Lower limb rehabilitation training equipment and method

Abstract

The invention discloses a lower limb rehabilitation training device and method, and relates to the field of medical instruments, the lower limb rehabilitation training device comprises a vertical frame, and the vertical frame is provided with a human-computer interaction interface and an upper computer; the running machine is arranged on one side of the vertical frame, a guide plate is obliquely arranged at an upper machine opening of the running machine, and a gait radar is arranged on the running machine; the rotating frame is arranged on the side, close to the treadmill, of the vertical frame, and an overturning module is arranged between the two; the waist module is connected with the weight reduction strap; the lifting module is arranged on the rotating frame, and the output end is connected with the waist module; the suspension module is arranged on the vertical frame, and the output end is connected with the upper part of the weight-reducing strap; the three-dimensional motion capture and analysis module is arranged in front of the running machine, all the modules are electrically connected, and the problems that according to existing lower limb rehabilitation equipment, pelvis motion is single, a patient is difficult to climb on a machine, and the requirements of various diseases cannot be met are solved.

Description

Technical Field

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

[0002] Cerebrovascular diseases and neurological diseases can cause motor dysfunction in patients. This makes the field of rehabilitation medicine increasingly important, especially lower limb rehabilitation equipment, which can provide solutions for lower limb treatment and reshape the function of motor nerves through repeated movements, greatly promoting the development of rehabilitation treatment.

[0003] Currently, in lower limb rehabilitation treatment, to achieve the rehabilitation goal, some specific means are usually adopted. Among them, some lower limb rehabilitation robots use a combination of a treadmill and a weight-bearing exoskeleton to drive the repeated movement of the lower limb joints. For example, Lokomat of Hocoma company is such a device, which allows the patient's legs to be fixed on the exoskeleton for rehabilitation training. There are also some solutions, such as the related devices developed by Zepu Medical based on a similar principle, which also use this mode. In addition, some patents of Shanghai Electric help patients restore to a natural gait during rehabilitation by supporting the waist to liberate the constraints on the lower limbs and pelvis.

[0004] However, these existing lower limb rehabilitation devices have obvious defects. For the devices using the combination of a treadmill and a weight-bearing exoskeleton, the patient's legs are fixed on the exoskeleton, which will cause the movement of the pelvis to be isolated as a simple up-and-down movement, independent of the movement relationship of the lower limb joints. And for the devices relying on waist support to liberate the constraints on the lower limbs and pelvis, it is very difficult for patients to get on the machine. Moreover, a single-belt treadmill cannot meet the different movement needs of the healthy side and the affected side of patients with unilateral walking disorders and cannot satisfy more diverse disease requirements.

[0005] In summary, how to solve the problems of single pelvic movement, difficulty for patients to get on the machine, and inability to adapt to diverse disease requirements existing in the existing lower limb rehabilitation devices is an urgent problem for those skilled in the art at present. Summary of the Invention

[0006] In view of this, the purpose of the present invention is to provide a lower limb rehabilitation training device and method, which effectively solve the problems of single pelvic movement, difficulty for patients to get on the machine, and inability to adapt to diverse disease requirements existing in the existing lower limb rehabilitation devices.

[0007] To achieve the above purpose, the present invention provides the following technical solutions:

[0008] A lower limb rehabilitation training device, comprising:

[0009] An upright frame, on which a human-machine interaction interface and a host computer are provided;

[0010] A double-belt treadmill is provided on one side of the vertical frame. A guiding plate is inclined at the upper inlet of the double-belt treadmill. A gait radar for monitoring the walking data of the patient is provided on the double-belt treadmill.

[0011] A rotating frame is provided on the side of the vertical frame close to the double-belt treadmill. A flipping module is provided between the rotating frame and the vertical frame to enable the rotating frame to rotate along the connection with the vertical frame.

[0012] A waist module is connected to the weight loss belt worn by the user and is used to provide auxiliary support for the user's waist.

[0013] A lifting module is provided on the rotating frame, and the output end of the lifting module is connected to the waist module.

[0014] A suspension module is provided on the vertical frame, and the output end of the suspension module is connected to the upper part of the weight loss belt.

[0015] A three-dimensional motion capture and analysis module is provided in front of the travel of the double-belt treadmill. The three-dimensional motion capture and analysis module, the human-computer interaction interface, the host computer, the gait radar, the waist module, the lifting module, and the suspension module are electrically connected.

[0016] Preferably, the lifting module includes:

[0017] A lifting fixing plate is vertically fixed on the side of the rotating frame close to the user. A chute is provided on the lifting fixing plate.

[0018] A guide rail is arranged along the length direction of the lifting fixing plate. A waist connecting plate is slidably arranged on the guide rail, and the waist connecting plate is connected to the waist module.

[0019] A transmission member is provided on the lifting fixing plate to enable the waist connecting plate to slide along the guide rail.

[0020] Preferably, the transmission member includes a ball screw arranged in the chute. The waist connecting plate is arranged on the ball screw. A lifting motor is arranged at one end of the lifting fixing plate, and the lifting motor is connected to the ball screw to enable the ball screw to rotate and enable the waist connecting plate to slide along the guide rail.

[0021] Preferably, fixing end blocks and support end blocks are respectively arranged at both ends of the lifting fixing plate. The screw fixing end of the ball screw is fixed on the fixing end block, and the screw support end of the ball screw is fixed on the support end block.

[0022] Preferably, a plurality of proximity switches are arranged along the extending direction of the guide rail on the lifting fixing plate, and the plurality of proximity switches are arranged in an array. A shielding block cooperating with the proximity switches is arranged on one side of the waist connecting plate.

[0023] Preferably, the flipping module includes a rotating connection block arranged on one side of the vertical frame. One side of the rotating frame is rotatably connected to the rotating connection block, and a locking member is arranged between the rotating frame and the vertical frame to fix the rotating frame and the vertical frame.

[0024] Preferably, the locking member includes a handle rotatably arranged on the rotating frame. A threaded hole is formed in the vertical frame close to the handle, and one end of the handle close to the vertical frame is threadedly connected to the threaded hole.

