Multi-mode four-limb linkage rehabilitation training device

Abstract

The invention relates to a multi-mode four-limb linkage rehabilitation training device, and belongs to the technical field of rehabilitation training devices. The rehabilitation training device comprises a device body, a four-limb linkage training module, a seat / wheelchair switching module and a weight reduction training module. The device body comprises a front frame, a rear frame and a frame pushing mechanism. The four-limb linkage training module comprises a translation mechanism, a multi-axis connecting rod mechanism and a push rod mechanism. The two sides of the bottom of the multi-shaft connecting rod mechanism are connected with pedals respectively, the two sides of the top of the multi-shaft connecting rod mechanism are connected with hand wheels respectively, and a clutch type linkage transmission mechanism is connected between the pedals and the hand wheels on the same side. The seat / wheelchair switching module comprises a hidden seat and a guardrail, and a parking frame is further arranged on the upper end face of the rear frame. The weight reduction training module comprises a foldable suspension and a sling bandage mechanism and is used for hanging a patient to carry out weight reduction training. Compared with the prior art, the rehabilitation training device has multiple purposes, and the rehabilitation training requirements of different patients under different postures are met.

Description

Technical Field

[0001] This invention relates to the field of rehabilitation training equipment technology, and in particular to a multimodal four-limb linkage rehabilitation training device. Background Technology

[0002] Patients with stroke, spinal cord injury, or post-orthopedic surgery often experience varying degrees of motor dysfunction in their upper and lower limbs. Practice has shown that rehabilitation training, through the prevention, assessment, and treatment of functional impairments, can effectively reduce the impact of disability or disease, improve their quality of life, and promote their reintegration into society, thus possessing significant social importance. With the shift in medical models and the increase in chronic diseases, rehabilitation medicine is gradually becoming an independent discipline. Clinically, rehabilitation can significantly improve motor function, muscle strength, and daily living abilities. For example, upper limb rehabilitation robots combined with virtual reality technology can enhance neural remodeling, reconstruct joint range of motion and coordination, and significantly reduce the risk of disability, especially with outstanding results when intervened within 6 months after a stroke. Furthermore, utilizing early neuroplasticity can improve motor function, enhance muscle strength, improve motor coordination, and prevent joint deformities in children with cerebral palsy.

[0003] Traditional rehabilitation training is mostly passive, single-limb, or localized, such as upper limb pulley trainers, lower limb power bikes, and steppers. For example, lower limb CPM machines use mechanical devices to drive joints in regular, slow, passive movements, making them particularly suitable for rehabilitation of patients with stiff joints and limited mobility after surgery or trauma. They not only reduce pain, promote synovial fluid circulation, prevent adhesions, and accelerate joint function reconstruction, but are also highly safe, allow precise control of joint range of motion, and reduce the physical exertion required for manual assistance. While these devices improve limb range of motion to some extent, they lack a synchronous upper and lower limb training mechanism, cannot fully mobilize the overall synergistic effect of the nervous system, and struggle to meet both active and passive training needs. Long-term reliance may affect proprioceptive recovery, and they cannot replace active muscle training. However, these devices are simple in structure and low in cost. With the development of rehabilitation engineering and mechanical transmission technology, devices such as "upper and lower limb linkage trainers" and "hand and foot linkage pedals" have gradually emerged. Some products use mechanical linkages or chain structures to link the upper limb handles and lower limb pedals in a fixed ratio, achieving synchronous movement of all four limbs. The four-limb coordinated rehabilitation training device is a typical rehabilitation device combining robotics technology and the theory of motor neuron functional plasticity. It helps patients recover limb function by simulating the movement trajectories of the upper and lower limbs. Its greatest advantage lies in its coordinated training mode, where one limb drives three others (e.g., the healthy upper limb drives the affected upper limb and both lower limbs), actively training coordination, providing feedback on motor ability, promoting neuromuscular function reconstruction, and improving limb coordination and control. Human limb movements have a biomechanical connection in terms of neural control and muscle synergy, with a neural coupling mechanism between the upper and lower limbs. Through four-limb coordinated training, a larger range of neural networks can be activated, increasing proprioceptive input and promoting neural remodeling, thereby improving the efficiency of motor function recovery. In recent years, improved devices incorporating motor drives, resistance adjustment, or biofeedback have emerged, providing certain training intensity control and safety protection functions. Therefore, four-limb coordinated rehabilitation training has gradually become one of the important directions of modern rehabilitation, and is very suitable for neurological diseases such as stroke and spinal cord injury, or for bone and joint diseases, cardiopulmonary function training, or balance and coordination training for the elderly, and for athletes to strengthen muscles and recover function after injury.

[0004] However, existing limb-mobilization rehabilitation equipment still has shortcomings, such as large size, inconvenient adjustment, limited fixation methods, and lack of transfer functionality, which restricts its clinical application. Bedridden patients often need to be transferred from their beds to the limb-mobilization rehabilitation equipment via overhead rails or specialized transfer machines for training. Before training, patients need to be moved from the nursing bed to a wheelchair, and then to the limb-mobilization equipment; after training, the process is reversed. Traditional manual transfer methods are not only inefficient but also prone to causing lumbar spine injuries to caregivers and secondary injuries to patients. With the increasing aging population, the significant increase in the number of people with mobility impairments, the upgrading of medical and nursing needs, the advancement of rehabilitation assistive technologies, and the rise of home care scenarios, transfer machines have emerged in response to these needs. Transfer machines, especially electric transfer machines, can achieve smooth transfer of patients between nursing beds, wheelchairs, training equipment, commodes, and other facilities, effectively solving the limitations of manual handling, significantly reducing the physical burden on caregivers, reducing personal risks during transport, and improving the safety and comfort of the transfer process. They have become one of the key tools for improving the quality of life of the elderly and postoperative patients.

