Cooperative training equipment for upper and lower limbs

Abstract

The invention provides upper and lower limb cooperative training equipment. The equipment comprises a supporting frame; the upper limb training assembly comprises an upper limb driving piece, an upper connecting rod piece and a grip piece, the upper limb driving piece is installed on the supporting frame, the upper connecting rod piece is installed on the upper limb driving piece, and the grip piece is installed on the upper connecting rod piece; the lower limb training assembly comprises a lower limb driving piece, a lower connecting rod piece and a pedal piece, the lower limb driving piece is installed on the supporting frame, the lower connecting rod piece is installed on the lower limb driving piece, the pedal piece is installed on the lower connecting rod piece, and the pedal piece is installed on the lower connecting rod piece. The upper limb training assembly and the lower limb training assembly conduct rehabilitation training according to a preset movement track. According to the circular track rehabilitation device, the problem that the motion track is still mainly based on single circular motion is solved, and the effect of the circular track rehabilitation device can be achieved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of rehabilitation medicine, and more specifically, to a device for coordinated training of the upper and lower limbs. Background Technology

[0002] With the increasing aging of my country's population and the continuous rise in the number of patients with upper and lower limb motor dysfunction caused by stroke, spinal cord injury, and trauma, rehabilitation training, as a key link in eliminating or alleviating functional impairment, rebuilding motor function, and improving daily living ability, aims to gradually restore muscle strength, nerve control, joint range of motion, and motor coordination related to upper and lower limb movement through scientific, systematic, and targeted joint mobility training.

[0003] For patients with upper and lower limb dysfunction, rehabilitation training is a crucial step in eliminating or alleviating these impairments. The main purpose of rehabilitation training is to enable the joints of the patient's upper and lower limbs to move, gradually restoring the muscle and nerve function related to limb movement. Upper and lower limb active and passive movement rehabilitation machines are common devices used for rehabilitation training. These machines typically utilize motor-driven mechanisms to move the patient's upper and lower limbs through active, passive, or both active and passive training.

[0004] Currently, the most commonly used active and passive motion rehabilitation machines for the upper and lower limbs in clinical practice mainly rely on motor drives. Through preset programs, they achieve active, passive, or combined active and passive training modes, which can maintain joint range of motion, prevent muscle atrophy, improve local blood circulation, and promote neural function remodeling to a certain extent. However, limited by the traditional mechanical structure design, the motion trajectory of existing upper and lower limb rehabilitation training equipment is still mainly based on single circular motion. Although this type of solution has advantages such as compact structure, low manufacturing cost, stable operation, and mature safety protection mechanisms, from the perspective of evidence-based research and clinical practice in rehabilitation medicine, circular trajectory training can only cover a part of the range of joint range of motion and cannot fully simulate functional movements characterized by linear or near-linear motions in daily human life, such as lower limb kicking (e.g., climbing stairs, standing up) and upper limb reaching (e.g., picking up objects, pushing or pulling doors and windows). At the same time, long-term repetitive circular motion can easily lead to the solidification of the recruitment patterns of the participating muscle groups, which may form compensatory movement strategies and is not conducive to neural remodeling and the reactivation of the motor cortex.

[0005] In recent years, numerous studies both domestically and internationally have confirmed that introducing multi-trajectory movement patterns, such as linear, elliptical, and oblique movements, into rehabilitation training can significantly increase the targeted nature of joint range of motion training, activate more deep stabilizing muscle groups, and enhance the complexity and diversity of motor control, thereby better facilitating the transfer of motor function to real-life scenarios. Therefore, developing a reliable, precisely controlled, and safe active and passive rehabilitation training device capable of achieving linear or near-linear movement trajectories in the upper and lower limbs has become a pressing technical challenge in the field of rehabilitation engineering. This device holds significant clinical value and social importance for filling the functional gaps in existing circular trajectory rehabilitation equipment, improving rehabilitation training efficiency, and enhancing patient prognosis and quality of life. Summary of the Invention

[0006] This invention provides an upper and lower limb coordinated training device to at least solve the problem that the movement trajectory of upper and lower limb rehabilitation training devices in related technologies is still mainly a single circular motion.

[0007] According to one embodiment of the present invention, an upper and lower limb coordinated training device is provided, including a support frame; an upper limb training component, the upper limb training component including an upper limb drive member, an upper connecting rod member, and a grip member, wherein the upper limb drive member is mounted on the support frame, the upper connecting rod member is mounted on the upper limb drive member, and the grip member is mounted on the upper connecting rod member; and a lower limb training component, the lower limb training component including a lower limb drive member, a lower connecting rod member, and a foot pedal member, wherein the lower limb drive member is mounted on the support frame, the lower connecting rod member is mounted on the lower limb drive member, and the foot pedal member is mounted on the lower connecting rod member, the upper limb training component and the lower limb training component perform rehabilitation training according to a predetermined movement trajectory.