[0025] Preferably, the suspension module includes:

[0026] A mounting plate, fixedly suspended on one side of the top of the vertical frame and located above the user;

[0027] A suspension motor, fixedly arranged on the mounting plate. One end of the output shaft of the suspension motor is fixedly connected with a winding disc, and a suspension rope is wound around the winding disc;

[0028] A commutation structure, arranged on the mounting plate to change the direction of the suspension rope from horizontal to vertical;

[0029] A connecting rod, fixed to the end of the suspension rope away from the winding disc, and both ends of the connecting rod are respectively fixed to both sides of the weight reduction belt.

[0030] Preferably, the commutation structure includes a clamping guide post, a limiting guide post, a first guide wheel group and a second guide wheel group, and the suspension rope sequentially passes through the clamping guide post, the limiting guide post, the first guide wheel group and the second guide wheel group.

[0031] A lower limb rehabilitation training method, applied to the lower limb rehabilitation training device as described in any one of the above, the method includes:

[0032] Wear the weight reduction belt for the patient, open the rotating frame through the flipping module, let the patient take a wheelchair and move along the guiding plate to the double-run belt treadmill, and connect the suspension module with the weight reduction belt;

[0033] Control the suspension module to pull the weight reduction belt to lift the patient, and the medical staff push the patient's wheelchair off the device and close the rotating frame;

[0034] Adjust the lifting module to fix the waist module and the weight reduction belt, and start training according to the training plan by starting the double-run belt treadmill;

[0035] During the movement process, the gait radar, three-dimensional motion capture and analysis module, waist module, and suspension module continuously monitor the patient's walking data, and the host computer integrates multi-party data to generate a health movement report and send it to the human-machine interaction interface.

[0036] For the lower limb rehabilitation training device provided by the present invention, a human-machine interaction interface and a host computer are arranged on the vertical frame, which is convenient for medical staff to interact with the device and process data; the double-belt treadmill is arranged on one side of the vertical frame, and a guiding plate is inclined at the upper inlet thereof, which is convenient for patients to move a wheelchair to the double-belt treadmill. The gait radar on the double-belt treadmill can monitor the patient's walking data and provide a basis for subsequent rehabilitation evaluation; the rotating frame is connected to the vertical frame through a flipping module and can rotate along the connection point, and can be opened to provide sufficient space when the patient gets on and off the machine; the waist module is connected to the user's weight-bearing belt to provide auxiliary support for the user's waist, releasing the freedom of the patient's waist and fully retaining the six degrees of freedom of the patient's pelvis, avoiding the problem of single pelvic movement; the lifting module is arranged on the rotating frame and the output end is connected to the waist module, which can adjust the height for patients of different heights and can also simulate the up and down movement effect of the pelvis during the gait cycle; the suspension module is arranged on the vertical frame and the output end is connected to the upper part of the weight-bearing belt, which can lift the patient onto the machine and provide movement assistance, solving the problem of difficult access for patients; the three-dimensional motion capture and analysis module is arranged in front of the double-belt treadmill during travel, and it is electrically connected to other modules, and can jointly monitor the patient's walking data with the gait radar, etc., and the host computer integrates and generates a health movement report. In addition, the double-belt treadmill can provide a customized movement speed combination according to the movement conditions of the healthy side and the affected side of the patient, solving the problem of inability to adapt to diverse disease requirements. Through the collaborative work of the above modules, the problems of single pelvic movement, difficult access for patients, and inability to adapt to diverse disease requirements existing in existing lower limb rehabilitation devices are solved.

[0037] The lower limb rehabilitation training method provided by the present invention can facilitate the patient's access to the machine and reduce the physical burden of medical staff; the suspension module and the lifting module can provide reliable support for the patient and ensure safety during the rehabilitation training process; using multi-sensors to continuously monitor the patient's walking data and integrating and generating a health movement report is convenient for understanding the patient's rehabilitation situation; the double-support design can be flexibly adjusted according to the patient's condition, improving the pertinence and effectiveness of the rehabilitation training. Description of the Drawings

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0039] Figure 1Schematic diagram of the overall structure of the lower limb rehabilitation training device in this embodiment;

[0040] Figure 2 Schematic diagram of the connecting rod in this embodiment;

[0041] Figure 3 Schematic diagram of the flipping module in this embodiment;

[0042] Figure 4 Schematic diagram of the lifting module in this embodiment;

[0043] Figure 5 Top view of the structure of the suspension module in this embodiment;

[0044] Figure 6 Cross-sectional view of the structure of the suspension module in this embodiment;

[0045] Figure 7 Schematic diagram of the structure of the rope tightening block in this embodiment;

[0046] Figure 8 Cross-sectional view of the rope tightening block in this embodiment;

[0047] Figure 9 Schematic diagram of the structure of the C-shaped connecting block in this embodiment;

[0048] Figure 10 Schematic diagram of the structure of the quick-release button in this embodiment;

[0049] Figure 11 Schematic diagram of the structure of the waist module in this embodiment;

[0050] Figure 12 Bottom view of the waist module in this embodiment;

[0051] Figure 13 Exploded view of the waist module in this embodiment;

[0052] Figure 14 Schematic diagram of the structure of the safety buckle in this embodiment;

[0053] Figure 15 Cross-sectional view of the structure of the safety buckle in this embodiment;

[0054] Figure 16 Schematic diagram of the movement directions of the six-degree-of-freedom movement in this embodiment;

[0055] Figure 17 Schematic diagram of the control system in this embodiment.