[0005] In summary, existing rehabilitation equipment is often used in combination for functional recovery and safe transfer rehabilitation processes. For example, a patient transfer machine is used to assist in the transfer, followed by CPM machines and limb coordination training equipment, combined with physical therapy (PT) or physical therapy to meet the rehabilitation needs of specific application scenarios or specific populations. However, there are still some shortcomings in terms of convenience, safety, and applicability.

[0006] Therefore, there is an urgent need for a new type of limb-linked rehabilitation device with a wider range of applications to meet the modern rehabilitation treatment needs of different patients at different stages of rehabilitation. Summary of the Invention

[0007] The purpose of this invention is to overcome the shortcomings of the above-mentioned four-limb linkage rehabilitation devices and provide a multimodal four-limb linkage rehabilitation training device.

[0008] The objective of this invention can be achieved through the following technical solutions: This invention first provides a multimodal four-limb linkage rehabilitation training device, including a device body, a four-limb linkage training module, a seat / wheelchair switching module, and a weight reduction training module; The main body of the device includes a front frame, a rear frame, and a pusher mechanism for driving the front frame to rotate around the rear frame; The four-limb linkage training module includes a translation mechanism installed at the front end of the front frame, a multi-axis linkage mechanism movably mounted on the translation mechanism, and a push rod mechanism for driving the angle change of the multi-axis linkage mechanism; movable foot pedals are connected to the bottom two sides of the multi-axis linkage mechanism, movable handwheels are connected to the top two sides of the multi-axis linkage mechanism, and a disengageable linkage transmission mechanism is connected between the foot pedal and the handwheel on the same side; The seat / wheelchair switching module includes a hidden seat that can be lifted and installed in the rear frame and foldable guardrails on both sides of the rear frame. The upper surface of the rear frame is also provided with a parking rack for parking a wheelchair. The weight loss training module includes a foldable suspension located at the upper end of a multi-axis linkage mechanism and a sling and strap mechanism installed on the foldable suspension, used to suspend patients for weight loss training.

[0009] Furthermore, the front frame is covered with a front cover plate.

[0010] Furthermore, the rear frame is covered with a rear cover plate.

[0011] Furthermore, the rear cover is provided with a guide ramp at its end to facilitate wheelchair movement.

[0012] Furthermore, the lower periphery of the multi-axis linkage mechanism is provided with a protective shell.

[0013] Furthermore, the outer casing has a long groove at the foot pedal position.

[0014] Furthermore, the rear end of the pusher mechanism is connected to the rear frame, and the front end of the pusher mechanism is rotatably connected to the front frame.

[0015] Furthermore, a rotating shaft is provided at the connection between the front frame and the rear frame.

[0016] Furthermore, the translation mechanism includes a guide rail and a lead screw drive mechanism for driving the multi-axis linkage mechanism to move on the guide rail.

[0017] Furthermore, the push rod mechanism includes a push rod seat and an electric push rod. The push rod seat is mounted on the front frame, and the two ends of the electric push rod are rotatably connected to the push rod seat and the multi-axis linkage mechanism, respectively.

[0018] Furthermore, the multi-axis linkage mechanism includes a movable seat, a lower polygonal rod, an upper polygonal rod, a triangular connector, and a disengageable elastic locking rod.

[0019] Furthermore, the movable seat is movably mounted on the translation mechanism, and the lower polygonal rod and foot pedal are rotatably mounted on the movable seat.

[0020] Furthermore, the lower polygonal rod and the upper polygonal rod are rotatably connected together by a triangular connector, and a releasable elastic locking rod is also connected between the rod bodies of the lower polygonal rod and the upper polygonal rod on the same side.

[0021] Furthermore, the clutchable linkage transmission mechanism is installed along the outer edge of the multi-axis linkage mechanism, and its upper and lower ends are connected to the handwheel and foot pedal respectively after passing through an intermediate transition.

[0022] Furthermore, the clutchable linkage transmission mechanism is also connected to an adjustable damping structure, which is equipped with a damping adjustment knob. The damping is adjusted by adjusting the damping knob, thereby changing the transmission resistance of the clutchable linkage transmission mechanism.

[0023] Furthermore, a control panel is rotatably mounted on the upper end of the upper polygonal rod of the multi-axis linkage mechanism. The control panel is equipped with a movable handwheel, and an adjustable damping structure is located inside the control panel.

[0024] Furthermore, an interactive display screen is also installed on the control panel.

[0025] Furthermore, the concealed seat includes a base, a lifting push rod, a fixed crossbar, a lifting frame, a backrest seat, a backrest, a seat cushion, an upper sliding lever, and a lower sliding lever.

[0026] Furthermore, the upper and lower ends of the lifting frame are rotatably connected between the seat cushion and the base, and the upper sliding rod and the lower sliding rod are slidably installed in the seat cushion and the base, respectively. Furthermore, the lifting push rod is connected between the sliding variable rod and the fixed crossbar. By extending and retracting the lifting push rod, the sliding variable rod is pushed to slide within the base, thereby driving the height changes of the lifting frame and the seat cushion.

[0027] Furthermore, a backrest is installed at the rear end of the seat cushion, and the backrest and the backrest are rotatably connected.

[0028] Furthermore, the foldable suspension includes a lower folding rod, an upper folding rod, and a locking rod.

[0029] Furthermore, one end of the lower folding rod is dockably connected to the upper part of the multi-axis linkage mechanism, and the other end is rotatably connected to the upper folding rod; the upper folding rod is provided with a connecting hole, and the connecting hole and the locking rod are locked by a pin.

[0030] Furthermore, the sling binding mechanism includes a connecting rope, a winch, and binding straps.

[0031] Furthermore, the winch is equipped with a buffer spring that is connected to the connecting rope, and a strap is attached to the end of the connecting rope.

