Cerebral stroke patient lower limb rehabilitation device and control method thereof

Abstract

The invention discloses a lower limb rehabilitation device for a stroke patient and a control method thereof, and relates to the technical field of lower limb rehabilitation training. The problem that lower limb rehabilitation training cannot be carried out on stroke patients in different recovery stages is solved. The device specifically comprises a bottom plate, a guide frame is fixed to the outer wall of the top of the bottom plate, a first movable plate and a second movable plate are slidably connected to the outer wall of the top of the guide frame, and a seat mechanism is arranged on the outer walls of the tops of the first movable plate and the second movable plate; the outer wall of one side of the guide frame is rotationally connected with a screw, and the outer wall of the screw is connected with an inner threaded sleeve through threads. According to the lower limb rehabilitation training device, a patient with certain lower limb movement ability is rehabilitated, the patient can step on the pedal and the shank supporting sleeve by himself to conduct lower limb rehabilitation training on the premise of not being driven by a servo motor, the lower limb rehabilitation training device can be suitable for patients in different rehabilitation stages, and the applicability of the device is improved.

Description

Technical Field

[0001] This invention relates to the field of lower limb rehabilitation training technology, and in particular to a lower limb rehabilitation device for stroke patients and its control method. Background Technology

[0002] Stroke, also known as cerebrovascular accident, is a group of diseases caused by the sudden rupture or blockage of blood vessels in the brain, preventing blood flow and resulting in brain tissue damage. One of the common sequelae of stroke is limb motor dysfunction, and proper limb rehabilitation training is key to reducing these sequelae. Studies have shown that patients with hemiplegia or incomplete paralysis of the lower limbs due to stroke require long-term lower limb rehabilitation training, which can effectively help them recover lower limb function as early as possible.

[0003] A search revealed a Chinese patent application with patent number CN202411329469.X, which discloses a lower limb rehabilitation device for stroke patients. The device assists the patient in abducting or adducting their legs through a lower limb lateral movement component, assists the patient in bending their knees or ankles through a lower limb flexion assist component, and lifts or lowers the legs as a whole. It also includes a leg muscle massage component to massage the patient's leg muscles.

[0004] However, the above-mentioned technical solutions are only applicable to bedridden patients with severe hemiplegic symptoms. They cannot help some patients who have some mobility after initial training to carry out better lower limb training. Therefore, there is still a problem that lower limb rehabilitation training cannot be carried out for stroke patients at different stages of recovery. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of existing technologies by proposing a lower limb rehabilitation device for stroke patients.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A lower limb rehabilitation device for stroke patients includes a base plate. A guide frame is fixed to the top outer wall of the base plate. A first movable plate and a second movable plate are slidably connected to the top outer wall of the guide frame. A seat mechanism is provided on the top outer walls of the first and second movable plates. A rotating shaft is rotatably connected to the inner wall of the guide frame. A locking block is fixed to one end of the rotating shaft. A screw is rotatably connected to one side outer wall of the guide frame. An internal threaded sleeve is threadedly connected to the outer wall of the screw. A connecting sleeve is fixed to the outer wall of the internal threaded sleeve. A servo motor is fixed to the inner wall of the connecting sleeve. An insert is fixed to the output shaft of the servo motor. The insert is inserted into one side outer wall of the locking block and fixed to the inner wall of the locking block by screws.

[0008] Preferably: a fixing frame is fixed to the inner wall of the guide frame, a set of guide sleeves is fixed to the top outer wall of the fixing frame, a rotating rod is rotatably connected to the inner wall of the guide sleeve, a second sprocket is fixed to the outer wall of the rotating rod, cranks are fixed to both ends of the rotating rod, a pedal is rotatably connected to the outer wall of the crank, a first sprocket is fixed to the outer wall of the rotating shaft, and the first sprocket is connected to the second sprocket through a transmission chain.

[0009] A guide plate is fixed to one side of the outer wall of the guide frame, and a connecting sleeve is slidably connected to one side of the outer wall of the guide plate.

[0010] Furthermore: the seat mechanism includes a rotating plate, a first fixing hole, a telescopic rod, a seat, armrests, and a seat belt. The rotating plate is rotatably connected to the top outer wall of the first movable plate. The first fixing hole is located on the top outer wall of the rotating plate and is fixed to the top outer wall of the rotating plate by a pin. A set of telescopic rods is fixed to the top outer wall of the rotating plate. The seat is fixed to the telescopic end of the telescopic rods, and a set of armrests is fixed to the outer wall of the seat.

[0011] A further preferred embodiment: the outer wall of the pedal is fixed with a fixing plate by screws, the outer wall of the fixing plate is fixed with a calf support sleeve, the outer wall of the calf support sleeve is fixed with a strap, the top outer wall of the guide frame is fixed with a metal railing, and the inner wall of the calf support sleeve is provided with a massage strip and a massage block.

[0012] As a preferred embodiment of the present invention: a fixing block is fixed to one side of the outer wall of the second movable plate, and the fixing block is fixed to one side of the outer wall of the guide frame by screws;

[0013] Magnetic blocks are fixed to one side of the outer wall of the first and second movable plates, respectively.

[0014] As a further preferred embodiment of the present invention: a support frame is fixed to the top outer wall of the guide frame, a control panel is fixed to the outer wall of the support frame, control buttons are fixed to the outer wall of the handrail, a wireless signal transmitting module is provided on the inner wall of the control buttons, a wireless signal receiving module is provided on the inner wall of the control panel, and the control panel is electrically connected to the servo motor.