[0056] Figures 1 - 17 Among them, the reference numerals include:

[0057] 1. Three-dimensional motion capture and analysis module;

[0058] 2. Dual-treadmill; 21. First servo motor; 22. Gait radar; 23. Guide plate;

[0059] 31. Host computer; 32. Human-machine interaction interface; 33. Controller;

[0060] 4. Upright frame; 41. Weight loss belt;

[0061] 5. Suspension module; 501. Mounting plate; 502. Motor support; 503. Motor fixing block; 504. Second coupling; 505. Winding disc shaft; 506. Winding disc shaft sleeve; 507. Winding disc fixing block; 508. Winding disc; 509. Reinforcing sleeve; 510. Bearing block; 511. Roller group; 512. Connecting rod; 513. Suspension rope; 514. Clamping guide post; 515. Limit wheel group; 516. Second guide wheel group; 517. First guide wheel group; 518. Limit guide post; 519. First pressure sensor; 520. Vertical plate; 521. Limit switch; 522. Suspension motor; 5121. Tightening block; 5123. C-shaped connecting block; 5124. Lower connecting block; 5125. Quick release button; 5130. Binding rod; 531. Rope passing hole; 532. Gap; 533. Screw hole; 534. Threaded hole; 535. Through hole; 536. Opening; 537. Groove; 538. Threaded hole; 539. Suspension hole;

[0062] 6. Rotating frame; 61. Handle;

[0063] 7. Waist module; 701. Damping adjustment device; 702. First front link; 703. Second front link; 704. Third front link; 705. Fourth front link; 706. First rear link; 707. Second rear link; 708. Third rear link; 709. Fourth rear link; 713. Width adjustment bottom plate; 714. Linear guide rail module; 715. L-shaped block; 716. Left torque sensor; 717. T-shaped frame; 718. Support rod module; 719. Left pressure sensor; 721. Safety buckle module; 723. Guide rail connecting block; 724. Right torque sensor; 725. First angle sensor; 726. Damping adjustment plate; 727. Damping adjustment fixing block; 730. Damping adjustment screw; 731. Second angle sensor; 733. Third angle sensor; 734. Roll locking piece; 735. Roll locking shaft; 736. Locking shaft connecting block; 738. Front shaft; 739. Roll shaft; 740. Pressure plate; 741. Damping module; 742. Roll bottom plate; 743. Rear shaft; 744. Right pressure sensor; 750. Ball hinge cover; 751. Screw rod; 752. Spherical joint bearing; 753. Socket; 754. Rotary plunger; 755. Gasket; 756. Socket;

[0064] 8. Lifting module; 801. Lifting motor; 802. Motor fixing plate; 803. First coupling; 804. Fixed-end stop block; 805. Screw fixed end; 806. Proximity switch; 807. Proximity switch fixing plate; 808. Guide rail; 809. Ball screw; 810. Lifting fixing plate; 811. Waist connecting plate; 812. Blocking block; 813. Amplifier; 814. Guide rail stop block; 815. Screw support end; 816. Support-end stop block;

[0065] 91. Vertical movement; 92. Yaw movement; 93. Forward and backward movement; 94. Torsion movement; 95. Roll movement; 96. Pitch movement. Detailed implementation manner

[0066] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0067] Unless otherwise defined, the technical terms or scientific terms used in the disclosure of this application should have the ordinary meaning understood by those of ordinary skill in the art in the field to which the present invention belongs. The "first", "second" and similar terms used in the present invention do not indicate any order, quantity or importance. The terms such as "connection" or "connected" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms such as "up", "down", "left", "right" are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly. This application embodiment discloses a lower limb rehabilitation training device and method.

[0068] The core of the present invention is to provide a lower limb rehabilitation training device and method.

[0069] Please refer to Figure 1 .

[0070] The lower limb rehabilitation training device provided by the present invention includes a vertical frame 4, a double-belt treadmill 2, a rotating frame 6, a waist module 7, a lifting module 8, a suspension module 5, and a three-dimensional motion capture and analysis module 1. A human-computer interaction interface 32 and a host computer 31 are provided on the vertical frame 4. The double-belt treadmill 2 is arranged on one side of the vertical frame 4. A guiding plate 23 is inclined at the upper inlet of the double-belt treadmill 2. A gait radar 22 for monitoring the walking data of the patient is provided on the double-belt treadmill 2. The rotating frame 6 is arranged on the side of the vertical frame 4 close to the double-belt treadmill 2. A flipping module is provided between the rotating frame 6 and the vertical frame 4 to enable the rotating frame 6 to rotate along the connection with the vertical frame 4. The waist module 7 is connected to a weight reduction belt 41 worn by the user and is used to provide auxiliary support for the user's waist. The lifting module 8 is arranged on the rotating frame 6, and the output end of the lifting module 8 is connected to the waist module 7. The suspension module 5 is arranged on the vertical frame 4, and the output end of the suspension module 5 is connected to the upper part of the weight reduction belt 41. The three-dimensional motion capture and analysis module 1 is arranged in front of the traveling direction of the double-belt treadmill 2. The three-dimensional motion capture and analysis module 1, the human-computer interaction interface 32, the host computer 31, the gait radar 22, the waist module 7, the lifting module 8, and the suspension module 8 are electrically connected.

[0071] Specifically, a human-computer interaction interface 32 and a host computer 31 are provided on the vertical frame 4, which is convenient for medical staff to interact with the device and process data. The human-computer interaction interface 32 is generally a display screen. Through touch or button operations, it is convenient for medical staff and patients to input information and view data. Its shell is usually made of plastic or metal materials to ensure durability and stability. The host computer 31 can be an industrial computer or a high-performance embedded device, with strong data processing and storage capabilities, and is connected to other modules through cables to achieve data transmission and control.

[0072] The double-belt treadmill 2 is arranged on one side of the vertical frame 4. A guiding plate 23 is inclined at the upper inlet of the double-belt treadmill 2, which is convenient for the patient to move the wheelchair to the double-belt treadmill 2. A gait radar 22 for monitoring the walking data of the patient is provided on the double-belt treadmill 2 to monitor the walking data of the patient. The guiding plate 23 can be a metal plate or a high-strength plastic plate, and the surface has anti-slip textures, which is convenient for the patient to move smoothly from the wheelchair to the double-belt treadmill 2. The gait radar 22 is usually installed at the positions corresponding to the patient's legs and can real-time monitor data such as the patient's stride, step frequency, and walking speed, providing a basis for subsequent rehabilitation analysis.