[0032] The multimodal four-limb coordinated rehabilitation training device of the present invention has training modes, not limited to the following: (1) Seated limb coordination training: The trainee sits in a hidden seat and adjusts the multi-axis linkage mechanism to a suitable distance and height through the translation and push rod mechanisms. The foot pedal and handwheel are operated in coordination through the clutchable linkage transmission mechanism to achieve rehabilitation training of the trainee's four limbs.

[0033] (2) Wheelchair limb coordination training: The trainee sits in a wheelchair and is pushed to the parking rack on the rear frame for docking and fixation. Then, the foot pedals and handwheels are operated in coordination through a clutch-type linkage transmission mechanism to achieve rehabilitation training of the trainee's four limbs.

[0034] (3) Standing posture training: Adjust the foldable suspension to an appropriate height, attach the sling straps to the trainee, or use it in conjunction with a non-motorized treadmill for weight loss training while suspended.

[0035] (4) Lying down training: The front frame is driven to rotate and rise around the rear frame by a push frame mechanism. The trainee lies on the rear frame and uses the four-limb linkage training module to perform four-limb linkage rehabilitation training.

[0036] (5) Rehabilitation training for the upper or lower limbs alone, or independent training for the upper and lower limbs: By selecting the engagement and disengagement of the clutch-type linkage transmission mechanism, the training of the upper and lower limbs can be separated, thus enabling independent movement training of the upper and lower limbs without interference.

[0037] Compared with the prior art, the present invention has the following technical advantages: (1) The present invention adopts a foldable suspension, a hidden seat, a push rod mechanism and a translation mechanism to jointly drive the deformation and movement of the multi-axis linkage mechanism, and the push frame mechanism to drive the front frame to rotate and change. This changes the defect that the traditional four-limb linkage mechanism can only be used alone. It can realize the functions and effects of CPM machine, four-limb linkage, power bicycle, weight reduction training and transfer, transportation, etc. It is a multi-purpose machine that can meet the different rehabilitation needs of different patients or the rehabilitation training needs of the same rehabilitation patient at different rehabilitation stages of sitting, standing and lying down. This reduces the clinical difficulties of patient conversion and transfer between different devices, effectively reduces the labor intensity and working time of medical staff, and reduces the number of times patients are "tortured".

[0038] (2) The multimodal training device of the present invention can integrate four main training modes, namely sitting, wheelchair, standing and lying, on one device, to meet the rehabilitation needs of patients in different postures, avoid the problem of traditional rehabilitation equipment having single function and requiring the purchase of multiple devices, and improve space utilization and economic benefits.

[0039] (3) The present invention, through the cooperation of components such as translation mechanism, push rod mechanism and adjustable suspension, can precisely adjust the position and angle of handwheel, foot pedal and sling according to the trainee's height, arm length, sitting height and other parameters, to ensure that it conforms to ergonomics and makes the training posture more natural and effective.

[0040] (4) The combined design of the hidden seat, parking rack and guide ramp of the present invention allows patients to be easily pushed onto the device while sitting in a wheelchair and can train directly in the wheelchair, which greatly reduces the burden of transfer for patients and the difficulty of operation for nursing staff.

[0041] (5) The multimodal rehabilitation training device of the present invention can also provide safe standing training conditions for patients with insufficient lower limb strength and poor balance through the combination of foldable suspension and sling strap mechanism, which is an important foundation for the recovery of walking function. In addition, the multimodal rehabilitation training device of the present invention can also change the angle of the front frame through the push frame mechanism, and in combination with the adjustment of the disengagement and engagement of the disengageable linkage transmission mechanism, it can provide patients who are bedridden or extremely weak with training in the supine position for all four limbs linkage, or training of the upper limb alone, or training of the lower limb alone. Attached Figure Description

[0042] Figure 1 This is a simplified kinematic diagram of the main mechanism of the multimodal four-limb linkage rehabilitation training device of the present invention.

[0043] Figure 2 This is a schematic diagram of the overall structure of the multimodal four-limb linkage rehabilitation training device of the present invention.

[0044] Figure 3 This is a schematic diagram of the key structure of the present invention.

[0045] Figure 4 This is a schematic diagram of the structure of the hidden seat in this invention.

[0046] Figure 5 This is a diagram illustrating the effect of using a hidden seat for training according to the present invention.

[0047] Figure 6 This is a rendering of the effect of using a wheelchair for training according to the present invention.

[0048] Figure 7 This is an image showing the effect of patient standing training according to the present invention.

[0049] Figure 8 This is a schematic diagram of the structure of the present invention combined with a PT bed.

[0050] Figure 9 This is a diagram showing the effect of using the present invention when a patient is lying down for training.

[0051] Explanation of markings in the diagram: 1-Front frame, 101-Front cover; 2-Rear frame, 201-Rear cover plate, 202-Guide ramp; 3-Pushing mechanism; 4-Translation mechanism, 401-Guide rail, 402-Screw drive mechanism; 5-Multi-axis linkage mechanism, 501-Moving seat, 502-Lower polygonal rod, 503-Upper polygonal rod, 504-Triangular connector, 505-Disengageable elastic locking rod; 6-Push rod mechanism, 601-Push rod seat, 602-Electric push rod; 7-Foot pedal; 8-Handwheel; 9-Disengageable linkage transmission mechanism; 10-Hidden seat, 1001-Base, 1002-Lifting push rod, 1003-Fixed crossbar, 1004-Lifting frame, 1005-Backrest seat, 1006-Backrest, 1007-Seat cushion, 1008-Upward sliding lever, 1009-Downward sliding lever; 11-Guardrail; 12-Wheelchair; 13-Parking rack; 14-Foldable suspension, 1401-Downward folding lever, 1402-Upward folding lever, 1403-Locking lever; 15-Sling and strap mechanism, 1501-Connecting rope, 1502-Windlass, 1503-Strap; 16-Shell, 1601-Long groove; 17 - Rotating shaft; 18-Adjustable damping structure; 19-Control Panel; 20 - Interactive display screen; 21-Seat cover; 22-Wheel feet; 23-PT bed. Detailed Implementation

[0052] The present invention will now be described in detail with reference to the accompanying drawings and specific embodiments. These embodiments are based on the technical solution of the present invention and provide detailed implementation methods and specific operating procedures. However, the scope of protection of the present invention is not limited to the following embodiments.