[0015] As a further embodiment of the present invention: a set of support blocks are fixed on one side of the outer wall of the support frame, and a connecting shaft is rotatably connected to the inner wall of the support blocks. Transmission wheels are fixed at both ends of the shaft, and the transmission wheels are connected to the connecting shaft via a transmission belt. A turntable is fixed at one end of the connecting shaft, and multiple internal threaded holes are opened on the outer wall of the turntable. An external threaded block is connected to the inner wall of the internal threaded hole via a thread, and a connecting ring is rotatably connected to the outer wall of the external threaded block. A grab ring is connected to the bottom outer wall of the connecting ring via a pull rope.

[0016] A method for controlling a lower limb rehabilitation device for stroke patients includes the following steps:

[0017] S1: For patients with severe lower limb hemiplegia, first sit in a wheelchair with the unaffected lower limb on the footrest, then place the affected lower limb on the calf support sleeve and secure it. Then send a control signal to the control panel through the control button, so that the control panel controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve to perform preliminary rehabilitation training in the initial rehabilitation training mode.

[0018] S2: Set corresponding reflective marks on the outer wall of the rotating rod and install photoelectric sensors on the inner wall of the guide sleeve. The number of rotations of the rotating rod is counted by the photoelectric sensors and the results are displayed on the control panel so that the patient can understand the amount of exercise during each lower limb rehabilitation training and record the number of leg training rotations and training time for each rehabilitation training.

[0019] S3: For patients with hemiplegia who have recovered to a certain extent, first sit on the chair with the unaffected lower limb on the pedal, then place the affected lower limb on the calf support sleeve. Send a control signal to the control panel through the control button, so that the control panel controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve to perform mid-term rehabilitation training in the mid-term rehabilitation training mode.

[0020] S4: After long-term training, patients with certain mobility in their lower limbs first sit on the chair with their unaffected lower limb on the pedal. Then, they place their affected lower limb on the calf support sleeve. They send a control signal to the control panel through the control button, so that the control panel controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve to carry out the later rehabilitation training in the later rehabilitation training mode.

[0021] S5: For patients with some walking ability in their lower limbs, first sit in the chair, then place both legs on the left and right pedals without calf support sleeves. By using leg strength to pedal and crank the lever to rotate, the patient can perform lower limb rehabilitation training independently using leg strength without the assistance of a servo motor.

[0022] Based on the aforementioned scheme, the preferred method is as follows: In S1, under the preliminary rehabilitation training mode, the control panel controls the servo motor to drive the rotating rod to rotate at a speed of 6-10 revolutions per minute, with a total of 60 revolutions. After the servo motor drives the patient's leg to rotate 60 revolutions, the control panel will control the servo motor to stop running, thus ending the preliminary rehabilitation training of the patient's lower limbs.

[0023] In S2, the control panel displays a login QR code. Patients can log in to the WeChat mini-program by scanning the code, or log in using a mobile APP by scanning the code and connecting via Bluetooth. Alternatively, they can connect to the operating program on the control panel via network and Bluetooth through computer software. The control panel will statistically analyze the duration of each lower limb training session and the number of leg rotations and upload the data to the WeChat mini-program, mobile APP, and computer software that are connected to it. Patients can view their historical training data each time they log in to the mini-program, APP, and software.

[0024] In S3, during the mid-term rehabilitation training mode, the control panel controls the servo motor to drive the rotating rod to rotate at a speed of 12-15 revolutions per minute, for a total of 100 revolutions. After the servo motor drives the patient's leg to rotate 100 revolutions, the control panel will control the servo motor to stop running, thus ending the patient's mid-term lower limb rehabilitation training.

[0025] In S4, during the later rehabilitation training mode, the control panel controls the servo motor to drive the rotating rod to rotate at a speed of 20-30 revolutions per minute, for a total of 150 revolutions. After the servo motor drives the patient's leg to rotate 150 revolutions, the control panel will control the servo motor to stop running, thus ending the patient's lower limb later rehabilitation training.

[0026] In S5, when a patient with a certain ability to walk in the lower limbs performs lower limb rehabilitation training by pedaling the pedal, the number of rotations of the pedal and the real-time speed will be displayed on the control panel and on the WeChat mini-program, APP and computer software logged in by the patient.

[0027] The beneficial effects of this invention are as follows:

[0028] 1. Unscrew the screws of the fixing block and the locking block, and rotate the screw in the opposite direction. At this time, the connecting sleeve will drive the servo motor away from the locking block, disconnecting the connection between the servo motor output shaft and the rotating shaft. At this time, the patient can rotate around the rotating rod by stepping on the lower leg support sleeve and the pedal. This allows patients who have recovered to a certain level of lower limb motor ability to perform lower limb rehabilitation training by stepping on the pedal and lower leg support sleeve without the help of the servo motor. This makes the lower limb rehabilitation training device suitable for patients at different rehabilitation stages, thus improving the applicability of the device.

