Waist connecting mechanism of walking trainer

Abstract

The waist connecting mechanism comprises a front end plate and a rear end plate, a front fixing shaft is fixed to the front end plate, a rear fixing shaft is fixed to the rear end plate, the front end and the rear end of a connecting rod are connected with the front fixing shaft and the rear fixing shaft respectively, and the front fixing shaft and the rear fixing shaft are in transmission connection through a two-stage gear. The front end plate and the rear end plate are connected through a spring reset mechanism, the grid plates are arranged in parallel in the front-back direction, the front end of one grid plate is hinged to the front fixing block, the rear end of the grid plate is hinged to the rear fixing block, a limiting block is fixed to the connecting rod, and a cylindrical hole is formed in the limiting block. Limiting protruding blocks are arranged on the left side and the right side of the front end of a limiting block correspondingly, a threaded hole formed in the position, located over a cylindrical hole of the limiting block, of the front fixing block on the upper side is screwed with a screw part of a handle, and the front end plate and the rear end plate are connected in the front-back direction through a plurality of grid plates. And meanwhile, secondary protection when the connecting rod is broken is realized.

Description

Technical Field

[0001] This invention relates to a lumbar connection mechanism for a walking trainer, belonging to the field of rehabilitation medical device technology. Background Technology

[0002] Using rehabilitation training equipment to assist in rehabilitation exercises is a common method in rehabilitation training. Walking rehabilitation training carts often require support for the patient's lower back. Since the lower back can move forward and backward while walking and laterally while standing, a support structure in two directions is needed. A protective cover needs to be installed on the support structure to prevent the patient from leaning forward or being squeezed when their hands touch the support structure. Patent title: Protective Cover, Parallel Four-Bar Mechanism and Rehabilitation Robot (CN211658670U) discloses a parallel four-bar protective cover set along the lateral movement direction of the patient's lower back. However, this design cannot provide secondary protection against breakage of the forward and backward translation mechanism. Furthermore, the technical solution of this application uses linkages and gear transmission to achieve lateral movement of the patient's lower back. A limiting handle needs to be installed to limit the range of lateral movement of the patient's lower back without affecting the secondary protection of the grid plate. Summary of the Invention

[0003] The purpose of this invention is to provide a waist connection mechanism for a walking trainer, in which a front fixed shaft fixed at the front end plate is connected to a rear fixed shaft via a connecting rod, and a gear fixed at the front fixed shaft is connected to the rear fixed shaft via a two-stage gear transmission. The upper cover plate uses a grid plate with multiple hinge points located behind the front fixed shaft for protection, while also providing protection against connecting rod breakage. The grid plate hinge position avoids the left and right swinging of the patient's control handle.

[0004] The technical solution of the present invention is implemented as follows: A waist connection mechanism for a walking trainer includes a rear end plate 1, a side cover plate 3, an upper cover plate 4, and a front end plate 7. The front end plate 7 fixes a front fixed shaft 8, and the rear end plate 7 fixes a rear fixed shaft 16. The front and rear ends of a connecting rod 9 are rotatably mounted on the front fixed shaft 8 and the rear fixed shaft 16, respectively. The front fixed shaft 8 fixes a front gear 11, which meshes with an intermediate gear 20. The intermediate gear 20 meshes with a rear gear 14. The rear gear 14 is fixed on the rear fixed shaft 16. The intermediate gear is rotatably mounted on an intermediate shaft 21, which is fixed on the connecting rod 9. The front gear 11 and the rear gear 14 have the same number of teeth. The front end plate 7 and the rear end plate 1 are connected by a spring reset mechanism. The upper cover plate 4 includes a grid plate 401. Several grid plates 401 are arranged parallel to each other along the front-back direction. The front end of one grid plate 401 is hinged to the front fixing block 6, and the rear end of the grid plate 401 is hinged to the rear fixing block 2. The center distance between the front and rear hinge points of the grid plate 401 is equal to the distance from the center of the front fixing shaft 8 to the center of the rear fixing shaft 16. The upper side of the connecting rod 9 is fixed with a limiting block 19. The front end of the limiting block 19 is provided with a cylindrical hole along the vertical direction. The left and right sides of the front end of the limiting block 19 are respectively provided with limiting protrusions 191. The upper front fixing block 6 is located above the cylindrical hole of the limiting block 19 and has a threaded hole that engages with the screw part of the handle 5. The screw part of the handle 5 extends downward and is located between the left limiting protrusion and the right limiting protrusion 191. The central axis of the handle 5 is located in front of or flush with the front hinge point of the grid plate 401 and is located behind the front fixing shaft 8.