[0053] In this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships, are based on the orientation or positional relationships shown in the accompanying drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention; the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0055] Example 1: This embodiment provides a multimodal four-limb coordinated rehabilitation training device. The rehabilitation training device includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0056] The main body of the device in this embodiment includes a front frame 1, a rear frame 2, and a pusher mechanism 3. The front frame 1 and the rear frame 2 are rotatably connected. The pusher mechanism 3 drives the front frame 1 to rotate around the rear frame 2, thereby changing the overall angle between the two. For example, the rear frame 2 can be fixed to the ground, thus driving the front frame 1 to lift upwards to a specific angle.

[0057] The limb coordination training module in this embodiment includes a translation mechanism 4, a multi-axis linkage mechanism 5, and a push rod mechanism 6. The translation mechanism 4 is mounted on the front end of the front frame 1, and the multi-axis linkage mechanism 5 is movably mounted on the translation mechanism 4. The multi-axis linkage mechanism 5 drives the push rod mechanism 6 to change its angle. Through the translation mechanism 4 and the push rod mechanism 6, the multi-axis linkage mechanism 5 can be adjusted to the most suitable distance and height for the trainee.

[0058] In this embodiment, movable foot pedals 7 are connected to the bottom two sides of the multi-axis linkage mechanism 5, and movable handwheels 8 are connected to the top two sides of the multi-axis linkage mechanism 5. A disengaged linkage transmission mechanism 9 connects the foot pedals 7 and handwheels 8 on the same side. The disengaged linkage transmission mechanism 9 drives the foot pedals 7 and handwheels 8 to work together, realizing rehabilitation training of the trainee's four limbs.

[0059] The seat / wheelchair switching module of this embodiment includes a hidden seat 10, guardrails 11, and a parking rack 13. The hidden seat 10 is height-adjustable and can be stored within the rear frame 2 when not in use; when in use, the hidden seat 10 can be raised from the rear frame 2 to a suitable height. The guardrails 11 are foldable and located on both sides of the rear frame 2, providing protection for the trainee from both sides.

[0060] The rear frame 2 in this embodiment may be provided with a guide ramp 202 at its end to facilitate the pushing of the wheelchair 12. The upper surface of the rear frame 2 is also provided with a parking rack 13 for parking the wheelchair 12. When the wheelchair 12 needs to be used, the hidden seat 10 is stored in the rear frame 2, the trainee is pushed onto the rear frame 2 in conjunction with the wheelchair 12 and parked by the parking rack 13, so that the trainee can use the four-limb linkage training module while sitting in the wheelchair.

[0061] The weight-loss training module in this embodiment includes a foldable suspension 14 and a sling strap mechanism 15. The foldable suspension 14 is located at the upper end of the multi-axis linkage mechanism 5, and the sling strap mechanism 15 is mounted on the foldable suspension 14. The height of the sling strap mechanism 15 can be adjusted via the foldable suspension 14. After the sling strap mechanism 15 is strapped to the trainee, weight-loss training can be performed while standing.

[0062] The multimodal four-limb linkage rehabilitation training device of this embodiment has training modes, not limited to those listed below: (1) Seated limb coordination training: The trainee sits on the hidden seat 10 and adjusts the multi-axis linkage mechanism 5 to a suitable distance and height through the translation mechanism 4 and the push rod mechanism 6. The foot pedal 7 and handwheel 8 are driven by the clutchable linkage transmission mechanism 9 to achieve rehabilitation training of the trainee's four limbs.

[0063] (2) Wheelchair limb coordination training: The trainee sits in wheelchair 12 and is pushed to the parking rack 13 of the rear frame 2 for docking and fixation. Then, the foot pedal 7 and handwheel 8 are operated in coordination through the clutchable linkage transmission mechanism 9 to realize the rehabilitation training of the trainee's four limbs.

[0064] (3) Standing posture training: Adjust the foldable suspension 14 to an appropriate height, and attach the sling strap mechanism 15 to the trainee, or use it in conjunction with a non-powered treadmill for weight loss training after suspension.

[0065] (4) Lying down training: The front frame 1 is driven to rotate and rise around the rear frame 2 by the push frame mechanism 3. The trainee lies on the rear frame 2 and uses the four-limb linkage training module to carry out four-limb linkage rehabilitation training.

[0066] (5) Rehabilitation training for the upper or lower limbs alone, or independent training for the upper and lower limbs: By selecting the engagement and disengagement of the clutch-type linkage transmission mechanism, the training of the upper and lower limbs can be separated, thus enabling independent movement training of the upper and lower limbs without interference.

[0067] Example 2: This embodiment provides a multimodal four-limb coordinated rehabilitation training device. The rehabilitation training device includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0068] The difference from Embodiment 1 is that, in the main body of the device, the front frame 1 of this embodiment is covered with a front cover plate 101, and the rear frame 2 is covered with a rear cover plate 201, so as to cover the front frame 1 and the rear frame 2 respectively. The bottom of the front frame 1 and the rear frame 2 are also provided with wheel feet 22.

[0069] In this embodiment, a guide ramp 202 is also provided at the end of the rear cover plate 201 of the rear frame 2, so that the trainee can be directly pushed onto the rear frame 2 while sitting in the wheelchair 12.

[0070] In the four-limb linkage training module, the lower periphery of the multi-axis linkage mechanism 5 in this embodiment is provided with a wrapping shell 16 to cover the lower end of the multi-axis linkage mechanism 5. A long groove 1601 is provided on the wrapping shell 16 at the position of the foot pedal 7 to facilitate the rotation of the foot pedal 7.

