Walking rehabilitation exercise device and use method thereof

Abstract

The invention relates to a walking rehabilitation exercise device and a using method thereof.The walking rehabilitation exercise device comprises a waist base plate used for being fixed to the waist and back of a patient, the lower side of the waist base plate is connected with leg supporting rods fixed to the two legs of the patient respectively, each leg supporting rod is of a telescopic structure, and reciprocating pushing mechanisms are installed on the two leg supporting rods respectively; the reciprocating pushing mechanism is used for driving the leg supporting frame to extend or retract; the middle of the waist base plate is rotationally connected with a back supporting rod fixed with the upper body of a patient; the device further comprises a sensing mechanism, and the sensing mechanism is used for sensing the deviation angle and direction of the back supporting rod and sending instructions to the two reciprocating pushing mechanisms according to the deviation angle and direction so as to drive the two leg supporting rods to stretch or retract. According to the technical scheme, in the using process of a patient, the illusion caused by subjective consciousness of the patient can be generated by leg stretching or further bending, the intuitive feeling and interest of the patient in exercising are improved, and the subjective willingness of the patient to use rehabilitation equipment can be improved to a certain degree.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation exercise equipment, and particularly relates to a walking rehabilitation exercise device and a using method thereof. Background Art

[0002] The nervous system is a complex functional system composed of neurons and glial cells. It is the material basis of mental activities. With the continuous development of modern medical technology, rehabilitation medicine plays an increasingly important role in helping patients restore the functions of the nervous system.

[0003] For patients with symptoms such as limb insensitivity or hemiplegia, appropriate rehabilitation training can reduce the sequelae brought by the disease, and at the same time can also improve the efficiency of patients' recovery of motor, sensory and cognitive functions.

[0004] Currently, the commonly used method is the passive stimulation method, that is, using microcurrent to stimulate the nervous system or using equipment to drive limb movement. Among them, the method of using equipment to drive limb movement is more widely used. The inventor found in many years of clinical practice that although it can achieve the purpose of exercising the limbs, passive exercise can only act on the muscles of the patient, but it is difficult to combine with the patient's subjective consciousness, and the patient's subjective willingness to use the equipment is poor. Summary of the Invention

[0005] In view of this, the purpose of the present invention is to provide a walking rehabilitation exercise device and a using method thereof, so as to solve the problem that in the prior art, passive exercise can only act on the muscles of the patient, but it is difficult to combine with the patient's subjective consciousness, and the patient's subjective willingness to use the equipment is poor.

[0006] The present invention is realized through the following technical solutions:

[0007] A walking rehabilitation exercise device includes a waist cushion for fixing to the patient's lumbar and dorsal regions. A lower side of the waist cushion is connected with leg support rods respectively fixed to the patient's two legs. The leg support rods are telescopic structures. A reciprocating pushing mechanism is installed on each of the two leg support rods, and the reciprocating pushing mechanism is used to drive the leg support frame to extend or shorten;

[0008] A back support rod for fixing to the patient's upper body is rotatably connected to a middle part of the waist cushion;

[0009] The device further includes a sensing mechanism, which is used to sense the offset angle and direction of the back support rod, and send instructions to the two reciprocating pushing mechanisms according to the offset angle and direction, so as to drive the two leg support rods to extend or shorten.

[0010] It is further defined that the lower end of the back support rod is connected to a rotating plate, and is rotatably connected to the waist pad through the rotating plate, and the rotating plate is connected to a toggle plate extending downward;

[0011] The sensing mechanism includes a movable block mounted on the toggle plate, a displacement sensor and a processor located on both sides of the movable block, the movable block is connected with push rods extending to both sides respectively, and the two push rods are movably connected with support tubes at the ends away from the movable block, the support tubes are fixedly mounted on the waist pad, and the two displacement sensors are fixedly mounted at the ends of the two support tubes away from the push rods respectively;

[0012] The processor is electrically connected to the displacement sensor and the reciprocating propulsion mechanism. The displacement sensor is used to obtain the moving distance and moving direction of the push rod and send them to the processor. The processor controls the reciprocating propulsion mechanism to extend or shorten the leg support rod according to the moving distance and moving direction of the push rod.

[0013] It is further defined that a strip hole extending along the length direction is opened in the middle of the toggle plate, and the movable block is slidably installed in the strip hole and can slide along the length direction of the strip hole.

[0014] It is further defined that the movable block includes a central shaft and a rotating ring, the central shaft is outer-circuited with a rolling bearing, the rotating ring is rotatably connected to one end of the central shaft, and the two push rods are respectively fixedly installed on both sides of the rotating ring.