[0008] Through the above technical solution, the minimalist hardware framework of the support frame and upper and lower limb components solves the pain points of the single trajectory of traditional circular equipment and the high cost of linear modules in one go. The functional limitation of the predetermined motion trajectory leaves room for interpretation of subsequent linear-like technical features, forming a clear difference from existing circular products, while retaining the maximum protection range.

[0009] According to one embodiment of the present invention, the upper limb drive includes an upper limb servo motor, an upper limb dual-output reducer, and an upper limb safety limiter, wherein the upper limb servo motor is mounted on the support frame, the upper limb dual-output reducer is mounted on the upper limb servo motor, the upper connecting rod is mounted on the upper limb dual-output reducer, and the upper limb safety limiter is mounted on the support frame.

[0010] Through the above technical solutions, the upper limb servo motor, dual-output reducer and flexible safety limit triplet achieve dual-side synchronous, low-speed high-torque output under single motor conditions, and provide elastic-hard limit dual over-rotation protection, significantly reducing the risk of spasticity and strain, and establishing a safe and scalable power platform for the entire upper limb module.

[0011] According to one embodiment of the present invention, the upper connecting rod includes a first upper limb crank, a second upper limb crank, a first upper limb connecting rod, a second upper limb connecting rod, a first upper limb rocker arm, and a second upper limb rocker arm. The first upper limb crank and the second upper limb crank are respectively mounted at both ends of the upper limb dual-output reducer, and the first upper limb crank and the second upper limb crank are mounted in opposite directions. The first upper limb connecting rod and the second upper limb connecting rod are respectively mounted on the first upper limb crank and the second upper limb crank. The first upper limb rocker arm and the second upper limb rocker arm are respectively mounted on the first upper limb connecting rod and the second upper limb connecting rod. The grip is mounted on the first upper limb connecting rod and the second upper limb connecting rod.

[0012] Through the above technical solution, a six-bar mechanism with 180° reverse double crank, double connecting rod, double rocker, and double lever is adopted to convert the continuous circular motion of the motor into a flat elliptical trajectory with approximately straight lines at both ends of the grip and a smooth reversal in the middle section, thus achieving the core purpose of replacing straight lines with curves. The 180° phase difference ensures that the left and right grips naturally alternate, providing hemiplegic patients with mechanical self-synchronization of the healthy side leading the affected side, and forming rhythmic extension training without the need for additional control algorithms.

[0013] According to one embodiment of the present invention, the upper connecting rod further includes an upper limb deep groove ball bearing and a plurality of upper limb crossed roller bearings. The upper limb deep groove ball bearing is installed on the upper limb first connecting rod and the upper limb second connecting rod and is connected to the upper limb dual output reducer. The upper limb crossed roller bearing is installed on the upper limb first rocker arm and the upper limb second rocker arm and is connected to the support frame.

[0014] The above technical solution, through the combination of deep groove ball bearings and crossed roller bearings, respectively bears the radial load and lateral bending moment, allowing the rocker arm to perform only pure oscillation. This completely eliminates bearing wear and mechanism loosening caused by the long lever arm, significantly extending the overall machine life and maintaining high-precision linear output.

[0015] According to one embodiment of the present invention, the grip includes a grip sleeve, a seat post clamp, an adjustment tube, and a grip, wherein the grip sleeve is mounted on the upper limb first rocker arm, the adjustment tube is retractably mounted on the grip sleeve, the seat post clamp is mounted between the grip sleeve and the adjustment tube, and the grip is mounted on one end of the adjustment tube from the grip sleeve.

[0016] The above technical solution utilizes the quick-adjustment structure of the seat clamp and adjustment tube to allow the grip length to extend and retract steplessly within a predetermined range, adapting to patients of different heights. At the same time, it changes the major axis of the flat elliptical trajectory, thus allowing switching between the two training modes of "small amplitude high-frequency stimulation" and "large amplitude low-frequency resistance" without software, expanding the scope of hospital use and reducing operational complexity.

[0017] According to one embodiment of the present invention, the lower limb training component includes a lower limb drive member, a lower connecting rod member, and a foot pedal member, wherein the lower limb drive member is mounted on the support frame, the lower connecting rod member is mounted on the lower limb drive member, and the foot pedal member is mounted on the lower connecting rod member.