[0029] 2. The patient can be helped to the metal railing at the top of the base plate. Then, the rotating plate and seat are pushed to the back of the patient. The first fixing hole is then fixed to the side of the second movable plate with pins, allowing the patient to sit in the seat. The patient is then secured to the seat with a seatbelt. The seat and rotating plate are then pushed forward to the pivot point. The patient's legs are then placed on the calf support sleeve. Depending on the patient's hemiplegic leg, the medical staff can install the calf support sleeve on the corresponding pedal using fixing plates, allowing the rehabilitation device to perform rehabilitation training on the patient's hemiplegic left or right leg.

[0030] 3. Secure the patient's lower leg to the lower leg support sleeve using straps. Then, rotate the screw to move the servo motor forward, allowing the insert block to fit tightly against one side of the locking block. Secure the insert block to the locking block with screws. Then, control the servo motor to drive the rotating shaft to rotate at a constant speed. When the shaft rotates, it will drive the rotating rod to rotate synchronously through the first sprocket and transmission chain on the outer wall. This will cause the patient's lower leg, which is strapped inside the lower leg support sleeve, to rotate up and down at a constant speed around the rotating rod, causing the patient's leg to perform reciprocating movements. This will enable lower limb rehabilitation training for patients with severe stroke.

[0031] 4. When the patient sits in the chair and uses the servo motor to drive the leg for rehabilitation training, the patient can check the number of rotations the servo motor drives the leg through the control panel. At the same time, by pressing the corresponding control button, the patient can send a wireless control signal to the control panel, which will control the servo motor to stop, increase, or decrease its speed. This allows the patient to adjust the speed of the servo motor driving the leg movement according to their own rehabilitation needs, thereby improving the intelligence of the lower limb rehabilitation device.

[0032] 5. When the patient sits in the chair and performs lower limb training by pedaling with their own lower limbs or by using a servo motor, they can grasp the grip ring with their hands. At this time, the turntable will rotate under the drive of the transmission belt and the rotating shaft, thereby causing the external thread block on the outer wall to move up and down. When the external thread block moves up and down, it will pull the grip ring back and forth through the connecting ring and the pull rope connected to the rotating outer wall. This allows the patient to perform motor rehabilitation training for the hemiplegic lower limb while simultaneously performing motor rehabilitation training for the hemiplegic upper limb, thus improving the functionality of the rehabilitation device. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main structure of a lower limb rehabilitation device for stroke patients proposed in this invention;

[0034] Figure 2 This is a schematic diagram of the seat of a lower limb rehabilitation device for stroke patients, as proposed in this invention, rotated to one side;

[0035] Figure 3 This is a schematic diagram of the rotating shaft structure of a lower limb rehabilitation device for stroke patients proposed in this invention;

[0036] Figure 4 This is a schematic diagram of the servo motor structure of a lower limb rehabilitation device for stroke patients proposed in this invention;

[0037] Figure 5 This is a schematic diagram of the pedal structure of a lower limb rehabilitation device for stroke patients proposed in this invention;

[0038] Figure 6 This is a schematic diagram of the turntable structure of a lower limb rehabilitation device for stroke patients proposed in this invention;

[0039] Figure 7 This is a schematic diagram of the signal transmission process of a control method for a lower limb rehabilitation device for stroke patients proposed in this invention.

[0040] Figure 8 This is a schematic diagram of the control steps of a control method for a lower limb rehabilitation device for stroke patients proposed in this invention.

[0041] Figure 9 This is a schematic diagram of the control program interface for a lower limb rehabilitation device for stroke patients proposed in this invention.

[0042] In the diagram: 1. Base plate, 2. Support frame, 3. Transmission belt, 4. Fixing plate, 5. Control panel, 6. Support block, 7. Turntable, 8. Grab ring, 9. Handrail, 10. Seat, 11. First movable plate, 12. Metal railing, 13. Guide frame, 14. Rotating plate, 15. Telescopic rod, 16. First fixing hole, 17. Second movable plate, 18. Fixing block, 19. Magnetic block, 20. First sprocket, 21. Rotating shaft, 22. Fixing frame, 23. Lower leg support sleeve, 24. Connecting shaft, 25. Pedal, 26. Control button, 27. Guide plate, 28. Connecting sleeve, 29. Servo motor, 30. Insert block, 31. Crank, 32. Second sprocket, 33. Guide sleeve, 34. Locking block, 35. Screw, 36. Internal threaded sleeve, 37. Transmission wheel, 38. Rotating rod, 39. Massage bar, 40. Massage block, 41. Internal threaded hole, 42. External threaded block, 43. Connecting ring. Detailed Implementation

[0043] The technical solution of the present invention will be further described in detail below with reference to specific embodiments.

[0044] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0045] Example 1:

[0046] A lower limb rehabilitation device for stroke patients, such as Figure 1-6 As shown, the system includes a base plate 1. A guide frame 13 is fixed to the top outer wall of the base plate 1. A first movable plate 11 and a second movable plate 17 are slidably connected to the top outer wall of the guide frame 13. A seat mechanism is provided on the top outer wall of the first movable plate 11 and the second movable plate 17. A rotating shaft 21 is rotatably connected to the inner wall of the guide frame 13. A locking block 34 is fixed to one end of the rotating shaft 21. A screw 35 is rotatably connected to one side outer wall of the guide frame 13. An internal threaded sleeve 36 is threadedly connected to the outer wall of the screw 35. A connecting sleeve 28 is fixed to the outer wall of the internal threaded sleeve 36. A servo motor 29 is fixed to the inner wall of the connecting sleeve 28. An insert block 30 is fixed to the output shaft of the servo motor 29. The insert block 30 is inserted into one side outer wall of the locking block 34. The insert block 30 is fixed to the inner wall of the locking block 34 by screws.