[0015] It is further defined that a support spring is movably sleeved outside the two push rods, one end of the support spring is respectively against the two sides of the rotating ring, and the other end is respectively against the end of the support tube, and when the two support springs are in a freely extended state, the toggle plate is in a vertical state.

[0016] It is further defined that the back support rod includes a plurality of unit sections which are rotatably connected in sequence.

[0017] It is further defined that an elastic connecting member is provided between any two adjacent unit sections, and both ends of the elastic connecting member are respectively connected to opposite ends of the two adjacent unit sections.

[0018] It is further defined that the reciprocating driving mechanism includes a driving motor fixedly mounted on one end of the leg support rod and a screw rod drivingly connected to the output shaft of the driving motor, and a threaded sleeve is fixedly mounted on one end of the leg support rod away from the driving motor, and the threaded sleeve is sleeved outside the screw rod and connected to the screw rod through threaded cooperation;

[0019] The driving motor is electrically connected to the processor, and the processor controls the rotation direction and rotation time of the driving motor according to the acquired moving distance and direction of the active rod.

[0020] It is further defined that the upper end of the leg support rod is rotatably connected to the waist pad.

[0021] A method for using a walking rehabilitation exercise device comprises the following steps:

[0022] S1. Fix the equipment by fixing the waist pad to the patient's lower back, fixing the back support rod to the patient's back, and fixing the end of the leg support rod away from the back pad to the patient's feet. In this state, the patient's knee joint remains in a bent state with a bending angle of 30°-40°;

[0023] Among them, each fixing method can be fixed by binding with straps, and the back support rod corresponds to the position of the patient's spine;

[0024] S2. The operation is implemented. The patient swings his upper body left and right, and during the swinging process, the back support rod is driven to rotate with the rotating connection point with the waist pad as the fulcrum, and then the reciprocating driving mechanism is triggered by the sensing mechanism to control the leg support rod to extend or shorten, causing the patient's legs to extend or bend.

[0025] The beneficial effects of the present invention are:

[0026] The walking rehabilitation exercise device and the method of using the same can produce an illusion due to the patient's subjective consciousness when the patient's legs are extended or further bent during use, thereby improving the patient's intuitive feeling and interest in exercise and, to a certain extent, improving the patient's subjective willingness to use the rehabilitation equipment.

[0027] Other advantages, objectives and features of the present invention will be described in the following description to some extent, and to some extent, will be obvious to those skilled in the art based on the following examination and study, or can be taught from the practice of the present invention. The objectives and other advantages of the present invention can be realized and obtained through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 The three-dimensional Figure 1 ;

[0029] Figure 2 The three-dimensional Figure 2 ;

[0030] Figure 3 It is a front view of the present invention;

[0031] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure of AA;

[0032] Figure 5 for Figure 1 Enlarged view of middle B;

[0033] Figure 6 is a control logic diagram of the present invention;

[0034] In the figure: 1. Waist pad; 2. Leg support rod; 3. Back support rod; 4. Rotating plate; 5. Toggle plate; 6. Movable block; 7. Push rod; 8. Support tube; 9. Strip hole; 10. Center axis; 11. Rotating ring; 12. Rolling bearing; 13. Support spring; 14. Unit section; 15. Elastic connector; 16. Drive motor; 17. Screw; 18. Threaded sleeve; 19. Displacement sensor. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0036] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0038] In the above description of the present invention, it should be noted that the terms "one side", "the other side", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply 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", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0039] In addition, the term "same" does not mean that the parts must be absolutely the same, but slight differences are allowed. The term "vertical" only means that the positional relationship between the parts is more vertical than "parallel", and does not mean that the structure must be completely vertical, but can be slightly tilted.

[0040] See also Figures 1-6, the present invention provides a technical solution: a walking rehabilitation exercise device, including a waist backing plate 1 for fixing to the patient's lumbar and back, a leg support rod 2 connected to the lower side of the waist backing plate 1 and fixed to the patient's two legs respectively, the leg support rod 2 is a telescopic structure, and a reciprocating pushing mechanism is installed on each of the two leg support rods 2, and the reciprocating pushing mechanism is used to drive the leg support frame to extend or shorten;

[0041] A back support rod 3 for fixing to the patient's upper body is rotatably connected to the middle of the waist backing plate 1;

[0042] It further includes a sensing mechanism, which is used to sense the offset angle and direction of the back support rod 3, and send instructions to the two reciprocating pushing mechanisms according to the offset angle and direction to drive the two leg support rods 2 to extend or shorten.