[0073] The rotating frame 6 is arranged on one side of the vertical frame 4 close to the double-belt treadmill 2. A flipping module is arranged between the rotating frame 6 and the vertical frame 4, so that the rotating frame 6 rotates along the connection with the vertical frame 4 and can be opened to provide sufficient space when the patient gets on and off the machine. The waist module 7 is connected to the weight-reducing belt 41 worn by the user and is used to provide auxiliary support for the user's waist, releasing the freedom of the patient's waist, fully retaining the six degrees of freedom of the patient's pelvis, and avoiding the problem of single pelvic movement. The lifting module 8 is arranged on the rotating frame 6, and the output end of the lifting module 8 is connected to the waist module 7 to adjust the height for patients of different heights and can also simulate the up and down movement effect of the pelvis during the gait cycle.

[0074] The suspension module 5 is arranged on the vertical frame 4, and the output end of the suspension module 5 is connected to the upper part of the weight-reducing belt 41, which can lift the patient onto the machine and provide exercise assistance, solving the problem of the patient having difficulty getting on the machine.

[0075] The three-dimensional motion capture and analysis module 1 is arranged in front of the traveling direction of the double-belt treadmill 2. The three-dimensional motion capture and analysis module 1, the human-computer interaction interface 32, the host computer 31, the gait radar 22, the waist module 7, the lifting module 8 and the suspension module 5 are electrically connected. The three-dimensional motion capture and analysis module 1 can adopt an optical motion capture device or an inertial motion capture device, which can capture the patient's limb movements in all directions. Through data integration with other modules, it can provide a more accurate rehabilitation training plan for the patient.

[0076] The above-mentioned lower limb rehabilitation training device effectively solves the problem of not being able to adapt to the needs of diverse diseases. Through the coordinated work of the above modules, the problems existing in the existing lower limb rehabilitation devices, such as single pelvic movement, difficulty for patients to get on the machine, and inability to adapt to the needs of diverse diseases, are solved.

[0077] The following combines the drawings and specific embodiments to introduce the lower limb rehabilitation training device provided by the present invention in more detail.

[0078] In a specific embodiment, referring to Figure 4 , the lifting module 8 includes a lifting fixed plate 810, a guide rail 808 and a transmission member. The lifting fixed plate 810 is vertically fixed on the side of the rotating frame 6 close to the user, and a chute is opened on the lifting fixed plate 810. The guide rail 808 is arranged along the length direction of the lifting fixed plate 810, and a waist connecting plate 811 is slidably arranged on the guide rail 808. The waist connecting plate 811 is connected to the waist module 7. The transmission member is arranged on the lifting fixed plate 810 to make the waist connecting plate 811 slide along the guide rail 808.

[0079] Specifically, the lifting and fixing plate 810 is vertically fixed to the side of the rotating frame 6 close to the user, and a chute is provided on the lifting and fixing plate 810. The guide rail 808 is arranged along the length direction of the lifting and fixing plate 810, and the waist connecting plate 811 can slide on the guide rail 808 and is connected to the waist module 7. The transmission member is arranged on the fixing plate and drives the waist connecting plate 811 to slide along the guide rail. Such a setting enables the lifting module 8 to adjust the height of the waist module 7, which can not only adapt to patients of different heights but also simulate the up-and-down movement effect of the pelvis during the gait cycle, better assisting the patient in rehabilitation training.

[0080] Further, the transmission member includes a ball screw 809 arranged in the chute. The waist connecting plate 811 is arranged on the ball screw 809. One end of the lifting and fixing plate 810 is provided with a lifting motor 801, and the lifting motor 801 is connected to the ball screw 809 to make the ball screw 809 rotate and make the waist connecting plate 811 slide along the guide rail 808. Fixed end blocks 804 and support end blocks 816 are respectively arranged at both ends of the lifting and fixing plate 810. The screw fixed end 805 of the ball screw 809 is fixed to the fixed end block 804, and the screw support end 815 of the ball screw 809 is fixed to the support end block 816.

[0081] Specifically, the ball screw 809 in the transmission member is arranged in the chute of the lifting and fixing plate 810. The waist connecting plate 811 is arranged on the ball screw 809. One end of the lifting and fixing plate 810 is provided with a lifting motor 801, and the lifting motor 801 is connected to the ball screw 809. Fixed end blocks 804 and support end blocks 816 are respectively arranged at both ends of the lifting and fixing plate 810. The screw fixed end 805 of the ball screw 809 is fixed to the fixed end block 804, and the screw support end 815 is fixed to the support end block 816. When the lifting motor 801 operates, it will drive the ball screw 809 to rotate, thereby prompting the waist connecting plate 811 to slide along the guide rail 808, providing stable and accurate lifting auxiliary support for the patient's waist, ensuring the smooth progress of rehabilitation training, and being able to simulate the up-and-down movement 91 of the pelvis when a person walks.

[0082] It should be noted that a plurality of proximity switches 806 are arranged along the extending direction of the guide rail 808 on the lifting and fixing plate 810. The plurality of proximity switches 806 are arranged in an array, and a shielding block 812 cooperating with the proximity switches 806 is arranged on one side of the waist connecting plate 811.

[0083] Specifically, this embodiment uses three groups of proximity switches, namely upper, middle and lower ones. When the lifting motor 801 drives the waist connecting plate 811 to slide along the guide rail 808, the shielding block 812 will move together with the waist connecting plate 811. When the shielding block 812 moves into the sensing range of the proximity switch 806, the proximity switch 806 will be triggered, so as to accurately obtain the position information of the waist connecting plate 811, and then can more precisely control the movement of the waist module 8, realize the precise adjustment of the auxiliary support position of the patient's waist, and improve the effect and safety of rehabilitation training.

[0084] Optionally, the lifting motor 801 is connected to the ball screw 809 through a first coupling 803, and the lifting motor 801 is connected to the lifting fixing plate 810 through a motor fixing plate 802. The proximity switch 806 is fixed to the lifting fixing plate 810 through a proximity switch fixing plate 807. The proximity switch 806 is electrically connected to an amplifier 813. A guide rail stopper 814 is provided on one side of the end of the guide rail 808.

[0085] Based on any of the above embodiments, refer to Figure 3 , the flipping module includes a rotating connection block 62 provided on one side of the vertical frame 4. One side of the rotating frame 6 is rotatably connected to the rotating connection block 62. A locking member is provided between the rotating frame 6 and the vertical frame 4 to fix the rotating frame 6 and the vertical frame 4.