[0071] To enable the front frame 1 to rotate relative to the rear frame 2, the rear end of the pusher mechanism 3 in this embodiment is connected to the rear frame 2, and the front end of the pusher mechanism 3 is rotatably connected to the front frame 1. A rotating shaft 17 is provided at the connection between the front frame 1 and the rear frame 2. When it is necessary to raise the front frame 1, the front end of the pusher mechanism 3 is extended and the front frame 1 is driven to rotate around the rotating shaft 17 to a preset angle.

[0072] To adjust the distance between the multi-axis linkage mechanism 5 and the trainee, the translation mechanism 4 in this embodiment includes a guide rail 401 and a lead screw drive mechanism 402 for driving the multi-axis linkage mechanism 5 to move on the guide rail 401. The multi-axis linkage mechanism 5 is connected to the lead screw drive mechanism 402, thus adjusting the front-to-back distance.

[0073] In order to adjust the angle and height of the multi-axis linkage mechanism 5, the push rod mechanism 6 of this embodiment includes a push rod seat 601 and an electric push rod 602. The push rod seat 601 is mounted on the front frame 1. The two ends of the electric push rod 602 are rotatably connected to the push rod seat 601 and the multi-axis linkage mechanism 5, respectively, to push the height of the multi-axis linkage mechanism 5 to change. With the horizontal adjustment of the translation mechanism 4, the multi-axis linkage mechanism 5 can be adjusted to a distance and height suitable for the trainee.

[0074] Example 3: This embodiment provides a multimodal four-limb coordinated rehabilitation training device. The rehabilitation training device includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0075] The difference from Embodiment 1 is that, in the limb linkage training module, the multi-axis linkage mechanism 5 of this embodiment includes a movable seat 501, a lower polygonal rod 502, an upper polygonal rod 503, a triangular connector 504, and a disengageable elastic locking rod 505.

[0076] Specifically, the movable seat 501 is movably mounted on the translation mechanism 4, and the lower polygonal rod 502 and the foot pedal 7 are rotatably mounted on the movable seat 501. The lower polygonal rod 502 and the upper polygonal rod 503 are rotatably connected together by a triangular connector 504, and a releasable elastic locking rod 505 is also connected between the rod bodies of the lower polygonal rod 502 and the upper polygonal rod 503 on the same side.

[0077] In this embodiment, the detachable linkage transmission mechanism 9 is installed along the outer edge of the multi-axis linkage mechanism 5. After passing through an intermediate connector, its upper and lower ends are respectively connected to the handwheel 8 and the foot pedal 7. The detachable linkage transmission mechanism 9 drives the coordinated operation of the foot pedal 7 and the handwheel 8 to achieve rehabilitation training of the trainee's four limbs.

[0078] In this embodiment, the clutchable linkage transmission mechanism 9 is also connected to an adjustable damping structure 18. The adjustable damping structure 18 is provided with a damping adjustment knob. The damping is adjusted by adjusting the damping knob, thereby changing the transmission resistance of the clutchable linkage transmission mechanism 9.

[0079] Furthermore, in this embodiment, a control panel 19 is rotatably mounted on the upper end of the upper polygonal rod 503 of the multi-axis linkage mechanism 5. A handwheel 8 is movably mounted on the control panel 19, and an adjustable damping structure 18 is provided inside the control panel 19, with damping adjustment made via a damping adjustment knob provided on the control panel 19.

[0080] In addition, the control panel 19 in this embodiment is also equipped with an interactive display screen 20, which can be used in conjunction with the monitoring and control system.

[0081] Example 4: This embodiment provides a multimodal four-limb coordinated rehabilitation training device. The rehabilitation training device includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0082] The difference from Embodiment 1 is that, in the seat / wheelchair switching module, the hidden seat 10 of this embodiment includes a base 1001, a lifting push rod 1002, a fixed crossbar 1003, a lifting frame 1004, a backrest seat 1005, a backrest 1006, a seat cushion 1007, an upward sliding lever 1008, and a downward sliding lever 1009.

[0083] Specifically, the upper and lower ends of the lifting frame 1004 are rotatably connected between the seat cushion 1007 and the base 1001. The upper sliding lever 1008 and the lower sliding lever 1009 are slidably installed within the seat cushion 1007 and the base 1001, respectively. The lifting push rod 1002 connects the lower sliding lever 1009 and the fixed crossbar 1003. The extension and retraction of the lifting push rod 1002 pushes the lower sliding lever 1009 to slide within the base 1001, thereby driving the height changes of the lifting frame 1004 and the seat cushion 1007. A backrest 1005 is installed at the rear end of the seat cushion 1007. The backrest 1006 is rotatably connected to the backrest 1005 to enable the use and folding storage of the backrest 1006.

[0084] In addition, when the concealed seat 10 is stored in the rear frame 2, a seat cover 21 can be placed over the concealed seat 10.

[0085] Example 5: This embodiment provides a multimodal four-limb coordinated rehabilitation training device. The rehabilitation training device includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0086] The difference from Embodiment 1 is that, in the weight reduction training module, the foldable suspension 14 of this embodiment includes a lower folding rod 1401, an upper folding rod 1402, and a locking rod 1403. One end of the lower folding rod 1401 is dockably connected to the upper part of the multi-axis linkage mechanism 5, and the other end is rotatably connected to the upper folding rod 1402. The upper folding rod 1402 is provided with a connecting hole, and the connecting hole and the locking rod 1403 are locked together by a pin. By locking the lower folding rod 1401, the upper folding rod 1402, and the locking rod 1403, the upper folding rod 1402 can be adjusted to a suitable height.