[0043] Among them, the waist backing plate 1 is fixed to the patient's lower back, that is, fixed to the patient's hip, and this position is in a relatively fixed state during the walking process of the human body, so that the waist backing plate 1 is in a relatively fixed position;

[0044] The back support rod 3 is fixed to the patient's back, that is, fixed to the patient's spine. As the upper body support bone of the human body, the spine will shift as the leg is lifted during walking. For example: when lifting the left leg forward, the center of gravity of the human body moves to the right, that is, the upper body will tilt slightly to the right with the hip as the fulcrum; conversely, when lifting the right leg forward, the center of gravity of the human body moves to the left, that is, the upper body will tilt slightly to the left with the hip as the fulcrum;

[0045] The leg support rod 2 that is a telescopic structure is used to fix to the patient's leg. The patient's foot can be fixed to the side of the leg support rod 2 away from the back backing plate, and after fixation, the patient's knee joint is in a bent state, and the bending angle is preferably 30°;

[0046] During specific use, first fix the back backing plate to an external base. The external base can be a flat bed or a vertically leaning bracket or wall, and then fix the corresponding parts of the patient's body. Finally, the patient only needs to simulate walking;

[0047] Since the patient's lower limbs are difficult to move, the patient's upper body will actively tilt in the opposite direction of the intended leg lift, which can drive the back support rod 3 to swing. When swinging, the reciprocating pushing mechanism will be triggered by the sensing mechanism to make the two leg support rods 2 extend or shorten, and then drive the legs fixed on the leg support rods 2 to further bend or extend with the knee joint as the fulcrum;

[0048] In this solution, during the use of the patient, the extension or further bending of the leg will produce an illusion caused by the patient's subjective consciousness, improving the intuitive feeling and interest of the patient's exercise, and to a certain extent, being able to improve the patient's subjective willingness to use the rehabilitation equipment.

[0049] In this embodiment, a rotating plate 4 is connected to the lower end of the back support rod 3, and the back support rod 3 is rotationally connected to the waist cushion 1 through the rotating plate 4. A dial plate 5 extending downward is connected to the rotating plate 4.

[0050] The induction mechanism includes a movable block 6 installed on the dial plate 5, displacement sensors 19 located on both sides of the movable block 6, and a processor. Push rods 7 extending respectively to both sides are connected to the movable block 6. A support tube 8 is movably and cooperatively connected to the outer end of each of the two push rods 7 away from the movable block 6. The support tube 8 is fixedly installed on the waist cushion 1. The two displacement sensors 19 are respectively fixedly installed at the ends of the two support tubes 8 away from the push rods.

[0051] The processor is electrically connected to the displacement sensors 19 and the reciprocating push mechanism. The displacement sensors 19 are used to obtain the moving distance and moving direction of the push rods 7 and send them to the processor. The processor controls the reciprocating push mechanism to push the leg support rods 2 to extend or shorten according to the moving distance and moving direction of the push rods 7.

[0052] Wherein, when the back support rod 3 is in a vertical state, the movable block 6 is located at the midpoint of the connection line of the two displacement sensors 19, and the distance between the displacement sensor 19 at this position and the end of the push rod 7 is set as the initial value.

[0053] The specific control logic is as follows: Assume that the back support rod 3 tilts to the left, which will drive the rotating plate 4 to rotate, and then drive the dial plate 5 to tilt to the right, thus pushing the movable block 6 to move to the right, causing the measured value of the displacement sensor 19 on the right side to decrease, while the measured value of the displacement sensor 19 on the left side to increase.

[0054] The controller sends signals to the two reciprocating push mechanisms respectively according to the increase or decrease of the measured value, so that the two push mechanisms respectively control the two leg support rods 2 to extend or shorten.

[0055] At the same time, the controller sends signals to the two reciprocating push mechanisms respectively according to the amount of increase or decrease of the measured value, so that the two push mechanisms respectively control the extending or shortening distance of the two leg support rods 2.

[0056] That is, the larger the angle of the patient's upper body offset, the greater the degree of extension or shortening of the leg support rods 2, enabling the patient to intuitively feel the feedback obtained from hard exercise and increasing the patient's confidence.

[0057] In this embodiment, a strip-shaped hole 9 extending along the length direction is formed in the middle of the dial plate 5. The movable block 6 is slidably installed in the strip-shaped hole 9 and can slide along the length direction of the strip-shaped hole 9.