[0005] Preferably, the spring reset mechanism includes a left spring reset mechanism and a right spring reset mechanism. The left spring reset mechanism includes a front spring frame 10, a front spring column 12, a rear spring frame 15, a rear spring column 17, and a tension spring 18. The front end plate 7 fixes the front end of the front spring frame 10, the rear end of the front spring frame 10 fixes the front spring column 12, the rear end of the rear end plate 1 fixes the rear end of the rear spring frame 15, the front end of the rear spring frame 15 fixes the rear spring column 17, the upper end of the rear spring column 17 and the upper end of the front spring column 12 are connected by a tension spring 18, and the lower end of the rear spring column 17 and the lower end of the front spring column 12 are connected by another tension spring 18. The front end plate 7 has a left-right symmetrical structure, and the left spring reset mechanism and the right spring reset mechanism are symmetrically arranged about the left-right symmetrical plane of the front end plate 7.

[0006] Preferably, the tension spring 18 is located between the front fixed shaft 8 and the rear fixed shaft 16, so that the tension spring 18 is stretched when the rear end plate 1 moves left and right relative to the front end plate 7.

[0007] Preferably, a side cover plate 3 is provided between the front spring frame 10 and the rear spring frame 15 on the same side. The front end of the side cover plate 3 is hinged to the side column 22 fixed on the front spring frame 10, and the rear end of the side cover plate 3 is hinged to another side column 22 fixed on the rear spring frame 15. The distance between the front hinge point and the rear hinge point of the side cover plate 3 is equal to the distance between the front fixed shaft 8 and the rear fixed shaft 16.

[0008] Preferably, there is a 1-2mm gap between adjacent grid plates, and the width of the grid plate 401 narrows at both ends, so that the grid plate 401 will not collide with the screw part of the handle 5 when it swings left and right with the rear end plate 1.

[0009] Preferably, the connecting rod 9 includes a front bearing seat 901, a rear bearing seat 902, a side connecting plate 903, and a horizontal connecting plate 904. The upper and lower ends of the front bearing seat 901 and the rear bearing seat 902 are respectively connected by a horizontal connecting plate 904. The front end and the rear end of the horizontal connecting plate 904 are respectively fixed to the front bearing seat 901 and the rear bearing seat 902. A side connecting plate 903 is respectively provided on the left and right sides of the front bearing seat 901 and the rear bearing seat 902. The front end and the rear end of the side connecting plate 903 are respectively fixed to the front bearing seat 901 and the rear bearing seat 902. The limiting block 19 is fixed on the upper side of the horizontal connecting plate 904. The front fixed shaft 8 is rotatably installed in the inner hole of the front bearing seat 901, and the rear fixed shaft 16 is rotatably installed in the inner hole of the rear bearing seat 902.

[0010] Preferably, a front fixing block 6 is fixed on the upper and lower sides of the front plate 7, and the upper and lower front fixing blocks 6 fix the upper and lower ends of the front fixing shaft 8, respectively. A rear fixing block 2 is fixed on the upper and lower sides of the rear plate 1, and the upper and lower rear fixing blocks 2 fix the upper and lower ends of the rear fixing shaft 16, respectively. The front fixing shaft 8 and the rear fixing shaft 16 are rotatably mounted on the front and rear ends of the connecting rod 9, respectively.

[0011] Preferably, the lower cover plate has the same structure as the upper cover plate 4. The grid plate of the lower cover plate is hinged to the front fixing block on the lower side at the front side of the front fixing shaft 8. The grid plate of the lower cover plate is hinged to the rear fixing block on the lower side at the front side of the rear fixing shaft 16 to avoid the rear locking piece 24. The groove provided on the lower rear fixing block 2 and the groove provided at the lower end of the rear fixing shaft 16 fix the rear locking piece 24, and fix it to the lower rear fixing block with the rear fixing shaft 16.