[0087] In the weight loss training module, the sling and strap mechanism 15 of this embodiment is installed on the upper folding rod 1402. The sling and strap mechanism 15 specifically includes a connecting rope 1501, a winch 1502, and a strap 1503. A buffer spring is provided inside the winch 1502 and connected to the connecting rope 1501. The strap 1503 is hung at the end of the connecting rope 1501. The winch 1502 and the buffer spring inside it pull the connecting rope 1501, providing the patient with the elasticity needed for weight loss and allowing for adjustment of the center of gravity during walking.

[0088] Example 6: This embodiment provides a specific multimodal four-limb coordinated rehabilitation training device and different training modes. The rehabilitation training device of this embodiment includes a main body, a four-limb coordinated training module, a seat / wheelchair switching module, and a weight reduction training module.

[0089] Specifically, see Figure 1 , Figure 2 , Figure 3 , Figure 4 The multimodal four-limb linkage rehabilitation training device of this embodiment includes a front frame 1, a rear frame 2, a push frame mechanism 3, a translation mechanism 4, a multi-axis linkage mechanism 5, a push rod mechanism 6, a foldable suspension 14, a sling mechanism 15, a control panel 19, an adjustable damping mechanism 18, an interactive display screen 20, a clutchable linkage transmission mechanism 9, a wrapping shell 16, a front cover plate 101, a rear cover plate 201, a hidden seat 10, a parking frame 13, left and right guardrails 11, straps 15, and a monitoring and control system.

[0090] In this embodiment, the front frame 1 and the rear frame 2 are rotatably connected together, the rear end of the push frame mechanism 3 is mounted on the rear frame 2, and the front end of the push frame mechanism 3 is rotatably connected to the front frame 1.

[0091] In this embodiment, the front cover plate 101 covers the front frame 1, and the enclosure shell 16 covers the lower end of the multi-axis linkage mechanism 5. The enclosure shell 16 has an elongated groove 1601 at the foot pedal 7. In this embodiment, the rear cover plate 201 covers the rear frame 2, and the rear end of the rear cover plate 201 has a guide ramp 202.

[0092] In this embodiment, the translation mechanism 4 is installed at the front end of the front frame 1. See also... Figure 3 See also Figure 8 , Figure 9 In this embodiment, the translation mechanism 4 is composed of a lead screw drive mechanism 402 and a guide rail 401. Both the guide rail 401 and the lead screw drive mechanism 402 are mounted on the upper surface of the front frame 1.

[0093] In this embodiment, the screw drive mechanism 402 has a motor at one end and is movably connected to the movable seat 501 at the other end. When the motor rotates, it can push the movable seat 501 to slide on the guide rail 401; when the motor stops rotating, the movable seat 501 remains stationary on the guide rail 401. To further strengthen the movable seat 501, a motor brake is also provided at the rear end of the motor. When the motor brake is de-energized, it engages to brake the motor.

[0094] In this embodiment, the push rod mechanism 6 is installed between the translation mechanism 4 and the multi-axis linkage mechanism 5. The push rod mechanism 6 in this embodiment includes a push rod seat 601 and an electric push rod 602. The push rod seat 601 is fixed on the upper surface of the front frame 1, and the upper and lower ends of the electric push rod 602 are rotatably connected to the push rod seat 601 and the lower polygonal rod 502, respectively.

[0095] The multi-axis linkage mechanism 5 of this embodiment includes a movable seat 501, an upper polygonal rod 503, a lower polygonal rod 502, a triangular connector 504, and a separable elastic locking rod 505 disposed between the upper polygonal rod 503 and the lower polygonal rod 502. The upper polygonal rod 503 and the lower polygonal rod 502 are rotatably connected together through the triangular connector 504. The movable seat 501 is disposed on the translation mechanism 4, and the multi-axis linkage mechanism 5 is movably connected to the translation mechanism 4 through the movable seat 501. The separable elastic locking rod 505 of this embodiment can be a self-locking gas spring or a lockable damper.

[0096] See Figure 3 In this embodiment, the lower polygonal link 502 of the multi-axis linkage mechanism 5 is rotatably mounted on a movable base 501, and the movable base 501 is provided with a movable foot pedal 7. A control panel 19 is rotatably mounted on the upper polygonal link 503 of the multi-axis linkage mechanism 5, and an interactive display screen 20 is fixed to the control panel 19. A movable handwheel 8 is provided on the control panel 19.

[0097] In this embodiment, the disengageable linkage transmission mechanism 9 is mounted on the multi-axis linkage mechanism 5, and its upper and lower ends are movably connected to the handwheel 8 and the foot pedal 7 respectively after passing through an intermediate transfer.

[0098] In this embodiment, the adjustable damping mechanism 18 is connected to the clutchable linkage transmission mechanism 9 and is disposed within the control panel 19. The adjustable damping mechanism 18 is provided with a damping adjustment knob 1801, which changes the transmission resistance of the clutchable linkage transmission mechanism 9 by adjusting the damping of the adjustable damping mechanism 18.

[0099] The monitoring and control system of this embodiment is electrically connected to the clutchable linkage drive mechanism 9, the adjustable damping mechanism 18, the interactive display screen 20, the push frame mechanism 3, the translation mechanism 4, and the push rod mechanism 6.

[0100] In this embodiment, the concealed seat 10 is installed in the middle of the rear frame 2, and the parking rack 13 is installed on the upper surface of the rear frame 2. The parking rack 13 is symmetrical on both sides and its width is adjustable. The parking rack 13 is equipped with a vehicle securing strap (not shown). The left and right guardrails 11 are foldable and installed on the left and right sides of the rear frame 2.

