion accessories (415) and the accessory mounting seat (5); And / or, the forearm cushion accessory (415) is plug-fitted into the accessory mounting seat (5).

10. The upper and lower limb rehabilitation training equipment according to claim 1, characterized in that: It also includes a control system (7) and an electrical system (8), wherein the control system (7) and the electrical system (8) are both installed on the machine body (1); And / or, it also includes a human-machine interaction component installed on the body (1), and the human-machine interaction component includes one or more of a human-machine interaction interface (91), a start-stop button (92), an emergency stop button (93) and a status indicator light (94).

Images