[0018] Through the above technical solution, the lower limb components are symmetrically arranged with the upper limbs, forming a hardware foundation of dual training planes and dual drive sources, providing installation and transmission interfaces for subsequent diagonal collaborative training.

[0019] According to one embodiment of the present invention, the lower limb drive includes a lower limb servo motor, a lower limb dual-output reducer, and a lower limb safety limiter. The lower limb servo motor is mounted on the support frame, the lower limb dual-output reducer is mounted on the lower limb servo motor, and the lower limb safety limiter is mounted on the support frame.

[0020] Through the above technical solution, the architecture of lower limb servo motor, dual-output reducer and flexible safety limiter enables both upper and lower limbs to have independent power and dual safety protection. Even if one side motor fails, the other side can still complete training, reducing the probability of medical accidents, and together with the upper limb limiter, it constitutes coordinated training of upper and lower limbs.

[0021] According to one embodiment of the present invention, the lower connecting rod includes a lower limb first crank, a lower limb second crank, a lower limb first connecting rod, a lower limb second connecting rod, a lower limb first rocker arm, and a lower limb second rocker arm. The lower limb first crank and the lower limb second crank are mounted at both ends of the lower limb dual-output reducer. The lower limb first crank and the lower limb second crank are mounted in opposite directions. The lower limb first connecting rod and the lower limb second connecting rod are respectively mounted on the lower limb first crank and the lower limb second crank. The lower limb first rocker arm and the lower limb second rocker arm are respectively mounted on the lower limb first connecting rod and the lower limb second connecting rod.

[0022] Through the above technical solution, the lower limbs also have a 180° reverse double crank and six-bar configuration, ensuring that the left and right feet move back and forth alternately, forming a natural diagonal rhythm with the upper limb grip; this structure converts the circular input into "quasi-linear" pedaling, reduces shear force, and solves the problem of impact on the knee joint of traditional circular pedals.

[0023] According to one embodiment of the present invention, the first rocker arm and the second rocker arm of the lower limb are C-shaped, and the first rocker arm and the second rocker arm of the lower limb have a rotating part, a connecting part and a foot pedal part. The first connecting rod and the second connecting rod of the lower limb are installed on the connecting part, the rotating part is connected to the support frame, and the foot pedal is installed on the foot pedal part.

[0024] Through the above technical solution, the C-shaped integrated rocker arm integrates the rotating part, connecting part and foot pedal part into a single sheet metal part, reducing the weight of the whole machine; the rotating part and the support frame share the same axis design to achieve one-time coaxial positioning, and the C-shaped opening faces outward to facilitate the lateral transfer of the wheelchair, significantly improving the bedside user experience.

[0025] According to one embodiment of the present invention, the foot pedal includes a pedal and a pedal connector, wherein the pedal connector is mounted on the lower limb first rocker arm and the lower limb second rocker arm, and the pedal is mounted on the pedal connector.

[0026] The above technical solution collects the force exerted on the sole of the foot in real time and feeds it back to the lower-level machine, forming a hardware foundation for dual closed-loop control of force and speed. The cost is lower than that of an external force table, and it is resistant to disinfectant corrosion, thus extending the equipment's lifespan. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0028] Figure 2 This is a schematic diagram of the upper limb training component of an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0029] Figure 3 This is a partial structural diagram of the upper limb training component of an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0030] Figure 4 This is a schematic diagram illustrating the structure of a grip component in an upper and lower limb coordination training device according to an embodiment of the present invention.

[0031] Figure 5 This is a schematic diagram of the lower limb training component of an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0032] Figure 6 This is a partial structural schematic diagram of the lower limb training component of an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0033] Figure 7 This is a schematic diagram illustrating the structure of a foot pedal component in an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0034] Figure 8 This is a schematic diagram of a patient using an upper and lower limb coordinated training device according to an embodiment of the present invention.

[0035] Figure label:

[0036] 10. Support frame; 11. Horizontal support rod; 12. Longitudinal support rod; 13. Support plate;

[0037] 20. Upper limb training components; 21. Upper limb drive components; 211. Upper limb servo motor; 212. Upper limb dual-output reducer; 213. Upper limb safety limit; 22. Upper connecting rod; 221. Upper limb first crank; 222. Upper limb second crank; 223. Upper limb first connecting rod; 224. Upper limb second connecting rod; 225. Upper limb first rocker arm; 226. Upper limb second rocker arm; 227. Upper limb deep groove ball bearing; 228. Upper limb crossed roller bearing; 23. Grip components; 231. Grip sleeve; 232. Seat post clamp; 233. Adjustment tube; 234. Grip; 235. Bearing;