[0058] The strip-shaped hole 9 serves as a sliding track for the movable block 6 , that is, provides a moving space for the movable block 6 during the displacement of the toggle plate 5 .

[0059] In this embodiment, the movable block 6 includes a central shaft 10 and a rotating ring 11. The central shaft 10 is provided with a rolling bearing 12. The rotating ring 11 is rotatably connected to one end of the central shaft 10. The two push rods 7 are fixedly installed on both sides of the rotating ring 11 respectively.

[0060] By using the rolling bearing 12 as the contact structure between the central shaft 10 and the inner wall of the strip groove, the operating state between the two is transformed from sliding friction to rolling friction, which can effectively reduce the friction resistance encountered by the movable block 6 when sliding in the strip groove, and improve the stability of the overall structural operation; and the rotating ring 11 is rotatably matched with the central shaft 10 and can rotate freely on the central shaft 10.

[0061] In this embodiment, a support spring 13 is movably sleeved outside the two push rods 7, one end of the support spring 13 respectively abuts against the two sides of the rotating ring 11, and the other end respectively abuts against the end of the support tube 8, and when the two support springs 13 are in a freely extended state, the toggle plate 5 is in a vertical state.

[0062] The two support springs 13 support the two sides of the rotating ring 11 respectively, and when the two support springs 13 are in a freely extended state, the toggle plate 5 is vertical, that is, the back support rod 3 can be kept in a vertical state at the initial stage of use, that is, the values measured by the two displacement sensors 19 are kept equal.

[0063] In this embodiment, the back support rod 3 includes a plurality of unit sections 14 which are rotatably connected in sequence.

[0064] Multiple unit segments 14 are rotatably connected in sequence, and the rotation direction is forward or backward, so that it can adapt to the patient's spine shape, fit the patient's back as closely as possible when fixed, and can drive the rotating plate 4 to rotate when the patient's upper body tilts to the left or right.

[0065] In this embodiment, an elastic connector 15 is disposed between any two adjacent unit segments 14 , and both ends of the elastic connector 15 are respectively connected to opposite ends of the two adjacent unit segments 14 .

[0066] The elastic connector 15 may be a rubber band or a spring, which contracts and tightens the two adjacent unit sections 14 to stretch the back support rod 3 as a whole, so that it can maintain a certain shape when fixed to the patient's upper body, which is convenient for use.

[0067] In this embodiment, the reciprocating pushing mechanism includes a driving motor 16 fixedly installed at one end of the leg support rod 2 and a screw rod 17 drivingly connected to the output shaft of the driving motor 16. A threaded sleeve 18 is fixedly installed at the end of the leg support rod 2 away from the driving motor 16. The threaded sleeve 18 is sleeved outside the screw rod 17 and is connected to the screw rod 17 by threaded cooperation.

[0068] The driving motor 16 is electrically connected to the processor. The processor controls the rotation direction and rotation time of the driving motor 16 according to the obtained moving distance and direction of the movable rod.

[0069] Among them, the leg support rod 2 can be an outer rod and an inner rod that are movably sleeved, and the two can slide relative to each other. The driving motor 16 is used to drive the screw rod 17 to rotate. When the screw rod 17 rotates, it will push the threaded sleeve 18 to move through thread extrusion, thereby driving the leg support rod 2 to extend or shorten.

[0070] The rotation direction of the driving motor 16 can control the extension or shortening of the leg support rod 2, and the rotation amount of the driving motor 16 can control the amount of extension or shortening of the leg support rod 2.

[0071] In this embodiment, the upper end of the leg support rod 2 is rotatably connected to the waist cushion 1.

[0072] The angle between the leg support rod 2 and the back cushion can be adjusted. When the back cushion is fixed on the bed, the patient will be in a lying flat state or can be bent at a certain angle, and the patient will be in a sitting position, which is convenient for adjusting the specific form according to the needs of the patient.

[0073] A usage method of a walking rehabilitation exercise device includes the following steps:

[0074] S1. Equipment fixation: Fix the waist cushion 1 to the patient's lower back, fix the back support rod 3 to the patient's back, and fix the end of the leg support rod 2 away from the back cushion to the patient's foot. In this state, the patient's knee joint remains bent, and the bending angle is 30° - 40°.

[0075] Among them, the fixation method at each place can be binding and fixing with straps, and the back support rod 3 corresponds to the position of the patient's spine.