[0086] Specifically, the rotating connection block 62 is provided on one side of the vertical frame 4, and one side of the rotating frame 6 is rotatably connected to the rotating connection block 62, so that the rotating frame 6 can rotate along the connection with the vertical frame 4. A locking member is provided between the rotating frame 6 and the vertical frame 4, which can fix the rotating frame 6 and the vertical frame 4. Such a structural design can provide sufficient space through the rotation of the rotating frame when the patient gets on and off the machine, facilitating the patient to move the wheelchair to the treadmill. Moreover, the locking member can ensure the stability and reliability of the rotating frame when it needs to be fixed, improving the convenience and stability of equipment use.

[0087] The rotating connection block 62 in the flipping module can be made of high-strength alloy to ensure the stability and reliability of rotation. The rotating frame 6 can be rotated by means of hydraulic drive, electric push rod drive or manual pulling, etc., which is convenient for the patient to get on and off the machine.

[0088] Further, the locking member includes a handle 61 rotatably provided on the rotating frame 6. A threaded hole is opened on one side of the vertical frame 4 close to the handle 61, and one end of the handle 61 close to the vertical frame 4 is threadedly connected to the threaded hole.

[0089] Specifically, the handle 61 is rotatably arranged on the rotating frame 6. A threaded hole is provided on one side of the vertical frame 4 close to the handle 61, and one end of the handle 61 close to the vertical frame 4 is threadedly connected to the threaded hole. When the handle 61 is rotated to be screwed with the threaded hole, the rotating frame 6 and the vertical frame 4 are fixed; conversely, rotating the handle 61 in the reverse direction can release the fixation. It can firmly connect the rotating frame 6 and the vertical frame 4 when needed, ensure the stability during the use of the device, prevent the accidental rotation of the rotating frame 6 from affecting the patient's rehabilitation training, and when the fixation is released, the rotating frame can be opened by pulling the handle 61.

[0090] Based on any one of the above embodiments, referring to Figure 5 and Figure 6 , the suspension module 5 includes a mounting plate 501, a suspension motor 522, a commutation structure, and a connecting rod 512 (where the structure of the connecting rod 512 is as shown in Figure 2 . The two sides of the connecting rod 512 are used to connect with the weight reduction ropes pulled out from both sides of the weight reduction belt 41). The mounting plate 501 is fixedly suspended on one side of the top of the vertical frame 4 and is located above the user. The suspension motor 522 is fixedly arranged on the mounting plate 501. One end of the output shaft of the suspension motor 522 is fixedly connected with a winding disc 509, and a suspension rope 513 is wound around the winding disc 509. The commutation structure is arranged on the mounting plate 501 to change the direction of the suspension rope 513 from horizontal to vertical. The connecting rod 512 is fixed to the end of the suspension rope 513 away from the winding disc 509, and both ends of the connecting rod 512 are fixedly connected to both sides of the weight reduction belt 41.

[0091] Specifically, the suspension motor 522 is fixed to the mounting plate 501 through a motor fixing block 503, and the motor support 502 supports the bottom of the suspension motor 522 and is fixedly connected to the mounting plate 501. The rotating shaft of the suspension motor 522 is connected to the winding disc shaft 505 through a second coupling 504. The winding disc shaft 505 is fixedly connected to the winding disc shaft sleeve 506 and the winding disc 508. The reinforcing sleeve 509 is fixed on the winding disc 508 and presses the suspension rope 513 wound on the winding disc 508, that is, the rotation of the suspension motor 522 drives the rotation of the winding disc 508 to wind and unwind the suspension rope 513.

[0092] The suspension rope 513 is changed from horizontal to vertical through the commutation structure and is located above the patient's position. The end of the suspension rope 513 after commutation by the commutation structure is fixed through a tightening block 5121 and passes through the C-shaped connection block 5123. The C-shaped connection block 5123 is used to connect with the binding rod 5130, and the binding rod 5130 is connected to the connecting rod 512. The tightening block 5121 rises or falls under the action of the suspension motor 522 and stops moving when it touches the limit switch 521.

[0093] Further, the commutation structure includes a clamping guide post 514, a limit guide post 518, a first guide wheel set 517, and a second guide wheel set 516. The suspension rope 513 sequentially passes through the clamping guide post 514, the limit guide post 518, the first guide wheel set 517, and the second guide wheel set 516.

[0094] Specifically, there are two clamping guide posts 514 arranged oppositely, and they are fixedly connected to the mounting plate 501 through a connecting plate member. The limit guide post 518 is arranged parallel to one side of the clamping guide post 514. The suspension rope 513 turns around horizontally by sequentially passing through the clamping guide post 514 and the limit guide post 518. The first guide wheel set 517 and the second guide wheel set 518 are sequentially arranged along the vertical direction of the mounting plate 501. The suspension rope 513 bypasses from the bottom of the first guide wheel set 517 and exits from the top of the second guide wheel set 518, realizing the commutation of the suspension rope 513 from a horizontal direction to a vertical direction. The first guide wheel set 517 and the second guide wheel set 518 are both conventional guide wheel sets.

[0095] It should be noted that the other end of the first guide wheel set 517 is connected with a first pressure sensor 519 for detecting the tension of the suspension rope 513.

[0096] On the basis of any one of the above embodiments, referring to Figure 6 and Figure 7 , the tightening block 5121 is composed of two half blocks. There are two rope passing holes 531 located on both sides and a gap 532 located in the middle formed between the two half blocks. Screw holes 533 and threaded holes 534 are respectively opened on the side surfaces of the two half blocks at the gap 532. The suspension rope 513 passes through the two rope passing holes 531 in a U shape, and the two half blocks are approximated by sequentially passing a bolt through the screw hole 533 and the threaded hole 534, thereby fixing the suspension rope 513 located between the two half blocks.