[0047] A fixing frame 22 is fixed to the inner wall of the guide frame 13. A set of guide sleeves 33 is fixed to the top outer wall of the fixing frame 22. A rotating rod 38 is rotatably connected to the inner wall of the guide sleeve 33. A second sprocket 32 ​​is fixed to the outer wall of the rotating rod 38. Cranks 31 are fixed to both ends of the rotating rod 38. A pedal 25 is rotatably connected to the outer wall of the crank 31. A first sprocket 20 is fixed to the outer wall of the rotating shaft 21. The first sprocket 20 is connected to the second sprocket 32 ​​through a transmission chain.

[0048] A guide plate 27 is fixed to one side of the outer wall of the guide frame 13, and a connecting sleeve 28 is slidably connected to one side of the outer wall of the guide plate 27.

[0049] The seat mechanism includes a rotating plate 14, a first fixing hole 16, a telescopic rod 15, a seat 10, an armrest 9, and a seat belt. The rotating plate 14 is rotatably connected to the top outer wall of the first movable plate 11. The first fixing hole 16 is provided on the top outer wall of the rotating plate 14 and is fixed to the top outer wall of the rotating plate 14 by a pin. A set of telescopic rods 15 is fixed to the top outer wall of the rotating plate 14. The seat 10 is fixed to the telescopic end of the telescopic rod 15. A set of armrests 9 is fixed to the outer wall of the seat 10.

[0050] The outer wall of the pedal 25 is fixed with a fixing plate 4 by screws. The outer wall of the fixing plate 4 is fixed with a calf support sleeve 23. The outer wall of the calf support sleeve 23 is fixed with a strap. The top outer wall of the guide frame 13 is fixed with a metal railing 12. The inner wall of the calf support sleeve 23 is provided with a massage strip 39 and a massage block 40.

[0051] First, the medical staff rotates the seat 10 and the rotating plate 14 to one side of the first movable plate 11. Then, the stroke patient is placed in the corresponding position at the top of the bottom plate 1 via a wheelchair or with assistance. For patients using wheelchairs, the medical staff first stops the wheels of the wheelchair. Then, the lower leg of the patient's hemiplegic leg is placed on the corresponding lower leg support sleeve 23. The patient's lower leg is then fixed in the lower leg support sleeve 23 with straps. Then, the screw 35 is rotated to push the servo motor 29 to move forward, so that the insert 30 is pressed against the side of the locking block 34. Then, the insert 30 is fixed in the side of the locking block 34 with screws. Then, the servo motor 29 can be controlled to drive the rotating shaft 21 to rotate at a uniform speed. When the rotating shaft 21 rotates, it will drive the rotating rod 38 to rotate synchronously through the first sprocket 20 on the outer wall and the transmission chain. This will cause the patient's lower leg, which is tied inside the lower leg support sleeve 23, to rotate up and down at a uniform speed around the rotating rod 38, causing the patient's leg to perform reciprocating movements. This will provide lower limb rehabilitation training for the legs of stroke patients with severe conditions.

[0052] After the patient has completed rehabilitation training and regained some walking ability, medical staff can help the patient to the metal railing 12 at the top of the base plate 1. Then, push the rotating plate 14 and the seat 10 to rotate to the back of the patient. Then, fix the first fixing hole 16 to the side of the second movable plate 17 with a pin, so that the patient can sit on the seat 10. Then, use a safety belt to tie the patient to the seat 10. Then, push the seat 10 and the rotating plate 14 forward to move the whole to the side of the rotating shaft 21. Then, place the patient's legs on the calf support sleeve 23. Medical staff can install the calf support sleeve 23 on the corresponding pedal 25 through the fixing piece 4 according to the patient's hemiplegic leg, so that the rehabilitation device can perform rehabilitation training on the patient's hemiplegic left or right leg.

[0053] Subsequently, medical staff unscrewed the screws of the fixing block 30 and the locking block 34, and rotated the screw 35 in the opposite direction. At this time, the connecting sleeve 28 will drive the servo motor 29 away from the locking block 34, thereby disconnecting the connection between the output shaft of the servo motor 29 and the rotating shaft 21. Since the stroke patient has a certain degree of lower limb mobility after the initial rehabilitation treatment, the patient can now rotate around the rotating rod 38 by stepping on the lower leg support sleeve 23 and the pedal 25. This allows patients who have recovered to a certain degree of lower limb mobility to perform lower limb rehabilitation training by stepping on the pedal 25 and the lower leg support sleeve 23 without the assistance of the servo motor 29. This makes the lower limb rehabilitation training device suitable for patients at different rehabilitation stages, thus improving the applicability of the device.

[0054] like Figure 1As shown, a fixing block 18 is fixed to one side of the outer wall of the second movable plate 17. The fixing block 18 is fixed to one side of the outer wall of the guide frame 13 by screws. After the staff pushes the rotating plate 14 and the seat 10 to the corresponding position on one side of the rotating shaft 21 according to the patient's leg length, the fixing block 18 can be fixed by screws, thereby fixing the position of the seat 10.