[0076] S2. Operation implementation: The patient swings the upper body left and right. During the swinging process, the back support rod 3 is driven to rotate with the rotation connection point with the waist cushion 1 as the fulcrum, and then the reciprocating pushing mechanism is triggered through the induction mechanism to control the leg support rod 2 to extend or shorten, pulling the patient's leg to extend or bend.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the purpose and scope of the technical solutions of the present invention, and they should all be covered within the scope of the claims of the present invention.

Claims

1. A walking rehabilitation exercise device, characterized in that: It includes a waist pad for fixing to the patient's waist and back, the lower side of the waist pad is connected to a leg support rod respectively fixed to the patient's legs, the leg support rod is a telescopic structure, and a reciprocating driving mechanism is installed on both leg support rods, and the reciprocating driving mechanism is used to drive the leg support frame to extend or shorten; The middle part of the waist pad is rotatably connected to a back support rod for fixing to the patient's upper body; It also includes a sensing mechanism, which is used to sense the offset angle and direction of the back support rod and send instructions to the two reciprocating driving mechanisms according to the offset angle and direction to drive the two leg support rods to extend or shorten.

2. The walking rehabilitation exercise device according to claim 1, wherein: The lower end of the back support rod is connected to a rotating plate, and is rotatably connected to the waist pad through the rotating plate, and the rotating plate is connected to a toggle plate extending downward; The sensing mechanism includes a movable block mounted on the toggle plate, a displacement sensor and a processor located on both sides of the movable block, the movable block is connected with push rods extending to both sides respectively, and the two push rods are movably connected with support tubes at the ends away from the movable block, the support tubes are fixedly mounted on the waist pad, and the two displacement sensors are fixedly mounted at the ends of the two support tubes away from the push rods respectively; The processor is electrically connected to the displacement sensor and the reciprocating propulsion mechanism. The displacement sensor is used to obtain the moving distance and moving direction of the push rod and send them to the processor. The processor controls the reciprocating propulsion mechanism to extend or shorten the leg support rod according to the moving distance and moving direction of the push rod.

3. The walking rehabilitation exercise device according to claim 2, characterized in that: A strip hole extending along the length direction is opened in the middle of the toggle plate, and the movable block is slidably installed in the strip hole and can slide along the length direction of the strip hole.

4. The walking rehabilitation exercise device according to claim 2, wherein: The movable block comprises a central shaft and a rotating ring. The central shaft is provided with a rolling bearing on its outer sleeve. The rotating ring is rotatably connected to one end of the central shaft. The two pushing rods are respectively fixedly installed on two sides of the rotating ring.

5. The walking rehabilitation exercise device according to claim 4, characterized in that: A support spring is movably sleeved outside the two push rods, one end of the support spring abuts against the two sides of the rotating ring, and the other end abuts against the end of the support tube. When the two support springs are in a freely extended state, the toggle plate is in a vertical state.

6. The walking rehabilitation exercise device according to claim 1, characterized in that: The back support rod comprises a plurality of unit sections which are rotatably connected in sequence.

7. The walking rehabilitation exercise device according to claim 6, wherein: An elastic connector is provided between any two adjacent unit sections, and both ends of the elastic connector are respectively connected to opposite ends of the two adjacent unit sections.

8. The walking rehabilitation exercise device according to claim 1, wherein: The reciprocating driving mechanism includes a driving motor fixedly mounted on one end of the leg support rod and a screw rod drivingly connected to the output shaft of the driving motor. A threaded sleeve is fixedly mounted on one end of the leg support rod away from the driving motor. The threaded sleeve is sleeved outside the screw rod and connected to the screw rod through a threaded fit. The driving motor is electrically connected to the processor, and the processor controls the rotation direction and rotation time of the driving motor according to the acquired moving distance and direction of the active rod.

9. The walking rehabilitation exercise device according to any one of claims 1 to 8, characterized in that: The upper end of the leg support rod is rotatably connected to the waist pad.

10. The method for using the walking rehabilitation exercise device according to any one of claims 1 to 9, characterized in that: The steps include: S1. Equipment fixation: Fix the lumbar cushion to the patient's lower back, fix the back support rod to the patient's back, and fix one end of the leg support rod away from the back cushion to the patient's foot. In this state, the patient's knee joint remains bent at a bending angle of 30° - 40°; Among them, the fixation method at each place can be binding and fixing with a strap, and the back support rod corresponds to the position of the patient's spine; S2. Operation implementation: The patient swings the upper body left and right. During the swing process, the back support rod is driven to rotate with the rotation connection point with the lumbar cushion as the fulcrum, and then the reciprocating push mechanism is triggered through the induction mechanism to control the leg support rod to extend or shorten, pulling the patient's leg to extend or bend.

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