[0097] On the basis of any one of the above embodiments, referring to Figure 9 and Figure 10 , a through hole 535 and an opening 536 are opened at one end of the C-shaped structure on the C-shaped connecting block 5123. A quick-release hole is horizontally opened on one side of the lower connecting block 5124 close to the C-shaped connecting block 5123. The quick-release button 5125 is inserted into the quick-release hole. A groove 537 is circumferentially opened on the quick-release button 5125. The groove 537 is arranged in cooperation with the opening 536, so that the C-shaped connecting block 5123 is locked with the quick-release button 5125 in a vertical state (as shown by the dotted line in Figure 9 ), and in a horizontal state (as shown by the dotted line in Figure 9separates from the quick-release button 5125 under the condition shown in [figure], and the shaft end size of the quick-release button 5125 is larger than the size of the opening 536. A threaded hole 538 is provided at one end of the quick-release button 5125 away from the button cap. A limit bolt is arranged in the quick-release hole, and the limit bolt is in threaded connection with the threaded hole 538 and the side wall of the quick-release hole in sequence. A suspension hole 539 is provided at one end of the C-shaped connection block 5123 away from the lower connection block 5124, and the suspension rope 513 passes through the suspension hole 539 in a U shape.

[0098] Based on any one of the above embodiments, please refer to Figures 11 to 13 , the waist module 7 may include a first front link, a second front link, a third front link, a fourth front link, a first rear link, a second rear link, a third rear link, and a fourth rear link.

[0099] The first front link 702 is rotatably connected to the second front link 703, the second front link 703 is rotatably connected to the fourth front link 705, and both ends of the third front link 704 are rotatably connected to the first front link 702 and the fourth front link 705 respectively, forming a set of parallel four-bar mechanisms, and its movement is called the yaw movement 92.

[0100] Both ends of the first rear link 706 are rotatably connected to the second rear link 707 and the third rear link 708 respectively, and both ends of the fourth rear link 709 are rotatably connected to the second rear link 707 and the third rear link 708 respectively, forming a second set of parallel four-bar mechanisms, and its movement is called the torsion movement 94.

[0101] Further, inside the fourth front link 705, the roll axis 739 is rotatably connected to the fourth front link 705, that is, the roll movement 95. The front axle 738 and the rear axle 743 are fixedly arranged on the roll axis 739. The other ends of the front axle 738 and the rear axle 743 are rotatably connected to the first T-shaped block and the second T-shaped block respectively. The first T-shaped block and the second T-shaped block are rotatably connected to the first rear link 706 and the fourth rear link 709 respectively. There is a tapered hole on the front axle 738. The roll locking member 734 is fixed to the roll locking shaft 735. After roll locking, the roll locking shaft 735 is connected to the locking shaft connection block 736 through a thread pair. Rotate the roll locking member 734, and the end of the roll locking shaft 735 contacts or separates from the tapered hole, so as to lock or unlock the rotation of the roll axis 739 (the yaw movement 92, the torsion movement 94, and the roll movement 95 all have locking mechanisms, and the principle is similar and will not be described in detail). At one end of the roll axis 739, a second angle sensor 731 is installed. The pressure plate 740 is fixed to the roll axis 739. When the roll axis 739 rotates, the pressure plate 740 contacts the damping module 741 to provide damping for the roll movement 95. The damping module 741 is fixed to the roll bottom plate 742, and the roll bottom plate 742 is fixed to the fourth front link 705.

[0102] The relative rotation of the second front link 703 and the fourth front link 704 can be collected by the first angle sensor 725; the relative rotation of the third rear link 708 and the fourth rear link 709 can be collected by the second angle sensor 731; the relative rotation of the roll axis 739 with respect to the fourth front link 705 can be collected by the third angle sensor 733.

[0103] The damping adjustment plate 726 can slide in the groove on the side of the third rear link 706. Turning the damping adjustment screw 730 can drive the damping adjustment plate 726 to move, thereby changing the distance between the damping adjustment plate 726 and the damping adjustment fixed block 727.

[0104] Two sets of linear guide rail modules 714 are fixed on the width adjustment bottom plate 713. One side of the guide rail connection block 723 is connected to the two sets of linear guide rail modules 714, and the other end is fixedly connected to the T-shaped frame 717. The T-shaped frame 717 on the left side is fixedly connected to the left torque sensor 716, and the T-shaped frame 717 on the right side is fixed to the right torque sensor 724. The other sides of the left torque sensor 716 and the right torque sensor 724 are connected to the L-shaped block 715. The L-shaped block 715 is fixed to the support rod module 718. The support rod module 718 is connected to the human pelvis through the safety buckle module 721.

[0105] Further, in the safety buckle module 721, the ball hinge cover 750 is fixed to the support rod module 718. The screw rod 751 passes through the spherical joint bearing 752. The gasket 755 is fixed on the socket 753. One end of the socket 756 is connected to the weight reduction strap 41 and can be inserted into the socket 753. The rotary plunger 754 is fixed to the socket 753, and its end pin can be inserted into the socket 756 to prevent the socket 756 from coming out. The safety buckle module releases the degree of freedom of the patient's pitching motion 96. Through the design of the waist module, the six degrees of freedom of the patient's pelvis are fully retained, ensuring the flexibility of the patient while increasing the safety of rehabilitation training.

[0106] The implementation principle of an embodiment of a lower limb rehabilitation training device in this application is as follows: This rehabilitation training device realizes effective support for the patient's rehabilitation training through the coordinated work of each module. The upright frame provides a stable support and operation platform. The treadmill and gait radar provide a movement platform for the patient and monitor movement data. The rotating frame and suspension module facilitate the patient to get on the machine. The waist module and lifting module ensure the flexibility and safety of the patient during the rehabilitation process. The three-dimensional motion capture and analysis module helps to accurately evaluate the rehabilitation effect. Compared with existing rehabilitation devices, this device solves problems such as single pelvic movement, difficulty for patients to get on the machine, and inability to adapt to diverse disease requirements, improving the quality and efficiency of rehabilitation training.

[0107] The lower limb rehabilitation training method provided by the present invention is applied to the above-mentioned lower limb rehabilitation training device. The training method includes:

[0108] Wear the weight - loss belt 41 for the patient. Open the rotating frame 6 through the flipping module. The patient rides a wheelchair and moves along the guiding plate 23 to the double - running - belt treadmill 2, and connect the suspension module 5 with the weight - loss belt 41.