[0055] like Figure 1-2 As shown, magnetic blocks 19 are fixed to the outer walls of one side of the first movable plate 11 and the second movable plate 17, respectively. After the exercise, the medical staff unfastens the seat belt and unties the straps on the calf support sleeve 23, moves the patient's leg out of the calf support sleeve 23, and then helps the patient up. At this time, the pin fixing the first fixing hole 16 can be pulled out. Then, the rotating plate 14 and the seat 10 are pushed back until the outer wall of one side of the second movable plate 17 is against the inner wall of one side of the metal railing 12. At this time, the magnetic blocks 19 on one side of the second movable plate 17 can be magnetically attracted to the metal railing 12, thereby limiting the second movable plate 17 that has moved to the initial position. Then, the medical staff can rotate the rotating plate 14 and the seat 10 to the side of the first movable plate 11, so that the patient can walk out of the bottom plate 1 with the help of the medical staff or the support of the metal railing 12, thus ending this lower limb rehabilitation training.

[0056] like Figure 1-2 As shown, a support frame 2 is fixed to the top outer wall of the guide frame 13, a control panel 5 is fixed to the outer wall of the support frame 2, and a control button 26 is fixed to the outer wall of the armrest 9. A wireless signal transmitting module is provided on the inner wall of the control button 26, and a wireless signal receiving module is provided on the inner wall of the control panel 5. The control panel 5 is electrically connected to the servo motor 29. When the patient sits on the seat 10 and uses the servo motor 29 to drive the leg for rehabilitation training, the patient can use the control panel 5 to know the number of training rotations driven by the servo motor 29. At the same time, by pressing the corresponding control button 26, a wireless control signal is sent to the control panel 5, allowing the control panel 5 to control the servo motor 29 to stop, increase, or decrease its speed. This allows the patient to adjust the speed at which the servo motor 29 drives the leg to move according to their own rehabilitation needs, thereby improving the intelligence of the lower limb rehabilitation device.

[0057] In this embodiment, the seat 10 and the rotating plate 14 are first rotated to one side of the first movable plate 11. Then, the stroke patient is placed in a wheelchair or supported to the corresponding position at the top of the bottom plate 1. For patients using wheelchairs, the wheels of the wheelchair are first stopped. Then, the lower leg of the patient's hemiplegic leg is placed on the corresponding lower leg support sleeve 23. The patient's lower leg is then fixed in the lower leg support sleeve 23 with straps. Then, the screw 35 is rotated to push the servo motor 29 forward, so that the insert 30 is pressed against the side of the locking block 34. Then, the insert 30 is fixed in the side of the locking block 34 with screws. Then, the servo motor 29 can be controlled to drive the rotating shaft 21 to rotate at a uniform speed. When the rotating shaft 21 rotates, it will drive the rotating rod 38 to rotate synchronously through the first sprocket 20 on the outer wall and the transmission chain. This will cause the patient's lower leg, which is tied inside the lower leg support sleeve 23, to rotate up and down at a uniform speed around the rotating rod 38, causing the patient's leg to reciprocate.

[0058] Once the patient has some ability to walk, they can be helped to the metal railing 12 at the top of the base plate 1. Then, the rotating plate 14 and seat 10 are pushed to rotate to the back of the patient. The first fixing hole 16 is then fixed to the side of the second movable plate 17 with a pin, allowing the patient to sit on the seat 10. The patient is then secured to the seat 10 with a seat belt. The seat 10 and rotating plate 14 are then pushed forward to move to the side of the rotating shaft 21. The patient's legs are then placed on the lower leg support sleeve 23. Depending on the patient's hemiplegic leg, the lower leg support sleeve 23 can be installed on the corresponding pedal 25 using the fixing piece 4.

[0059] Then, unscrew the screws of the fixing block 30 and the locking block 34, and rotate the screw 35 in the opposite direction. At this time, the connecting sleeve 28 will drive the servo motor 29 away from the side of the locking block 34, and disconnect the connection between the output shaft of the servo motor 29 and the rotating shaft 21. Since the stroke patient has a certain degree of lower limb mobility after the previous rehabilitation treatment, the patient can now rotate around the rotating rod 38 by stepping on the lower leg support sleeve 23 and the pedal 25. This allows the patient, who has recovered to a certain degree of lower limb mobility, to perform lower limb rehabilitation training by stepping on the pedal 25 and the lower leg support sleeve 23 without the help of the servo motor 29.

[0060] Example 2:

[0061] A lower limb rehabilitation device for stroke patients, such as Figure 1-6As shown, this embodiment makes the following improvements based on embodiment 1: A set of support blocks 6 are fixed to one side of the outer wall of the support frame 2. A connecting shaft 24 is rotatably connected to the inner wall of the support block 6. Transmission wheels 37 are fixed to both ends of the rotating shaft 21. The transmission wheels 37 are connected to the connecting shaft 24 via a transmission belt 3. A turntable 7 is fixed to one end of the connecting shaft 24. Multiple internal threaded holes 41 are opened on the outer wall of the turntable 7. External threaded blocks 42 are threadedly connected to the inner wall of the internal threaded holes 41. A connecting ring 43 is rotatably connected to the outer wall of the external threaded blocks 42. A pull rope is connected to the bottom outer wall of the connecting ring 43. Grab ring 8; When the patient sits on the seat 10 and performs lower limb training by pedaling with their own lower limbs or by driving the servo motor 29, they can grasp the grab ring 8 with their hands. At this time, the turntable 7 will rotate under the drive of the transmission belt 3 and the rotating shaft 21, thereby driving the external thread block 42 on the outer wall to move up and down. When the external thread block 42 moves up and down, it will pull the grab ring 8 up and down and back and forth through the connecting ring 43 and the pull rope connected to the outer wall, so that the patient can perform motor rehabilitation training on the hemiplegic lower limb at the same time as performing rehabilitation training on the hemiplegic upper limb, thereby improving the functionality of the rehabilitation device.