[0101] See Figure 4 See also Figure 1 , Figure 2 , Figure 3 The concealed seat 10 in this embodiment specifically includes a base 1001, a lifting push rod 1002, a fixed crossbar 1003, a lifting frame 1004, a backrest seat 1005, a backrest 1006, a seat cushion 1007, an upward sliding lever 1008, and a downward sliding lever 1009. The upper and lower ends of the lifting frame 1004 are rotatably connected between the seat cushion 1007 and the base 1001. The upward sliding lever 1008 and the downward sliding lever 1009 are movably installed within the seat cushion 1007 and the base 1001, respectively. The lifting push rod 1002 connects the downward sliding lever 1009 and the fixed crossbar 1003. By extending and retracting the lifting push rod 1002, the downward sliding lever 1009 slides within the base 1001, thereby driving the lifting frame 1004 to change its height, and consequently, driving the seat cushion 1007 to change its height. The backrest 1006 is installed at the rear end of the seat cushion 1007 via the backrest seat 1005. The backrest 1006 can be flipped up and down and can be locked.

[0102] In this embodiment, the foldable suspension 14 is connected to the upper part of the multi-axis linkage mechanism 5, and a suspension cable mechanism 15 is provided at the end of the foldable suspension 14. The foldable suspension 14 includes a lower folding rod 1401, an upper folding rod 1402, and a locking rod 1403. One end of the lower folding rod 1401 is dockably connected to the upper polygonal rod 503 of the multi-axis linkage mechanism 5. The other end of the lower folding rod 1401 is fixed with the locking rod 1403. The upper folding rod 1402 is rotatably connected to the other end of the lower folding rod 1401. The upper folding rod 1402 has a connecting hole in the middle, and the connecting hole and the locking rod 1403 can be locked by a pin.

[0103] The sling mechanism 15 in this embodiment includes a winch 1502 and a connecting rope 1501. A buffer spring is provided inside the winch 1502 and connected to the connecting rope 1501. By using the foldable suspension 14 in conjunction with the straps 15, the patient can be suspended to achieve weight-loss training. The winch 1502 and the buffer spring provided inside the winch 1502 pull the connecting rope 1501, providing the patient with the elasticity needed for weight loss.

[0104] See Figure 5 , Figure 6 , Figure 7 The present invention presents the effects of the built-in hidden seat 10, the external wheelchair 12, and weight-reduction standing training.

[0105] For patients who still retain some ability to walk, the built-in hidden seat 10 can be used for rehabilitation training. By controlling and adjusting the translation mechanism 4, the push rod mechanism 6 and the separable elastic locking rod 505, the height and front and back position of the multi-axis linkage mechanism 5 can be controlled. Combined with the height of the hidden seat 10 (controlled by the lifting push rod 1002), it can meet the needs of patients with different leg lengths, arm lengths and heights.

[0106] For patients who are unable to stand or walk even with the aid of crutches, medical staff can push the patient sitting in the wheelchair 12 onto the rear cover plate 201 via the guide ramp 202, and fix the wheelchair 12 with the parking bracket 13, thereby seamlessly connecting the wheelchair patient and the present invention.

[0107] In addition, the contraction of lower limb muscles when standing helps blood return to the heart, promotes blood circulation, improves vascular elasticity, and has a positive impact on cardiopulmonary function. Improving cardiopulmonary endurance can help reduce the risk of cardiovascular disease, improve respiratory function, increase vital capacity and ventilation efficiency, and make breathing smoother. This invention, through a foldable suspension 14 and straps 15, allows for weight-loss training by suspending the patient. A winch 1502 and a buffer spring within the winch 1502 pull the connecting rope 1501, providing the patient with the elasticity needed for weight loss and allowing for adjustment of the center of gravity during walking.

[0108] See Figure 8 This invention can also be used in combination with the PT bed 23 to meet the needs of bedridden patients for upper and lower limb CPM training and treatment, or the active training needs of bedridden patients, and to provide auxiliary rehabilitation training in a lying position.

[0109] Additionally, see Figure 9 When the translation mechanism 4 is adjusted, a mat can be placed on the rear cover plate 201 for lying training.

[0110] See Figure 8 , Figure 9 When equipped with a suspension bag or sling (not shown), the patient can be lifted and lowered by controlling the translation mechanism 4 and the push rod mechanism 6, thus meeting the needs of patient transfer between multiple scenarios such as bed, ground, wheelchair, and car, making nursing and rehabilitation training simple.

[0111] In summary, this invention employs a foldable suspension, a hidden seat, a push rod mechanism, and a translation mechanism to jointly drive the deformation and movement of the multi-axis linkage mechanism, and a push frame mechanism to drive the rotation and change of the front frame. It can realize the functions and effects of CPM machine, four-limb linkage, power bicycle, weight reduction training and transfer, etc., making it a multi-purpose machine.

[0112] Furthermore, the rehabilitation training device of the present invention can meet the different rehabilitation needs of different patients or the rehabilitation training needs of the same patient at different rehabilitation stages, including sitting, standing, and lying down. This reduces the clinical difficulties of patient transfer and relocation between different devices, effectively reduces the labor intensity and working hours of medical staff, reduces the types of related equipment required by rehabilitation institutions, reduces the number of times patients are "troubled," reduces the fatigue caused by preparation before and after training, and enhances their rehabilitation enthusiasm and comfort. This can improve patients' muscle strength, coordination, and balance, promote patients' functional recovery, help patients rebuild motor function, enhance their self-confidence and social participation, shorten the rehabilitation cycle, improve training efficiency, reduce rehabilitation preparation time, and reduce medical costs.

[0113] The above description of the embodiments is provided to enable those skilled in the art to understand and use the invention. It will be apparent to those skilled in the art that various modifications can be made to these embodiments, and the general principles described herein can be applied to other embodiments without inventive effort. Therefore, the present invention is not limited to the above embodiments, and any improvements and modifications made by those skilled in the art based on the disclosure of the present invention without departing from the scope of the invention should be within the protection scope of the present invention.