[0038] 30. Lower limb training component; 31. Lower limb drive component; 311. Lower limb servo motor; 312. Lower limb dual-output reducer; 313. Lower limb safety limit; 32. Lower connecting rod; 321. Lower limb first crank; 322. Lower limb second crank; 323. Lower limb first connecting rod; 324. Lower limb second connecting rod; 325. Lower limb first rocker arm; 326. Lower limb second rocker arm; 327. Lower limb crossed roller bearing; 328. Lower limb deep groove ball bearing; 33. Foot pedal component; 331. Pedal; 332. Pedal connector; 3321. Shaft support; 3322. Pedal shaft; 3323. Pedal crossed roller bearing; 3324. Torsion spring; 3325. Torsion spring fixing component; 3326. Torsion spring limiting component; 3327. Pedal sensor;

[0039] 40. Interactive components; 41. Display screen; 42. Mounting bracket. Detailed Implementation

[0040] The technical solutions of the embodiments of this application will be described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0041] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0042] Furthermore, in this application, directional terms such as "upper," "lower," "left," and "right" may be defined relative to the orientation of the components shown in the accompanying drawings. It should be understood that these directional terms can be relative concepts, used for relative description and clarification, and may change accordingly depending on the orientation of the components in the accompanying drawings.

[0043] In this application, unless otherwise expressly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, the term "coupled" can refer to an electrical connection that enables signal transmission.

[0044] As used herein, “about,” “approximately,” or “approximately” includes the stated value and the average value within an acceptable range of deviation from the given value, wherein the acceptable range of deviation is determined by a person skilled in the art taking into account the measurement under discussion and the error associated with the measurement of the given quantity (i.e., the limitations of the measurement system).

[0045] This embodiment provides a coordinated upper and lower limb training device, which will be described in detail below.

[0046] Reference Figures 1 to 8 The upper and lower limb coordinated training device includes a support frame 10, an upper limb training component 20, and a lower limb training component 30. The upper limb training component 20 and the lower limb training component 30 are installed on the support frame 10. The upper limb training component 20 and the lower limb training component 30 are connected by a predetermined connection method and movement trajectory. The patient completes rehabilitation training through the upper limb training component 20 and the lower limb training component 30.

[0047] Specifically, the upper limb training component 20 includes an upper limb drive component 21, an upper connecting rod component 22, and a grip component 23. The upper connecting rod component 22 is installed on the upper limb drive component 21, and the grip component 23 is installed on the upper limb connecting rod component. The upper limb drive component 21 drives the upper connecting rod component 22 to move along a predetermined trajectory, and the grip component 23 moves together with the upper connecting rod component 22.

[0048] In this way, compared with the direct drive method of motor in similar circular trajectory motion products, this patent uses the movement of the upper limb training component 20 to replace the straight line movement trajectory of the upper limb extension with a circular motion trajectory, so that the grip 23 can achieve bilateral symmetrical alternating movement under the drive of a single drive source, enabling patients to better achieve upper limb extension training.

[0049] In addition, in this embodiment, the support frame 10 includes a plurality of transverse support rods 11, longitudinal support rods 12, and support plate 13. In this embodiment, there are two transverse support rods 11 arranged in a T-shape. The longitudinal support rod 12 is installed on one of the transverse support rods 11, and the longitudinal support rod 12 and the transverse support rod 11 are arranged at a predetermined angle, that is, the longitudinal support rod 12 is inclined. The support plate 13 is installed on the side of the longitudinal support rod 12 away from the transverse support rod 11.

[0050] In other words, the tilt design allows the upper limb training plane and the lower limb training plane to naturally intersect in the sagittal plane, ensuring that the movement chains of the six joints of the shoulder, elbow, wrist, hip, knee and ankle are consistent with the direction of daily "sitting, standing and picking up objects" when the patient is sitting upright, laying a spatial foundation for the subsequent "quasi-straight line" trajectory.

[0051] Furthermore, the upper limb drive component 21 includes an upper limb servo motor 211, an upper limb dual-output reducer 212, and an upper limb safety limiter 213, wherein the upper limb servo motor 211 is mounted on the support plate 13 of the support frame 10, and the upper limb dual-output reducer 212 is mounted on the upper limb servo motor 211.

[0052] It is worth mentioning that the upper limb servo motor 211 provides the driving power for the mechanism and can provide a variety of training modes by adjusting the output speed and torque, thus enriching the training content for patients. The upper limb dual-output reducer 212 reduces the speed of the upper limb servo motor 211 and amplifies the output torque to meet the power and speed required for upper limb training. At the same time, the upper limb's two side axes rotate synchronously and transmit the motion to the upper connecting rod 22. In this embodiment, the upper limb safety limit 213 is made of flexible buffer material and serves as the overall safety limit for the upper limb training component 20, restricting the upper connecting rod 22 and preventing unintended or excessive movement of the mechanism to provide safety assurance.