[0062] Meanwhile, depending on the patient's arm length and upper limb hemiplegia, the external threaded block 42 can be fixed in different internal threaded holes 41 on the outer wall of the turntable 7 by threads, thereby adjusting the range of motion of the connecting ring 43 pulling the grab ring 8 up and down.

[0063] In this embodiment, when the patient sits on the seat 10 and performs lower limb training by pedaling with their own lower limbs or by being driven by the servo motor 29, they can grasp the grip ring 8 with their hands. At this time, the turntable 7 will rotate under the drive of the transmission belt 3 and the rotating shaft 21, thereby driving the external thread block 42 on the outer wall to move up and down. When the external thread block 42 moves up and down, it will pull the grip ring 8 up and down and back and forth through the connecting ring 43 and the pull rope connected to the outer wall, allowing the patient to perform motor rehabilitation training on the hemiplegic lower limb at the same time as performing rehabilitation training on the hemiplegic upper limb.

[0064] Example 3:

[0065] A control method for a lower limb rehabilitation device for stroke patients, such as Figure 7-9 As shown, it includes the following steps:

[0066] S1: For patients with severe lower limb hemiplegia, first sit in a wheelchair with the unaffected lower limb on the footrest 25, then place the affected lower limb on the calf support sleeve 23 and secure it. Then send a control signal to the control panel 5 through the control button 26, so that the control panel 5 controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve 23 to carry out preliminary rehabilitation training in the initial rehabilitation training mode.

[0067] S2: Set corresponding reflective marks on the outer wall of the rotating rod 38, install photoelectric sensors on the inner wall of the guide sleeve 33, count the number of rotations of the rotating rod 38 through the photoelectric sensors, and display the statistical results on the control panel 5 so that the patient can understand the amount of exercise during each lower limb rehabilitation training, and record the number of leg training rotations and training time for each rehabilitation training.

[0068] S3: Patients with hemiplegia who have recovered to a certain extent first sit on the seat 10, with their unaffected lower limb stepping on the pedal 25, and then place their affected lower limb on the calf support sleeve 23. They send a control signal to the control panel 5 through the control button 26, so that the control panel 5 controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve 23 to carry out mid-term rehabilitation training in the mid-term rehabilitation training mode.

[0069] S4: After long-term training, patients with certain mobility in their lower limbs first sit on the seat 10, with their unaffected lower limbs on the pedal 25, and then place their affected lower limbs on the calf support sleeve 23. They send a control signal to the control panel 5 through the control button 26, so that the control panel 5 controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve 23 to carry out the later rehabilitation training in the later rehabilitation training mode.

[0070] S5: Patients with some walking ability in their lower limbs first sit on the seat 10, and then place their legs on the left and right pedals 25 without the calf support sleeves 23 installed. By using their leg strength to push the pedals 25 and crank 31 to drive the rotating rod 38 to rotate, the patient can perform lower limb rehabilitation training by using their leg strength without the assistance of the servo motor 29.

[0071] In this embodiment, the servo motor 29 is a servo motor whose output shaft is not equipped with a brake, so the output shaft can rotate freely after the motor is turned off;

[0072] In S1, under the preliminary rehabilitation training mode, the control panel 5 controls the servo motor 29 to drive the rotating rod 38 to rotate at a speed of 6-10 revolutions per minute, for a total of 60 revolutions. After the servo motor 29 drives the patient's leg to rotate 60 revolutions, the control panel 5 will control the servo motor 29 to stop running, thus ending the preliminary rehabilitation training of the patient's lower limbs.

[0073] In S2, the screen of the control panel 5 displays a login QR code. Patients can log in to the WeChat mini-program by scanning the code, or log in using a mobile APP by scanning the code and connecting via Bluetooth. They can also connect to the operating program on the control panel 5 via network and Bluetooth through computer software. The control panel 5 will count the duration of each lower limb training session and the number of leg rotations and upload the data to the WeChat mini-program, mobile APP and computer software that are connected to it. Patients can check their historical training data after logging into the mini-program, APP and software each time.

[0074] After logging into the WeChat mini-program, APP, or computer software, the patient can send corresponding control signals to the control panel 5 through the logged-in WeChat mini-program, APP, or computer software, allowing the patient to control and adjust the lower limb rehabilitation device through various methods such as control button 26, WeChat mini-program, APP, or computer software for remote control.

[0075] In this embodiment, the control panel 5 is equipped with a wireless network signal transceiver module, which enables the control panel 5 to log in and use WeChat mini-programs, APPs or computer software via wireless network, and upload the patient's rehabilitation training data for each session to the database of WeChat mini-programs, APPs or computer software for storage via wireless network. At the same time, it can receive the corresponding control signals sent by the patient via mini-programs, APPs or computer software.