[0012] Preferably, the lower end of the intermediate shaft 21 is fixed with the rotating shaft of the rotary encoder 13, the housing of the rotary encoder 13 is fixed on the intermediate gear 20, and the rotating shaft of the rotary encoder 13 is coaxially arranged with the intermediate gear 20.

[0013] Preferably, the front end plate 7 is fixed on the walking cart, and the rear end plate 1 is fixed to the patient's waist through a connector.

[0014] Compared with the prior art, the present invention has the following advantages: The front and rear plates are rotatably connected by a connecting rod, while the rear plate moves left and right through a two-stage gear transmission. The protective structure of the upper cover uses multiple grid plates arranged parallel to the connecting rod, and the hinge point of the grid plate at the front end of the upper cover is located behind the front fixed shaft, avoiding the handle position, saving space between the front and rear fixed shafts, and reducing the distance between the patient's waist and the walking cart. This reduces the bending moment of the patient's waist at the connection between the walking cart and the front plate, achieving a lightweight structure while meeting bending strength requirements. By connecting the front and rear plates along the front-rear direction with multiple grid plates, even if the connecting rod breaks, the rear plate will not break immediately, improving the safety of the patient during rehabilitation training. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the waist connection mechanism of a walking trainer.

[0016] Figure 2 This is a schematic diagram of the overall structure without the upper and left / right protective covers.

[0017] Figure 3 This is a schematic diagram of the left and right swing limiting part.

[0018] Figure 4 This is a schematic diagram of the connection structure between the front fixed shaft and the rear fixed shaft via gear transmission.

[0019] Figure 5 This is a schematic diagram of the overall structure of the upper and left / right protective covers.

[0020] Figure 6 This is a schematic diagram of the structure in which the front fixed shaft and the rear fixed shaft are connected by a connecting rod.

[0021] Figure 7 This is a schematic diagram of the structure of the upper front fixing block fixing the front fixing shaft.

[0022] Figure 8 This is a schematic diagram of the structure of the lower rear fixing block fixing the rear fixing shaft.

[0023] Explanation of reference numerals in the attached drawings: 1-Rear end plate, 2-Rear fixing block, 3-Side cover plate, 4-Top cover plate, 401-Grid plate, 402-Pin, 5-Handle, 6-Front fixing block, 7-Front end plate, 8-Front fixing shaft, 9-Connecting rod, 901-Front bearing seat, 902-Rear bearing seat, 903-Side connecting plate, 904-Horizontal connecting plate, 10-Front spring frame, 11-Front gear, 12-Front spring column, 13-Rotary encoder, 14-Rear gear, 15-Rear spring frame, 16-Rear fixing shaft, 17-Rear spring column, 18-Tension spring, 19-Limiting block, 191-Limiting protrusion, 20-Intermediate gear, 21-Intermediate shaft, 22-Side column, 23-Front locking plate, 24-Rear locking plate. Implementation

[0024] Combination Figure 1-8 The present invention discloses a waist connection mechanism for a walking trainer, comprising a rear end plate 1, a rear fixing block 2, a side cover plate 3, an upper cover plate 4, a lower cover plate, a handle 5, a front fixing block 6, a front end plate 7, a front fixing shaft 8, a connecting rod 9, a front gear 11, a rotary encoder 13, a rear gear 14, a rear fixing shaft 16, a limiting block 19, an intermediate gear 20, an intermediate shaft 21, a front locking plate 23, and a rear locking plate 24. The up / down, forward / backward, and left / right directions of this application are defined according to the patient's usage, for the purpose of describing this application. A front fixing block 6 is fixed to the upper and lower sides of the front end plate 7, and the upper and lower front fixing blocks 6 are... The upper and lower ends of the front fixed shaft 8 are fixed separately. A rear fixed block 2 is fixed to the upper and lower sides of the rear end plate 1, respectively. The upper and lower rear fixed blocks 2 fix the upper and lower ends of the rear fixed shaft 16, respectively. The front fixed shaft 8 and the rear fixed shaft 16 are rotatably mounted on the front and rear ends of the connecting rod 9, respectively. The front gear 11 is fixed to the lower part of the front fixed shaft 8. The front gear 11 meshes with the intermediate gear 20. The intermediate gear 20 meshes with the rear gear 14. The rear gear 14 is fixed to the lower part of the rear fixed shaft 16. The intermediate gear is rotatably mounted on the lower end of the intermediate shaft 21. The intermediate shaft 21 is fixed on the connecting rod 9. The front gear 11 and the rear gear 14 have the same number of teeth.

