Lower limb rehabilitation device and method

Abstract

The invention relates to the technical field of lower limb rehabilitation, in particular to a lower limb rehabilitation device and method.The lower limb rehabilitation device comprises a training vehicle base, a plurality of sliding rollers distributed at equal intervals are rotationally connected to the bottom surface of the training vehicle base, and a protective supporting seat used for supporting a patient is arranged on the top surface of the training vehicle base; a seat linkage frame for driving the supporting seat to ascend and descend is arranged on the surface of the outer side of the supporting seat, a lifting armrest for driving a patient to ascend is arranged at the other end of the seat linkage frame, and a protective grip for holding during training of the patient is arranged on the surface of the top of the training vehicle base. The bottom surface of the protective grip is provided with a front and back protective piece for protection when the patient falls down front and back, and the outer side surface of the protective grip is provided with a side protective piece for protection when the side face of the patient falls down, so that the patient can finish transition from sitting to standing under the assistance of the device; a dynamic protection mechanism is provided, so that immediate protection can be provided when the patient falls down, and immediate support can be provided along with the falling direction of the patient.

Description

Technical Field

[0001] This invention relates to the field of lower limb rehabilitation technology, specifically to a lower limb rehabilitation device and method. Background Technology

[0002] Lower limb rehabilitation is a process that helps patients with lower limb dysfunction caused by disease, injury, or other reasons to regain basic functions such as walking, standing, and balance through scientific training and assistive devices. The core goal of lower limb rehabilitation is to improve patients' ability to live independently, enhance lower limb muscle strength and joint flexibility, and prevent complications caused by prolonged bed rest or functional degeneration.

[0003] Lower limb rehabilitation typically requires patients to undergo simulated walking and standing training.

[0004] Existing patent (publication number: CN116637337B) discloses a lower limb training and rehabilitation device, including a support platform, a main baffle and a secondary baffle fixedly installed on both sides of the support platform, a main base plate and a secondary base plate located on both sides of the support platform, a main support plate and a secondary support plate respectively fixedly installed on one side of the top of the main base plate and the secondary base plate, a movable plate provided between the main support plate and the secondary support plate, and brackets fixedly installed at both ends of the top of one side of the movable plate. Safety belts for securing the patient's waist and hips are movably installed at the bottom of the two brackets, and a rotating rod is provided between the main support plate and the secondary support plate. This invention, through the setting of a conversion component, starts and stops the drive motor and the swing cylinder, thereby controlling the training time and responding to unexpected situations during training. It solves the problem that in traditional lower limb rehabilitation training facilities, because the patient's lower limbs are in an injured state, the lower body is prone to weakness during training, causing the patient to fall and suffer secondary injuries. During the use of the aforementioned devices, existing lower limb rehabilitation devices can usually only provide static support when patients transition from sitting to standing. It is difficult to dynamically adjust the support strength and angle according to the patient's lower limb strength. Moreover, the protective function is often passive and lacks the ability to sense and adjust in real time. For example, when patients fall forward, backward, or sideways during standing or walking training, existing devices cannot sense and adjust the protective position in time, resulting in poor protective effect.

[0005] In view of this, we propose a lower limb rehabilitation device and method. Summary of the Invention

[0006] The purpose of this invention is to provide a lower limb rehabilitation device and method to solve the problems mentioned in the background art, such as existing rehabilitation devices typically only providing static support and difficulty in timely sensing and adjusting the protective position. To achieve the above objective, this invention provides the following technical solution: a lower limb rehabilitation device, including a training cart base, wherein a plurality of equidistantly distributed sliding rollers are rotatably connected to the bottom surface of the training cart base, and symmetrically distributed mounting shells are fixedly connected to the outer surface of the training cart base;

[0007] The top surface of the training cart base is provided with a support for the patient and a protective support seat. The outer surface of the support seat is provided with a seat linkage frame that drives the lifting and lowering of the support seat. The other end of the seat linkage frame is provided with a lifting armrest that lifts the patient. The top surface of the training cart base is provided with a protective grip for the patient to hold during training. The bottom surface of the protective grip is provided with front and rear protective parts for the patient to fall forward or backward. The outer surface of the protective grip is provided with a side protective part for the patient to fall to the side.