[0076] In the S3, under the mid-term rehabilitation training mode, the control panel 5 controls the servo motor 29 to drive the rotating rod 38 to rotate at a speed of 12-15 revolutions per minute, for a total of 100 revolutions. After the servo motor 29 drives the patient's leg to rotate 100 revolutions, the control panel 5 will control the servo motor 29 to stop running, thus ending the patient's mid-term lower limb rehabilitation training.

[0077] In the S4, during the later rehabilitation training mode, the control panel 5 controls the servo motor 29 to drive the rotating rod 38 to rotate at a speed of 20-30 revolutions per minute, for a total of 150 revolutions. After the servo motor 29 drives the patient's leg to rotate 150 revolutions, the control panel 5 will control the servo motor 29 to stop running, thus ending the patient's lower limb later rehabilitation training.

[0078] In S5, such as Figure 9As shown, when a patient with some walking ability in their lower limbs performs lower limb rehabilitation training by independently pedaling pedal 25, the number of rotations of pedal 25 and its real-time speed will be displayed on the control panel 5 and on the WeChat mini-program, APP, and computer software logged in by the patient. The WeChat mini-program, APP, and computer software interfaces have the following options: speed adjustment option for adjusting the speed of servo motor 29 during this training; rotation number setting option for adjusting the number of rotations the servo motor 29 drives the leg to rotate during this training; preliminary rehabilitation training mode option, which the patient selects to enter the preliminary rehabilitation training mode for lower limb training; intermediate rehabilitation training mode option, which the patient selects to enter the intermediate rehabilitation training mode for lower limb training; late rehabilitation training mode, which the patient selects to enter the late rehabilitation training mode for lower limb training; historical training record query option, which the patient selects to query their historical training data records; target rotation number display area for displaying the target rotation number set for this training; actual rotation number display area for displaying the current number of lower limb training rotations; and speed display area for displaying the real-time speed of lower limb training during this training.

[0079] After the patient completes lower limb motor rehabilitation training, the WeChat mini-program, APP, and computer software will still save the training data, allowing the patient to continue using this lower limb rehabilitation device for exercise after rehabilitation.

[0080] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A lower limb rehabilitation device for stroke patients, comprising a base plate (1), characterized in that, The top outer wall of the base plate (1) is fixed with a guide frame (13). The top outer wall of the guide frame (13) is slidably connected with a first movable plate (11) and a second movable plate (17). The top outer walls of the first movable plate (11) and the second movable plate (17) are provided with a seat mechanism. The inner wall of the guide frame (13) is rotatably connected with a rotating shaft (21). One end of the rotating shaft (21) is fixed with a locking block (34). One side outer wall of the guide frame (13) is rotatably connected with a screw rod (35). The outer wall of the screw rod (35) is connected with an inner threaded sleeve (36) by a thread. The outer wall of the inner threaded sleeve (36) is fixed with a connecting sleeve (28). The inner wall of the connecting sleeve (28) is fixed with a servo motor (29). The output shaft of the servo motor (29) is fixed with a plug (30). The plug (30) is inserted into one side outer wall of the locking block (34). The plug (30) is fixed to the inner wall of the locking block (34) by a screw.

2. The lower limb rehabilitation device for stroke patients according to claim 1, characterized in that, A fixing frame (22) is fixed to the inner wall of the guide frame (13). A set of guide sleeves (33) is fixed to the top outer wall of the fixing frame (22). A rotating rod (38) is rotatably connected to the inner wall of the guide sleeve (33). A second sprocket (32) is fixed to the outer wall of the rotating rod (38). Cranks (31) are fixed to both ends of the rotating rod (38). A pedal (25) is rotatably connected to the outer wall of the crank (31). A first sprocket (20) is fixed to the outer wall of the rotating shaft (21). The first sprocket (20) is connected to the second sprocket (32) through a transmission chain. A guide plate (27) is fixed to one side of the outer wall of the guide frame (13), and a connecting sleeve (28) is slidably connected to one side of the outer wall of the guide plate (27).

3. The lower limb rehabilitation device for stroke patients according to claim 1, characterized in that, The seat mechanism includes a rotating plate (14), a first fixing hole (16), a telescopic rod (15), a seat (10), an armrest (9), and a seat belt. The rotating plate (14) is rotatably connected to the top outer wall of the first movable plate (11). The first fixing hole (16) is provided on the top outer wall of the rotating plate (14) and is fixed to the top outer wall of the rotating plate (14) by a pin. A set of telescopic rods (15) is fixed to the top outer wall of the rotating plate (14). The seat (10) is fixed to the telescopic end of the telescopic rod (15). A set of armrests (9) is fixed to the outer wall of the seat (10).

4. A lower limb rehabilitation device for stroke patients according to claim 2, characterized in that, The outer wall of the pedal (25) is fixed with a fixing plate (4) by screws. The outer wall of the fixing plate (4) is fixed with a calf support sleeve (23). The outer wall of the calf support sleeve (23) is fixed with a strap. The top outer wall of the guide frame (13) is fixed with a metal railing (12). The inner wall of the calf support sleeve (23) is provided with a massage strip (39) and a massage block (40).

5. A lower limb rehabilitation device for stroke patients according to claim 1, characterized in that, A fixing block (18) is fixed to one side of the outer wall of the second movable plate (17), and the fixing block (18) is fixed to one side of the outer wall of the guide frame (13) by screws; Magnetic blocks (19) are fixed to one side of the outer wall of the first movable plate (11) and the second movable plate (17).