[0025] The front end plate 7 and the rear end plate 1 are connected by a spring reset mechanism. The spring reset mechanism includes a left spring reset mechanism and a right spring reset mechanism. The left spring reset mechanism includes a front spring frame 10, a front spring column 12, a rear spring frame 15, a rear spring column 17, and a tension spring 18. The front end plate 7 fixes the front end of the front spring frame 10, and the rear end of the front spring frame 10 fixes the front spring column 12. The rear end of the rear end plate 1 fixes the rear end of the rear spring frame 15, and the front end of the rear spring frame 15 fixes the rear spring column 17. The upper end of the rear spring column 17 and the upper end of the front spring column 12 are connected by a tension spring 18, and the lower end of the rear spring column 17 and the lower end of the front spring column 12 are connected by another tension spring 18. The front end plate 7 has a left-right symmetrical structure, and the left spring reset mechanism and the right spring reset mechanism are symmetrically arranged about the left-right symmetrical plane of the front end plate 7.

[0026] The tension spring 18 is located between the front fixed shaft 8 and the rear fixed shaft 16, so that when the rear end plate 1 moves left and right relative to the front end plate 7, the tension spring 18 is stretched.

[0027] The upper side of the connecting rod 9 is fixed with a limiting block 19. The front end of the limiting block 19 is provided with a cylindrical hole along the vertical direction. The left and right sides of the front end of the limiting block 19 are respectively provided with limiting protrusions 191. The upper front fixing block 6 is located above the cylindrical hole of the limiting block 19 and has a threaded hole for screwing the screw part of the handle 5. The screw part of the handle 5 extends downward and is located between the left limiting protrusion and the right limiting protrusion 191. When the lower end of the screw part of the handle 5 extends into the cylindrical hole of the limiting block 19, there is no displacement between the front end plate 7 and the rear end plate 1. If the lower end of the screw part of the handle 5 does not extend into the cylindrical hole of the limiting block 19 but is located between the left limiting protrusion and the right limiting protrusion 191, the front end plate 7 and the rear end plate 1 will move left and right, and the range of translation is limited by the left limiting protrusion and the right limiting protrusion 191.

[0028] The connecting rod 9 includes a front bearing seat 901, a rear bearing seat 902, a side connecting plate 903, and a horizontal connecting plate 904. The upper and lower ends of the front bearing seat 901 and the rear bearing seat 902 are respectively connected by a horizontal connecting plate 904. The front end and the rear end of the horizontal connecting plate 904 are respectively fixed to the front bearing seat 901 and the rear bearing seat 902. A side connecting plate 903 is respectively provided on the left and right sides of the front bearing seat 901 and the rear bearing seat 902. The front end and the rear end of the side connecting plate 903 are respectively fixed to the front bearing seat 901 and the rear bearing seat 902. The limiting block 19 is fixed on the upper side of the horizontal connecting plate 904.

[0029] The upper cover plate 4 includes a grid plate 401 and pins 402. Several grid plates 401 are arranged parallel to each other in the front-to-back direction. The horizontal line connecting the center of the front fixed shaft 8 and the center of the rear fixed shaft 16 is parallel to the grid plate 401. The grid plates 401 are arranged at equal intervals in the left-to-right direction. The front end of one grid plate 401 is hinged to the front fixed block 6 through a pin 402, and the rear end of the grid plate 401 is hinged to the rear fixed block 2 through a pin 402. The front end of the grid plate 401 is located behind the front fixed shaft 8, and the rear end of the grid plate 401 is located behind the rear fixed shaft 16. The width of the grid plate 401 narrows at both ends. The central axis of the handle 5 is collinear with the line connecting the pins 402 on the front fixed block 6, or located in front of the line connecting the pins 402 on the front fixed block 6, so that the grid plate 401 will not collide with the screw part of the handle 5 when it swings left and right with the rear end plate 1.