[0053] Furthermore, the upper connecting rod 22 includes an upper limb first crank 221, an upper limb second crank 222, an upper limb first connecting rod 223, an upper limb second connecting rod 224, an upper limb first rocker arm 225, and an upper limb second rocker arm 226. The upper limb first crank 221 and the upper limb second crank 222 are respectively mounted on both sides of the upper limb dual-output reducer 212. The upper limb first crank 221 and the upper limb second crank 222 are mounted in opposite directions; that is, the upper limb first crank 221 and... The included angle between the second cranks 222 of the upper limb is 180°; the first connecting rod 223 of the upper limb is rotatably mounted on the first crank 221 of the upper limb, the second connecting rod 224 of the upper limb is rotatably mounted on the second crank 222 of the upper limb, the first rocker arm 225 of the upper limb is mounted on the first connecting rod 223 of the upper limb, the second rocker arm 226 of the upper limb is mounted on the second connecting rod 224 of the upper limb, and the grip 23 is mounted on the first rocker arm 225 and the second rocker arm 226 of the upper limb.

[0054] The first crank 221 and the second crank 222 of the upper limb are keyed to the output shafts on both sides of the reducer with a 180° phase difference, forming a “symmetrical reverse crank”.

[0055] In addition, the upper connecting rod 22 also includes a plurality of upper limb deep groove ball bearings 227 and a plurality of upper limb cross roller bearings 228. The upper limb first connecting rod 223 and the upper limb second connecting rod 224 are mounted on the upper limb dual output reducer 212 through the plurality of upper limb deep groove ball bearings 227. The upper limb first rocker arm 225 and the upper limb second rocker arm 226 are fixed to the support frame 10 through the upper limb cross roller bearings 228 to resist the lateral bending moment caused by the transmission of the grip 23.

[0056] In this way, the ends of the first crank 221 and the second crank 222 of the upper limb are each hinged to the first connecting rod 223 and the second connecting rod 224 of the upper limb via the upper limb deep groove ball bearing 227, forming a first-stage revolute joint; the other ends of the first connecting rod 223 and the second connecting rod 224 of the upper limb are respectively hinged to the first rocker arm 225 and the second rocker arm 226 of the upper limb, forming a second-stage revolute joint; the middle sections of the first rocker arm 225 and the second rocker arm 226 of the upper limb are fixed on the same horizontal axis of the support frame 10 via the upper limb crossed roller bearing 228. This axis is parallel to the output shaft axis of the upper limb dual-output reducer 212, forming a "shared rocker arm axis" structure, which can completely offset the lateral bending moment transmitted by the grip 23, ensuring that the rocker arm only swings.

[0057] The upper connecting rod 22 drives the grip 23 to perform force-linked transmission, thereby completing the rehabilitation training of the unaffected side of the upper limb of patients with hemiplegia.

[0058] In other words, the upper limb servo motor 211 is reduced in speed by the upper limb dual-output reducer 212, and obtains synchronous, reverse, low-speed, high-torque dual-side drive at both ends of the output shaft; each end of the output shaft is equipped with a flexible polyurethane safety limit 213, forming a dual protection of elastic buffer and mechanical hard limit.

[0059] Specifically, the grip component 23 includes a grip sleeve 231, a seat post clamp 232, an adjustment tube 233, and a grip 234. The grip sleeve 231 is mounted on the upper limb first rocker arm 225. The adjustment tube 233 is retractably mounted on the grip sleeve 231. The seat post clamp 232 is mounted between the grip sleeve 231 and the adjustment tube 233 to fix or adjust the position of the adjustment tube 233 relative to the grip sleeve 231. The grip 234 is mounted on the end of the adjustment tube 233 away from the grip sleeve 231. Utilizing the quick-adjustment structure of the seat post clamp 232 and the adjustment tube 233, the length of the grip 234 can be infinitely extended and retracted within a predetermined range to accommodate patients of different heights.

[0060] It is worth mentioning that the grip component 23 also includes a grip bearing 235, which is installed between the grip 234 and the adjustment tube 233. When the adjustment tube 233 moves, the grip 234 can move accordingly to ensure that the grip angle relative to the human body remains constant during the movement.