6. A lower limb rehabilitation device for stroke patients according to claim 5, characterized in that, The guide frame (13) is fixed with a support frame (2) on the top outer wall. The support frame (2) is fixed with a control panel (5) on the outer wall. The handrail (9) is fixed with a control button (26) on the outer wall. The control button (26) is equipped with a wireless signal transmitting module on the inner wall. The control panel (5) is equipped with a wireless signal receiving module on the inner wall. The control panel (5) is electrically connected to the servo motor (29).

7. A lower limb rehabilitation device for stroke patients according to claim 6, characterized in that, A set of support blocks (6) is fixed on one side of the outer wall of the support frame (2). A connecting shaft (24) is rotatably connected to the inner wall of the support block (6). A transmission wheel (37) is fixed at both ends of the shaft (21). The transmission wheel (37) is connected to the connecting shaft (24) via a transmission belt (3). A turntable (7) is fixed at one end of the connecting shaft (24). Multiple internal threaded holes (41) are opened on the outer wall of the turntable (7). An external threaded block (42) is connected to the inner wall of the internal threaded hole (41) via a thread. A connecting ring (43) is rotatably connected to the outer wall of the external threaded block (42). A grab ring (8) is connected to the bottom outer wall of the connecting ring (43) via a pull rope.

8. A control method for a lower limb rehabilitation device for stroke patients, characterized in that, Includes the following steps: S1: For patients with severe lower limb hemiplegia, first sit in a wheelchair with the unaffected lower limb on the footrest (25), then place the affected lower limb on the calf support sleeve (23) and secure it. Then send a control signal to the control panel (5) through the control button (26) so that the control panel (5) controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve (23) to carry out preliminary rehabilitation training in the initial rehabilitation training mode. S2: Set corresponding reflective marks on the outer wall of the rotating rod (38), install photoelectric sensors on the inner wall of the guide sleeve (33), count the number of rotations of the rotating rod (38) through the photoelectric sensors, and display the statistical results on the control panel (5) so that patients can understand the amount of exercise during each lower limb rehabilitation training and record the number of leg training rotations and training time for each rehabilitation training. S3: Patients with hemiplegia who have recovered to a certain extent first sit on the chair (10), with their healthy lower limb stepping on the pedal (25), and then place their affected lower limb on the calf support sleeve (23). They send a control signal to the control panel (5) through the control button (26), so that the control panel (5) controls the lower limb rehabilitation device to drive the patient's leg placed on the calf support sleeve (23) to carry out mid-term rehabilitation training in the mid-term rehabilitation training mode. S4: After long-term training, patients with certain mobility in their lower limbs first sit on the chair (10), with their healthy lower limbs on the pedal (25), and then place their affected lower limbs on the calf support sleeve (23). They send control signals to the control panel (5) through the control button (26), so that the control panel (5) controls the lower limb rehabilitation device to drive the patient's legs placed on the calf support sleeve (23) to carry out later rehabilitation training in the later rehabilitation training mode. S5: Patients with a certain ability to walk in their lower limbs first sit on the seat (10), and then place their legs on the left and right pedals (25) without the calf support sleeve (23) installed. By using their leg strength to pedal (25) and crank (31) to drive the rotating rod (38) to rotate, the patient can perform lower limb rehabilitation training by using their leg strength without the assistance of the servo motor (29).

9. The control method for a lower limb rehabilitation device for stroke patients according to claim 8, characterized in that, In the S1, under the preliminary rehabilitation training mode, the control panel (5) controls the servo motor (29) to drive the rotating rod (38) to rotate at a speed of 6-10 revolutions per minute, with a total of 60 revolutions. When the servo motor (29) drives the patient's leg to rotate 60 revolutions, the control panel (5) will control the servo motor (29) to stop running, thus ending the preliminary rehabilitation training of the patient's lower limbs. In S2, the screen of the control panel (5) displays a login QR code. Patients can log in to the WeChat mini-program by scanning the code, or log in using the mobile APP by scanning the code and connecting via Bluetooth. They can also connect to the operating program on the control panel (5) via network and Bluetooth through computer software. The control panel (5) will count the duration of each patient's lower limb training and the number of leg rotations and upload them to the WeChat mini-program, mobile APP and computer software that are connected to it. Patients can query their historical training data after logging into the mini-program, APP and software each time. In the S3, under the mid-term rehabilitation training mode, the control panel (5) controls the servo motor (29) to drive the rotating rod (38) to rotate at a speed of 12-15 revolutions per minute, with a total of 100 revolutions. When the servo motor (29) drives the patient's leg to rotate 100 revolutions, the control panel (5) will control the servo motor (29) to stop running, thus ending the patient's mid-term lower limb rehabilitation training. In the S4, under the post-rehabilitation training mode, the control panel (5) controls the servo motor (29) to drive the rotating rod (38) to rotate at a speed of 20-30 revolutions per minute, with a total of 150 revolutions. When the servo motor (29) drives the patient's leg to rotate 150 revolutions, the control panel (5) will control the servo motor (29) to stop running, thus ending the post-rehabilitation training of the patient's lower limbs. In S5, when a patient with a certain ability to walk in the lower limbs pedals (25) to perform lower limb rehabilitation training, the number of rotations of the pedal (25) and the real-time rotation speed will be displayed on the control panel (5) and the WeChat mini program, APP and computer software logged in by the patient.

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