[0030] A side cover plate 3 is provided between the front spring frame 10 and the rear spring frame 15 on the same side. The front end of the side cover plate 3 is hinged to the side column 22 fixed on the front spring frame 10, and the rear end of the side cover plate 3 is hinged to another side column 22 fixed on the rear spring frame 15. The distance between the front hinge point and the rear hinge point of the side cover plate 3 is equal to the distance between the front fixed shaft 8 and the rear fixed shaft 16.

[0031] The lower cover plate has the same structure as the upper cover plate 4. The grid plate of the lower cover plate is hinged to the front fixing block on the lower side at the front side of the front fixing shaft 8. The grid plate of the lower cover plate is hinged to the rear fixing block on the lower side at the front side of the rear fixing shaft 16 to avoid the rear locking piece 24. The groove provided in the lower rear fixing block 2 and the groove provided at the lower end of the rear fixing shaft 16 fix the rear locking piece 24, so that the rear fixing shaft 16 is fixed on the lower rear fixing block.

[0032] The front locking piece 23 is fixed in the groove between the upper end of the front fixed shaft 8 and the upper front fixed block 6, which is used to fix the front fixed shaft 8 to the upper front fixed block 6.

[0033] The lower end of the intermediate shaft 21 is fixed to the rotating shaft of the rotary encoder 13, the housing of the rotary encoder 13 is fixed on the intermediate gear 20, and the rotating shaft of the rotary encoder 13 is coaxially arranged with the intermediate gear 20.

[0034] The front plate 7 is fixed to the walking cart, and the rear plate 1 is fixed to the patient's waist through a connector. For example, the rear plate 1 is fixed to a fork-shaped component, and the two fork-shaped sides of the fork-shaped component are fixed to the patient's waist on both sides respectively. When the patient needs to walk in a straight line and does not need left and right waist rehabilitation training, the lower end of the screw part of the handle 5 is inserted into the cylindrical hole of the limiting block 19. There is no displacement between the front plate 7 and the rear plate 1. If the patient performs left and right swing rehabilitation training, the walking cart stops moving, and the lower end of the screw part of the handle 5 is moved out from the cylindrical hole of the limiting block 19. When it is located between the left limiting protrusion and the right limiting protrusion 191, the front plate 7 and the rear plate 1 will translate left and right, and the translation range is limited by the left limiting protrusion and the right limiting protrusion 191.

Claims

1. A waist connection mechanism of a walking trainer, characterized by: The utility model relates to a kind of spring return mechanism and the structure of the linkage of the linkage, the linkage is used to realize the left-right translation of the front end plate (7) and the rear end plate (1) relative to each other, and the spring return mechanism is used to realize the left-right translation of the front end plate (7) and the rear end plate (1) relative to each other. The upper cover plate (4) includes a plurality of grid plates (401) arranged in parallel along the front-to-back direction, one grid plate (401) is hingedly connected to the front fixed block (6) at the front end thereof, and the other grid plate (401) is hingedly connected to the rear fixed block (2) at the rear end thereof. The linkage (9) is provided with a limiting block (19) on the upper side thereof, the limiting block (19) is provided with a cylindrical hole extending in the up-down direction at the front end thereof, and the limiting block (19) is provided with a limiting protrusion (191) on the left side and the right side of the front end thereof.

2. The waist connection mechanism of the gait trainer according to claim 1, characterized in that: The spring return mechanism includes a left spring return mechanism and a right spring return mechanism, the left spring return mechanism includes a front spring frame (10), a front spring column (12), a rear spring frame (15), a rear spring column (17) and a tension spring (18), the front end of the front spring frame (10) is fixed to the front end plate (7), the rear end of the front spring frame (10) is fixed to the front spring column (12), the rear end of the rear end plate (1) is fixed to the rear end of the rear spring frame (15), the front end of the rear spring frame (15) is fixed to the rear spring column (17), the upper end of the rear spring column (17) is connected to the upper end of the front spring column (12) through a tension spring (18), and the lower end of the rear spring column (17) is connected to the lower end of the front spring column (12) through another tension spring (18).