[0008] Preferably, the lifting seat includes a sliding guide rail, which is slidably connected to the top surface of the training vehicle base. A sliding hinge seat is slidably connected to the top surface of the sliding guide rail. A drive cylinder is fixedly connected to the outer surface of the sliding hinge seat. A seat shell is rotatably connected to one end of the sliding hinge seat. A seat cushion is fixedly connected to the outer surface of the seat shell. A seat base is fixedly connected to the outer surface of the seat cushion. An insertion wedge is fixedly connected to one side of the seat base.

[0009] The number of sliding guide rails, sliding hinge seats, and seat shells are all two, and the two sliding guide rails, two sliding hinge seats, and two seat shells are symmetrically distributed about the central axis of the training vehicle base. The output end of the drive cylinder is slidably connected to the top surface of the training vehicle base. The seat shell rotates around the rotational connection with the sliding hinge seat. The surface of the insertion wedge is an inclined plane, and the two sides of the insertion wedges fit together.

[0010] Preferably, the seat linkage frame includes a connecting arm, which is slidably connected to the outer surface of the seat shell, and a seat insertion rod is fixedly connected to the outer surface of the connecting arm. A sliding connecting groove is provided at the other end of the connecting arm.

[0011] The seat insertion rod extends through to the inner surface of the seat shell and is slidably connected to the inner surface of the seat shell.

[0012] Preferably, the lifting armrest includes a threaded fixing post, which is fixedly connected to the top surface of the training vehicle base. A threaded lifting cylinder is threadedly connected to the outer surface of the threaded fixing post. Symmetrically distributed output gears are fixedly connected to the outer surface of the threaded lifting cylinder, with the two output gears located at the top and bottom of the threaded lifting cylinder, respectively. An input gear meshes with the outer surface of the output gear. A driven bevel gear is fixedly connected to the outer surface of the input gear. An armrest shell is rotatably connected to the outer surface of the threaded lifting cylinder. A seat connecting pin is fixedly connected to the outer surface of the armrest shell. An inner support post is fixedly connected to the inner surface of the armrest shell. There are two inner support posts, and an armrest handle is slidably connected to the outer surface of one of the inner support posts. A handle connecting frame is fixedly connected to the outer surface of the armrest handle. A drive motor is fixedly connected to one end of the handle connecting frame. An active bevel gear is fixedly connected to the output end of the drive motor. The active bevel gear can mesh with the driven bevel gear.

[0013] The number of threaded fixing posts is two and they are symmetrically distributed on the top surface of the training vehicle base. The driven bevel gear is rotatably connected to the inner surface of the armrest shell. The threaded fixing posts penetrate the armrest shell. The armrest handle is tightly fitted with the inner support post. The seat connecting pin is slidably connected to the inner surface of the sliding connecting groove.

[0014] Preferably, the protective grip includes a fixed support column, which is fixedly connected to the top surface of the training vehicle base. A grip bracket is fixedly connected to the top surface of the fixed support column. A central spring is sleeved on the outer surface of the grip bracket. A sliding sleeve is slidably connected to the outer surface of the grip bracket, and the central spring is symmetrically distributed at both ends of each sliding sleeve. A gripping finger sleeve is fixedly connected to the outer surface of the sliding sleeve. A sleeve connecting block is fixedly connected to the bottom surface of the sliding sleeve. A chain shell is fixedly connected to the bottom surface of the grip bracket. Symmetrical inner sprockets are rotatably connected to the inner surface of the chain shell. An inner chain is sleeved on the outer surface of the inner sprockets.

[0015] The number of fixed support pillars is two and they are symmetrically distributed on the top surface of the training vehicle base. The sleeve connecting block is fixedly connected to the outer surface of the inner chain.