[0061] When the upper limb servo motor 211 rotates at a constant speed, the upper limb first crank 221 and the upper limb second crank 222 perform synchronous counter-clockwise circular motions, driving the upper limb first connecting rod 223 and the upper limb second connecting rod 224 to push the upper limb first rocker arm 225 and the upper limb second rocker arm 226 to reciprocate. The grip 23 is installed at the end of the upper limb first rocker arm 225 and the upper limb second rocker arm 226, and its swing radius is the ratio of the radius of the upper limb first crank 221 and the upper limb second crank 222 to a preset value, so that the first grip 234 and the second grip 234 form a flat elliptical trajectory with "approximately straight ends and a smooth reversal in the middle" within a predetermined effective stroke, realizing the upper limb reaching action of "using curves instead of straight lines".

[0062] Specifically, the lower limb training component 30 includes a lower limb drive component 31, a lower connecting rod component 32, and a foot pedal component 33, wherein the lower connecting rod component 32 is installed on the support frame 10, the lower limb drive component 31 is installed on the lower connecting rod component 32 to provide power to the lower connecting rod component 32, and the foot pedal component 33 is installed on the lower connecting rod component 32.

[0063] Furthermore, the lower limb drive component 31 includes a lower limb servo motor 311, a lower limb dual-output reducer 312, and a lower limb safety limiter 313, wherein the lower limb servo motor 311 is mounted on the side of the support plate 13 near the longitudinal support rod 12, the lower limb dual-output reducer 312 is mounted on the lower limb servo motor 311, and the lower limb safety limiter 313 is mounted on the support plate 13.

[0064] In this way, the lower limb servo motor 311 provides driving power for the lower limb training component 30, and can provide multiple training modes by adjusting the output speed and torque, enriching the training content for patients; the lower limb dual-output reducer 312 reduces the speed of the motor and amplifies the output torque to meet the power and speed required for lower limb training, while the lower limb dual-axis rotates synchronously and transmits the motion to the lower connecting rod 32; in this embodiment, the lower limb safety limit 313 is made of flexible buffer material. As the lower limb safety limit 313 of the lower limb training component 30 as a whole, it restricts the lower connecting rod 32, prevents the movement of the mechanism beyond the range of motion and unexpected mechanical movements, so as to provide safety assurance.

[0065] Furthermore, the lower connecting rod 32 includes a lower limb first crank 321, a lower limb second crank 322, a lower limb first connecting rod 323, a lower limb second connecting rod 324, a lower limb first rocker arm 325, and a lower limb second rocker arm 326. The lower limb first crank 321 and the lower limb second crank 322 are mounted on both sides of the lower limb dual-output reducer 312, and the included angle between the lower limb first crank 321 and the lower limb second crank 322 is [insert angle here]. At 180°, the first lower limb link 323 and the second lower limb link 324 are respectively mounted on the first lower limb crank 321 and the second lower limb crank 322, the first lower limb rocker arm 325 and the second lower limb rocker arm 326 are respectively mounted on the first lower limb link 323 and the second lower limb link 324, and one end of the first lower limb rocker arm 325 and the second lower limb rocker arm 326 is mounted on the support frame 10.

[0066] In this embodiment, the first rocker arm 325 and the second rocker arm 326 of the lower limb are C-shaped. The first rocker arm 325 and the second rocker arm 326 of the lower limb have a rotating part, a connecting part and a foot pedal part. The first connecting rod 323 and the second connecting rod 324 of the lower limb are installed on the connecting part, the rotating part is connected to the support frame 10, and the foot pedal 33 is installed on the foot pedal part.

[0067] Furthermore, the lower connecting rod 32 also includes a lower limb crossed roller bearing 327 and a lower limb deep groove ball bearing 328. The lower limb first connecting rod 323 and the lower limb second connecting rod 324 are connected to the lower limb first rocker arm 325 and the lower limb second rocker arm 326 through the lower limb deep groove ball bearing 328. The lower limb first rocker arm 325 and the lower limb second rocker arm 326 are fixed on the support frame 10 through the lower limb crossed roller bearing 327 to resist the lateral bending moment caused by the transmission of the foot pedal 33.

[0068] In this way, the first crank 321 and the second crank 322 of the lower limb rotate synchronously on the output shafts of the dual output reducer 312 of the lower limb with a 180° phase difference, driving the first connecting rod 323 and the second connecting rod 324 of the lower limb to reciprocate push and pull; the C-shaped first rocker arm 325 and the second rocker arm 326 of the lower limb form a "lever and rocker arm" compound motion with the rotating part as the fulcrum, driving the pedal part to generate a "quasi-linear" pedaling trajectory within a predetermined effective stroke that is in the same rhythm but out of phase with the upper limb grip 234. This trajectory simulates the daily lower limb force exertion mode and avoids the shearing impact on the knee joint of traditional circular pedals.