3. The waist connection mechanism of the gait trainer according to claim 2, characterized in that: The tension spring (18) is located between the front fixed shaft (8) and the rear fixed shaft (16), so that the tension spring (18) is elongated when the rear end plate (1) is translated leftward or rightward relative to the front end plate (7).

4. The waist connection mechanism of the gait trainer according to claim 2, characterized by: The side cover plate (3) is hingedly connected to a side upright column (22) fixed on the front spring frame (10) at the front end and to another side upright column (22) fixed on the rear spring frame (15) at the rear end, and the distance between the front end hinge point and the rear end hinge point of the side cover plate (3) is equal to the distance between the front fixed shaft (8) and the rear fixed shaft (16).

5. The waist connection mechanism of the gait trainer according to claim 2, characterized in that: The adjacent grid plates have a gap of 1-2 mm, and the width of the two ends of the grid plate (401) is narrowed, so that the grid plate (401) will not collide with the screw rod part of the handle (5) when the rear end plate (1) swings left and right.

6. The waist connection mechanism of the gait trainer according to claim 1, characterized in that: The connecting rod (9) comprises a front bearing seat (901), a rear bearing seat (902), a side connecting plate (903) and a horizontal connecting plate (904), the upper end and the lower end of the front bearing seat (901) and the rear bearing seat (902) are connected by a horizontal connecting plate (904) respectively, the front end and the rear end of the horizontal connecting plate (904) are fixed with the front bearing seat (901) and the rear bearing seat (902) respectively, the left side and the right side of the front bearing seat (901) and the rear bearing seat (902) are provided with a side connecting plate (903) respectively, the front end and the rear end of the side connecting plate (903) are fixed with the front bearing seat (901) and the rear bearing seat (902) respectively, the limiting block (19) is fixed on the upper side of the horizontal connecting plate (904), the front fixed shaft (8) is rotatably installed in the inner hole of the front bearing seat (901), and the rear fixed shaft (16) is rotatably installed in the inner hole of the rear bearing seat (902).

7. The waist connection mechanism of the gait trainer according to claim 1, characterized in that: The upper side and the lower side of the front end plate (7) are respectively fixed with a front fixed block (6), the upper end and the lower end of the front fixed shaft (8) are respectively fixed with the upper side and the lower side front fixed block (6), the upper side and the lower side of the rear end plate (1) are respectively fixed with a rear fixed block (2), the upper end and the lower end of the rear fixed shaft (16) are respectively fixed with the upper side and the lower side rear fixed block (2), and the front end and the rear end of the connecting rod (9) are rotatably installed with the front fixed shaft (8) and the rear fixed shaft (16) respectively.

8. The waist connection mechanism of the gait trainer according to claim 7, characterized in that: The grid plate of the lower cover plate is hingedly connected to the front fixed block on the lower side, and the hingedly connected position of the grid plate of the lower cover plate to the rear fixed block on the lower side is located in front of the front fixed shaft (8) and the rear fixed shaft (16) to avoid the rear locking plate (24), the recess provided on the rear fixed block (2) on the lower side is fixed with the recess provided on the lower end of the rear fixed shaft (16) to fix the rear locking plate (24) on the rear fixed block on the lower side with the rear fixed shaft (16).

9. The waist connection mechanism of a gait trainer according to any of the claims 1-8, characterized in that The lower end of the intermediate shaft (21) is fixed with the rotating shaft of the rotary encoder (13), the shell of the rotary encoder (13) is fixed on the intermediate gear (20), and the rotating shaft of the rotary encoder (13) is coaxially arranged with the intermediate gear (20).

10. The waist connection mechanism of a gait trainer according to any one of claims 1-8, characterized in that: The front end plate (7) is fixed on the walking trolley, and the rear end plate (1) is fixed on the waist of the patient through the connecting piece.

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