[0109] Control the suspension module 5 to pull the weight - loss belt 41 to lift the patient, and the medical staff push the patient's wheelchair off the device and close the rotating frame 6.

[0110] Adjust the lifting module 8 to fix the waist module 7 and the weight - loss belt 41, and start the double - running - belt treadmill 2 according to the training plan to start training.

[0111] During the movement process, the gait radar 22, the three - dimensional motion capture and analysis module 1, the waist module 7, and the suspension module 5 continuously monitor the patient's walking data, and the host computer 31 integrates multi - party data to generate a health movement report to the human - machine interaction interface 32.

[0112] Specifically, wear the weight - loss belt 41 for the patient. Open the rotating frame 6 through the flipping module. The patient rides a wheelchair and moves along the guiding plate 23 to the double - running - belt treadmill 2, and connect the suspension module 5 with the weight - loss belt 41. The medical staff first help the patient correctly wear the weight - loss belt 41, ensuring that the belt fits the body and does not cause discomfort. Then operate the flipping module to make the rotating frame 6 rotate and open along the connection with the vertical frame, creating space for the patient to get on the machine. The patient sits on the wheelchair and smoothly moves along the guiding plate 23 to the access opening of the double - running - belt treadmill 2. Then, connect and fix the holding shaft of the suspension module 5 with both sides of the weight - loss belt 41. This process needs to ensure a firm connection to guarantee the safety of subsequent suspension.

[0113] Control the suspension module 5 to pull the weight - loss belt 41 to lift the patient, and the medical staff push the patient's wheelchair off the device and close the rotating frame 6. Through the human - machine interaction interface 32 or the control button, start the suspension motor of the suspension module 5. The suspension motor drives the winding disc to rotate, winds up the suspension rope, and thus pulls the weight - loss belt 41 to lift the patient. After the patient is smoothly lifted, the medical staff quickly push the patient's wheelchair away from the device to avoid hindering subsequent operations. Then close the rotating frame 6 and use the locking part to fix the rotating frame 6 and the vertical frame to ensure the stability of the device.

[0114] Adjust the lifting module 8 to fix the waist module 7 and the weight - loss belt 41, and start the double - running - belt treadmill 2 according to the training plan to start training. Operate the lifting motor of the lifting module 8 to make the ball screw rotate, drive the waist connecting plate to move along the guide rail, thereby adjusting the height of the waist module 7 to accurately dock and fix it with the weight - loss belt 41. The medical staff set the operating parameters of the double - running - belt treadmill 2, such as speed, slope, etc. on the human - machine interaction interface 32 according to the patient's rehabilitation situation and training plan, and then start the double - running - belt treadmill 2, and the patient starts the rehabilitation training.

[0115] During the movement process, the gait radar 22, the three-dimensional motion capture and analysis module 1, the waist module 7, and the suspension module 5 continuously monitor the patient's walking data, and the host computer 31 integrates the multi-party data to generate a health movement report and send it to the human-computer interaction interface 32. During the patient's training process, the gait radar 22 monitors the patient's walking data in real time, such as stride length, walking frequency, walking speed, etc. The three-dimensional motion capture and analysis module 1 captures the patient's limb movements in all directions to obtain detailed motion posture information. The waist module 7 and the suspension module 5 also transmit the data they monitor to the host computer 31. The host computer 31 integrates and analyzes this multi-party data, uses professional algorithms and models to generate a health movement report, and displays the report on the human-computer interaction interface 32 to facilitate medical staff and patients to understand the rehabilitation situation.

[0116] The above-mentioned lower limb rehabilitation training method gives full play to the functions of each module of the rehabilitation training equipment through reasonable step arrangements. From the convenient assistance for the patient to get on the machine to the real-time monitoring and data analysis during the training process, the whole process is tight and orderly. Through the integration and analysis of multi-module data, it is possible to understand the patient's rehabilitation situation more comprehensively and accurately, providing a basis for formulating personalized training plans. Compared with traditional rehabilitation training methods, this method improves the scientificity and effectiveness of rehabilitation training and helps patients recover health faster.

[0117] In a specific implementation manner, referring to Figure 17 the schematic diagram of the control system, after the device is powered on, it performs self-check. The lifting motor 801 and the suspension motor 522 start to move. After finding the limit switch 521 and the proximity switch 806, they return to the set initial position. After the patient wears the weight-bearing belt 41, turn the handle 61 to unlock the flipping module 6, pull the handle 61 to open the flipping module 6. The patient takes a wheelchair to the working area. The operator transmits the requirement for the suspension module to descend to the host computer 31 through the human-computer interaction interface 32. The host computer processes the motion requirement and sends it to the controller 33. The controller 33 sends the motor rotation angle to the suspension motor 522. The movement of the suspension motor 522 drives the binding rod 5130 to descend, and fixes the weight-bearing belt 41 to the connecting rod 512 of the binding rod 5130. Initiate the requirement for the suspension module to ascend on the human-computer interaction interface 32, and the suspension motor 522 drives the binding rod 5130 to ascend to lift the patient.

[0118] Furthermore, the medical staff push the wheelchair down from the device, close the flipping module 6, tighten the handle 61, insert the socket 756 into the socket 753, and fix the rotating plunger 754 to the socket 756. Select the rehabilitation training mode on the human-machine interaction interface 32, and the device drives the patient to perform rehabilitation training according to the selected mode. During the rehabilitation training process, the left and right pressure sensors 719 / 744 sense the pressure signal and transmit the pressure value to the controller 33. The controller 33 outputs the rotation angle of the first servo motor 21 according to the received pressure value. After the patient wears the weight-bearing belt, the first pressure sensor 519 feeds back the current rope-end pressure to the controller 33. At the same time, the controller 33 receives the motion parameters and motion mode information from the host computer 31 and outputs the rotation angle of the suspension motor 522.