[0069] Specifically, the foot pedal 33 includes a pedal 331 and a pedal connector 332, wherein the pedal connector 332 is mounted on the first rocker arm 325 and the second rocker arm 326 of the lower limb, and the pedal 331 is mounted on the pedal connector 332. During rehabilitation, both feet are alternately placed on the pedal 331 and secured with elastic straps, allowing the feet to follow the traction of the pedal 331 to complete the movement.

[0070] Furthermore, the pedal connector 332 includes a shaft support 3321, a pedal shaft 3322, a pedal crossed roller bearing 3323, a torsion spring 3324, a torsion spring fixing member 3325, a torsion spring limiting member 3326, and a pedal sensor 3327. The shaft support 3321 is mounted on the pedal 331, the pedal shaft 3322 is rotatably mounted on the shaft support 3321, the torsion spring 3324 is sleeved on the pedal shaft 3322, the torsion spring fixing member 3325 is mounted on the pedal shaft 3322, the torsion spring limiting member 3326 is mounted on the pedal shaft 3322, the torsion spring fixing member 3325 and the torsion spring limiting member 3326 clamp the torsion spring 3324 in the middle, and the pedal sensor 3327 is mounted on the pedal 331 to detect the pressure applied to the pedal 331.

[0071] In other words, the torsion spring 3324 provides a rebound force between the torsion spring fixing member 3325 and the torsion spring limiting member 3326, allowing the pedal pivot 3322 to rebound after being stepped on. At the same time, the rotation angle of the torsion spring 3324 limiting moving member is limited by the torsion spring fixing member 3325, preventing the pedal pivot 3322 from exceeding its range of motion or moving unexpectedly. The shaft support 3321 is fixedly installed on the pedal pivot 3322 and fixed to the pedal 331 through the pedal sensor 3327. The pedal sensor 3327 can collect the interaction force between the pedal 331 and the pedal pivot 3322 in real time and feed it back to the lower computer control system. After algorithm calculation, the movement speed and output torque of the lower limb servo motor 311 are reasonably adjusted according to different forces to adapt to the training content required by different patients. During rehabilitation training, the patient places both feet on the pedal 331 and fixes them with elastic straps, so that both feet follow the traction of the pedal 331 to complete the movement.

[0072] It is worth mentioning that the upper and lower limb coordinated training device also includes an interactive component 40. In this embodiment, the interactive component 40 includes a display screen 41 and a mounting bracket 42. The mounting bracket 42 is fixedly installed on the support frame 10, and the display screen 41 is mounted on the mounting bracket 42. The display screen 41 can display information such as the patient's current training status, movement speed, and muscle strength assessment in real time. It can also immerse the patient in rehabilitation training through rich game content, avoiding the resistance caused by monotonous and mechanical training.

[0073] It is worth mentioning that this invention has multiple safety protection functions, including buffer torsion spring, electronic protection, software protection, mechanical safety limit, and emergency stop switch protection. It can better adapt to training content by switching the upper and lower limb linkage training rules, such as ipsilateral flexion and extension training of the upper and lower limbs, and contralateral flexion and extension training of the upper and lower limbs, thus enriching the training content.

[0074] Furthermore, the upper and lower limb bloodline training equipment can be paired with different seats and connected through a fixed installation interface, which greatly reduces the size of the equipment, ensuring that it can enter and exit ordinary elevators, avoiding the limitations of the equipment's usage site, and facilitating transfer and transportation.

[0075] In summary, this invention can simultaneously generate two opposing, rhythmic, and approximately straight-line motion trajectories: the upper limb "reaching out" and the lower limb "pushing." It achieves four-dimensional torque closed-loop coordination between the healthy side and the affected side, and between the upper and lower limbs, truly transforming "circular input" into "functional output." Compared to traditional circular pedals or expensive linear module solutions, this device costs less than half and occupies only one-third of the space.

[0076] The upper and lower limb coordination training device provided by this invention achieves high-fidelity reproduction of daily "sitting-standing-picking" movements with a minimalist mechanical structure and a single power source. It provides a low-cost, safe, and fun full-cycle rehabilitation solution for patients with hemiplegia, paraplegia, and other upper and lower limb motor dysfunction, and has significant clinical promotion value.

[0077] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A training device for coordinated upper and lower limb training, characterized in that, include: Support frame; An upper limb training component, comprising an upper limb drive component, an upper connecting rod component, and a grip component, wherein the upper limb drive component is mounted on the support frame, the upper connecting rod component is mounted on the upper limb drive component, and the grip component is mounted on the upper connecting rod component; as well as The lower limb training component includes a lower limb drive component, a lower connecting rod component, and a foot pedal component. The lower limb drive component is mounted on the support frame, the lower connecting rod component is mounted on the lower limb drive component, and the foot pedal component is mounted on the lower connecting rod component. The upper limb training component and the lower limb training component perform rehabilitation training according to a predetermined movement trajectory.