Claims

1. A multi-modal four-limb linked rehabilitation training device, characterized in that, The device comprises a device body, a four-limb linkage training module, a seat / wheelchair switching module and a weight loss training module. The device body comprises a front frame (1), a rear frame (2) and a push frame mechanism (3) for driving the front frame (1) to rotate around the rear frame (2). The four-limb linkage training module comprises a translation mechanism (4) mounted on the front end of the front frame (1), a multi-axis linkage mechanism (5) movably arranged on the translation mechanism (4), and a push rod mechanism (6) for driving the multi-axis linkage mechanism (5) to change the angle. The bottom of the multi-axis linkage mechanism (5) is connected with movable foot pedals (7) on both sides, and the top of the multi-axis linkage mechanism (5) is connected with movable hand wheels (8) on both sides. The seat / wheelchair switching module comprises a hidden seat (10) arranged in the rear frame (2) in a lifting manner and guardrails (11) arranged on both sides of the rear frame (2) in a folding manner.

2. The multi-modal linked-limb rehabilitation training device according to claim 1, wherein, The upper end surface of the rear frame (2) is further provided with a parking frame (13) for parking a wheelchair (12). The weight loss training module comprises a foldable suspension (14) arranged on the upper end of the multi-axis linkage mechanism (5) and a sling binding mechanism (15) arranged on the foldable suspension (14) for suspending a patient for weight loss training. The front frame (1) is covered with a front cover plate (101).

3. The multi-modal linked-limb rehabilitation training device according to claim 1, wherein, The rear frame (2) is covered with a rear cover plate (201), and the end of the rear cover plate (201) is provided with a guide slope (202) for facilitating the movement of the wheelchair (12). The lower end of the multi-axis linkage mechanism (5) is provided with a wrapping shell (16), and a long slot (1601) is formed in the wrapping shell (16) at the position of the foot pedal (7).

4. The multi-modal linked-limb rehabilitation training device according to claim 1, wherein, The rear end of the push frame mechanism (3) is connected with the rear frame (2), and the front end of the push frame mechanism (3) is rotatably connected with the front frame (1). A rotating shaft (17) is arranged at the connection between the front frame (1) and the rear frame (2).

5. The multi-modal linked-limb rehabilitation training device according to claim 1, wherein, The translation mechanism (4) comprises a guide rail (401) and a lead screw transmission mechanism (402) for driving the multi-axis linkage mechanism (5) to move on the guide rail (401). The push rod mechanism (6) comprises a push rod seat (601) and an electric push rod (602), the push rod seat (601) is arranged on the front frame (1), and the two ends of the electric push rod (602) are rotatably connected with the push rod seat (601) and the multi-axis linkage mechanism (5). The multi-axis linkage mechanism (5) comprises a moving seat (501), a lower multi-edge link (502), an upper multi-edge link (503), a triangular connector (504) and a clutchable elastic locking rod (505). The moving seat (501) is movably arranged on the translation mechanism (4), and the lower multi-edge link (502) and the foot pedal (7) are rotatably arranged on the moving seat (501). The lower multi-edge link (502) and the upper multi-edge link (503) are rotatably connected through the triangular connector (504), and the same side of the lower multi-edge link (502) and the upper multi-edge link (503) is further connected with the clutchable elastic locking rod (505).

6. The multi-modal linked-limb rehabilitation training device according to claim 5, wherein, The clutchable linkage transmission mechanism (9) is installed along the outer edge of the multi-axis linkage mechanism (5), and is movably connected with the hand wheel (8) and the foot pedal (7) through intermediate conversion at the upper and lower ends, respectively; The clutchable linkage transmission mechanism (9) is further connected with an adjustable damping structure (18), and the adjustable damping structure (18) is provided with a damping adjusting knob; the damping is adjusted through the damping adjusting knob, so as to change the transmission resistance of the clutchable linkage transmission mechanism (9).

7. The multi-modal linked-limb rehabilitation training device according to claim 6, wherein, The upper end of the upper multi-edge rod (503) of the multi-axis linkage mechanism (5) is rotatably provided with a control console (19), the control console (19) is provided with a movable hand wheel (8), and the adjustable damping structure (18) is arranged in the control console (19). The control console (19) is further provided with an interactive display screen (20).

8. The multi-modal linked-limb rehabilitation training device of claim 1, wherein, The hidden seat (10) comprises a base (1001), a lifting push rod (1002), a fixed cross rod (1003), a lifting frame (1004), a backrest seat (1005), a backrest (1006), a cushion (1007), an upper sliding variable rod (1008) and a lower sliding variable rod (1009). The upper and lower ends of the lifting frame (1004) are rotatably connected between the cushion (1007) and the base (1001), and the upper sliding variable rod (1008) and the lower sliding variable rod (1009) are slidably arranged in the cushion (1007) and the base (1001), respectively. The lifting push rod (1002) is connected between the lower sliding variable rod (1009) and the fixed cross rod (1003), and the lifting push rod (1002) is extended and retracted to drive the lower sliding variable rod (1009) to slide in the base (1001), thereby driving the lifting frame (1004) and the cushion (1007) to change in height. The rear end of the cushion (1007) is provided with the backrest seat (1005), and the backrest (1006) is rotatably connected with the backrest seat (1005).

9. The multi-modal linked-limb rehabilitation training device of claim 1, wherein, The foldable suspension (14) comprises a lower folding rod (1401), an upper folding rod (1402) and a locking rod (1403). One end of the lower folding rod (1401) is stoppably connected to the upper part of the multi-axis linkage mechanism (5), and the other end is rotatably connected with the upper folding rod (1402); the upper folding rod (1402) is provided with a connecting hole, and the connecting hole and the locking rod (1403) are locked by a pin.

10. The multi-modal linked-limb rehabilitation training device of claim 1, wherein, The sling binding mechanism (15) comprises a connecting rope (1501), a winch (1502) and a binding belt (1503). The winch (1502) is provided with a buffer disc spring connected with the connecting rope (1501), and the binding belt (1503) is connected to the end of the connecting rope (1501).

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