[0119] The left and right torque sensors 716 / 724 transmit the torque value to the controller 33. The controller 33 outputs the rotation angle of the lifting motor 801. During the movement process, the radar 22 always monitors the human walking data and sends it to the host computer 31. The three angle sensors 725 / 731 / 733 transmit the joint angle data detected by the device to the amplifier 813, and then to the controller 33. The controller 33 processes the data of each sensor to generate human motion data, transmits the data to the host computer 31, and the host computer integrates multi-party data to generate a rehabilitation motion report 914 to the human-machine interaction interface 32.

[0120] In this specification, each embodiment is described in a progressive manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0121] The above has introduced in detail a lower limb rehabilitation training device and method provided by the present invention. Specific examples are used in this article to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the present invention.

Claims

1. A lower limb rehabilitation training device, characterized in that, Including: An upright frame (4), on which a human-machine interaction interface (32) and a host computer (31) are provided; A double-belt treadmill (2) is arranged on one side of the upright frame (4). A guiding plate (23) is inclined at the upper inlet of the double-belt treadmill (2), and a gait radar (22) for monitoring the walking data of a patient is arranged on the double-belt treadmill (2); A rotating frame (6) is arranged on the side of the upright frame (4) close to the double-belt treadmill (2). A flipping module is arranged between the rotating frame (6) and the upright frame (4) to enable the rotating frame (6) to rotate along the connection with the upright frame (4); A waist module (7) is connected to a weight loss belt (41) worn by a user and is used to provide auxiliary support for the user's waist; A lifting module (8) is arranged on the rotating frame (6), and the output end of the lifting module (8) is connected to the waist module (7); A suspension module (5) is arranged on the upright frame (4), and the output end of the suspension module (5) is connected to the upper part of the weight loss belt (41); A three-dimensional motion capture and analysis module (1) is arranged in front of the traveling direction of the double-belt treadmill (2). The three-dimensional motion capture and analysis module (1), the human-machine interaction interface (32), the host computer (31), the gait radar (22), the waist module (7), the lifting module (8), and the suspension module (8) are electrically connected.

2. The lower limb rehabilitation training device according to claim 1, characterized in that, The lifting module (8) includes: A lifting fixed plate (810) is vertically fixed on the side of the rotating frame (6) close to the user, and a chute is opened on the lifting fixed plate (810); A guide rail (808) is arranged along the length direction of the lifting fixed plate (810). A waist connecting plate (811) is slidably arranged on the guide rail (808), and the waist connecting plate (811) is connected to the waist module (7); A transmission member is arranged on the lifting fixed plate (810) to enable the waist connecting plate (811) to slide along the guide rail (808).

3. The lower limb rehabilitation training device according to claim 2, characterized in that, The transmission member includes a ball screw (809) arranged in the chute. The waist connecting plate (811) is arranged on the ball screw (809). A lifting motor (801) is arranged at one end of the lifting fixed plate (810), and the lifting motor (801) is connected to the ball screw (809) to enable the ball screw (809) to rotate and enable the waist connecting plate (811) to slide along the guide rail (808).

4. The lower limb rehabilitation training device according to claim 3, wherein, Fixed end stoppers (804) and support end stoppers (816) are respectively arranged at both ends of the lifting fixed plate (810). The screw fixed end (805) of the ball screw (809) is fixed on the fixed end stopper (804), and the screw support end (815) of the ball screw (809) is fixed on the support end stopper (816).

5. The lower limb rehabilitation training device according to claim 2, wherein, A plurality of proximity switches (806) are arranged along the extending direction of the guide rail (808) on the lifting and fixing plate (810), and the plurality of proximity switches (806) are arranged in an array. A shielding block (812) cooperating with the proximity switches (806) is arranged on one side of the waist connecting plate (811).

6. The lower limb rehabilitation training device according to claim 1, wherein The flipping module includes a rotating connection block (62) arranged on one side of the vertical frame (4). One side of the rotating frame (6) is rotatably connected to the rotating connection block (62), and a locking member is arranged between the rotating frame (6) and the vertical frame (4) to fix the rotating frame (6) and the vertical frame (4).

7. The lower limb rehabilitation training device according to claim 6, wherein The locking member includes a handle (61) rotatably arranged on the rotating frame (6). A threaded hole is formed on one side of the vertical frame (4) close to the handle (61), and one end of the handle (61) close to the vertical frame (4) is threadedly connected to the threaded hole.

8. The lower limb rehabilitation training device according to claim 1, characterized in that, The suspension module (5) includes: A mounting plate (501) fixedly suspended on one side of the top of the vertical frame (4) and located above the user; A suspension motor (522) fixedly arranged on the mounting plate (501). One end of the output shaft of the suspension motor (522) is fixedly connected to a winding disc (509), and a suspension rope (513) is wound on the winding disc (509); A commutation structure arranged on the mounting plate (501) to change the direction of the suspension rope (513) from horizontal to vertical; A connecting rod (512) fixed to the end of the suspension rope (513) away from the winding disc (509). Both ends of the connecting rod (512) are fixedly connected to both sides of the weight reduction belt (41).

9. The lower limb rehabilitation training device according to claim 8, characterized in that, The commutation structure includes a clamping guide post (514), a limiting guide post (518), a first guide wheel group (517) and a second guide wheel group (516). The suspension rope (513) sequentially passes through the clamping guide post (514), the limiting guide post (518), the first guide wheel group (517) and the second guide wheel group (516).

10. A lower limb rehabilitation training method, characterized in that, Applied to the lower limb rehabilitation training device according to any one of claims 1-9, the method includes: Wearing a weight reduction belt (41) for the patient, opening the rotating frame (6) through the flipping module, moving the patient on the wheelchair along the guiding plate (23) to the double-track treadmill (2), and connecting the suspension module (5) to the weight reduction belt (41); Controlling the suspension module (5) to pull the weight reduction belt (41) to lift the patient, and the medical staff push the patient's wheelchair off the device and close the rotating frame (6); Adjusting the lifting module (8) to fix the waist module (7) and the weight reduction belt (41), and starting the training according to the training plan by starting the double-track treadmill (2); During the movement process, the gait radar (22), the three-dimensional motion capture and analysis module (1), the waist module (7) and the suspension module (5) continuously monitor the patient's walking data, and the host computer (31) integrates multi-party data to generate a healthy exercise report to the human-computer interaction interface (32).

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