2. The upper and lower limb coordinated training device according to claim 1, characterized in that, The upper limb drive unit includes an upper limb servo motor, an upper limb dual-output reducer, and an upper limb safety limiter. The upper limb servo motor is mounted on the support frame, the upper limb dual-output reducer is mounted on the upper limb servo motor, the upper connecting rod is mounted on the upper limb dual-output reducer, and the upper limb safety limiter is mounted on the support frame.

3. The upper and lower limb coordinated training device according to claim 2, characterized in that, The upper connecting rod includes a first crank of the upper limb, a second crank of the upper limb, a first connecting rod of the upper limb, a second connecting rod of the upper limb, a first rocker arm of the upper limb, and a second rocker arm of the upper limb. The first crank of the upper limb and the second crank of the upper limb are respectively installed at both ends of the upper limb dual-output reducer, and the installation directions of the first crank of the upper limb and the second crank of the upper limb are opposite. The first connecting rod of the upper limb and the second connecting rod of the upper limb are respectively installed on the first crank of the upper limb and the second crank of the upper limb. The first rocker arm of the upper limb and the second rocker arm of the upper limb are respectively installed on the first connecting rod of the upper limb and the second connecting rod of the upper limb. The grip is installed on the first connecting rod of the upper limb and the second connecting rod of the upper limb.

4. The upper and lower limb coordinated training device according to claim 3, characterized in that, The upper connecting rod also includes an upper limb deep groove ball bearing and multiple upper limb crossed roller bearings. The upper limb deep groove ball bearing is installed on the upper limb first connecting rod and the upper limb second connecting rod and is connected to the upper limb dual output reducer. The upper limb crossed roller bearing is installed on the upper limb first rocker arm and the upper limb second rocker arm and is connected to the support frame.

5. The upper and lower limb coordinated training device according to claim 3, characterized in that, The grip assembly includes a grip sleeve, a seat post clamp, an adjustment tube, and a grip. The grip sleeve is mounted on the first rocker arm of the upper limb. The adjustment tube is retractably mounted on the grip sleeve. The seat post clamp is mounted between the grip sleeve and the adjustment tube. The grip is mounted on one end of the adjustment tube from the grip sleeve to achieve bilateral symmetrical alternating movement.

6. The upper and lower limb coordinated training device according to claim 1, characterized in that, The lower limb training component includes a lower limb drive unit, a lower connecting rod, and a foot pedal, wherein the lower limb drive unit is mounted on the support frame, the lower connecting rod is mounted on the lower limb drive unit, and the foot pedal is mounted on the lower connecting rod.

7. The upper and lower limb coordinated training device according to claim 6, characterized in that, The lower limb drive unit includes a lower limb servo motor, a lower limb dual-output reducer, and a lower limb safety limiter. The lower limb servo motor is mounted on the support frame, the lower limb dual-output reducer is mounted on the lower limb servo motor, and the lower limb safety limiter is mounted on the support frame.

8. The upper and lower limb coordination training device according to claim 7, characterized in that, The lower connecting rod includes a lower limb first crank, a lower limb second crank, a lower limb first connecting rod, a lower limb second connecting rod, a lower limb first rocker arm, and a lower limb second rocker arm. The lower limb first crank and the lower limb second crank are installed at both ends of the lower limb dual-output reducer. The lower limb first crank and the lower limb second crank are installed in opposite directions. The lower limb first connecting rod and the lower limb second connecting rod are respectively installed on the lower limb first crank and the lower limb second crank. The lower limb first rocker arm and the lower limb second rocker arm are respectively installed on the lower limb first connecting rod and the lower limb second connecting rod.

9. The upper and lower limb coordinated training device according to claim 8, characterized in that, The first rocker arm and the second rocker arm of the lower limb are C-shaped. The first rocker arm and the second rocker arm of the lower limb have a rotating part, a connecting part and a foot pedal part. The first connecting rod and the second connecting rod of the lower limb are installed on the connecting part. The rotating part is connected to the support frame. The foot pedal is installed on the foot pedal part.

10. The upper and lower limb coordinated training device according to claim 8, characterized in that, The foot pedal includes a pedal and a pedal connector, wherein the pedal connector is mounted on the first rocker arm of the lower limb and the second rocker arm of the lower limb, and the pedal is mounted on the pedal connector.

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