[0016] Preferably, the front and rear protective components include a rectangular frame, the rectangular frame is fixedly connected to the outer surface of the inner chain, an active connecting seat is fixedly connected to the bottom surface of the rectangular frame, a driven linkage seat is fixedly connected to the outer surface of the active connecting seat, a front connecting seat is fixedly connected to one end of the driven linkage seat, and the other end of the driven linkage seat is fixedly connected to the sliding guide rail, and a support protective frame is fixedly connected to the top surface of the front connecting seat.

[0017] The front and rear protective components are symmetrically distributed on both sides of the training vehicle base. The rectangular frame and the sleeve connecting block are fixedly connected to different sides of the inner chain, respectively. The rectangular frame is rectangular and hollow inside. The top of the support protective frame is made of an inflatable cushion.

[0018] Preferably, the side protection component includes a linkage sleeve, which is slidably connected to the outer surface of the grip bracket. One end of the linkage sleeve is hinged to a symmetrical linkage rod, and the other end of the linkage rod is hinged to the sliding sleeve. The other end of the linkage sleeve is hinged to a driven input rod. One end of the driven input rod is hinged to a driven lever. The outer surface of the driven lever is hinged to a lever hinge seat. The other end of the driven lever is fixedly connected to a driven output rod. The outer surface of the driven output rod is slidably connected to a driven outer shell, and the inner surface of the driven outer shell is fixedly connected to a protective inner pad.

[0019] The side protective components are symmetrically distributed on both sides of the training vehicle base, and the lever hinge seat is fixedly connected to the inner surface of the mounting shell.

[0020] A method for using a lower limb rehabilitation device includes the following steps:

[0021] S1. In the initial state, the drive cylinder is retracted, and the seat shell is manually separated to both sides on the sliding guide rail. At this time, the user pushes the wheelchair or seat into the gap between the seat shells. The drive cylinder extends and pushes itself, causing the two seat shells to merge. The inclined block will be inserted between the patient's buttocks and the seat, and as the inclined block extends, it lifts the patient. The seat bases interlock to form a complete seat surface. The patient sits on the seat base and leans against the seat cushion.

[0022] S2. The patient holds the armrest handles on both sides and pulls them down, causing the handle connecting frame to move down. The drive motor drives the active bevel gear to rotate and meshes with the driven bevel gear below after it moves down. The driven bevel gear drives the input gear and output gear to rotate, and the speed reduction effect is achieved by changing the transmission ratio. The threaded lifting cylinder rises at the threaded fixed column and pulls the patient sitting on the seat base up. At the same time, as the threaded lifting cylinder drives the armrest shell to rise, it pulls the seat shell through the connecting arm, causing the seat shell to rotate around the sliding hinge seat. This lifts the patient up and also supports the patient from the bottom, allowing the patient to enter a standing position. When it is necessary to return to a sitting position, the armrest handles are lifted up, the active bevel gear meshes with the driven bevel gear above, the threaded lifting cylinder rotates in the opposite direction and descends, cooperating with the seat base to restore the patient to a sitting position.

[0023] S3. After the patient stands up, inserts both hands into the gripping finger sleeves and grips the sliding sleeve. The patient can walk on the sliding roller to simulate walking. The sliding roller will roll to keep the patient in place. If the patient falls, especially backward, the patient grips the sliding sleeve and moves it backward. The sliding sleeve pulls the upper part of the inner chain backward through the sleeve connecting block, and the lower part of the inner chain moves forward, thereby driving the rectangular frame forward. The sliding hinge seat is pulled forward through the driven linkage seat, causing the seat shell, seat cushion and seat base behind the patient to move forward, thus providing rear support and protection when the patient falls backward. When the patient falls forward, the rectangular frame moves backward and pulls the support and protective frame in front of the patient, thus catching and protecting the patient from the front when the patient falls forward.

[0024] S4. If the patient falls to either side, the wrist will rotate the sliding sleeve in the direction of the fall. The sliding sleeve drives the other side's linkage sleeve to rotate via the linkage rod. When the linkage sleeve rotates, it pushes or pulls the driven lever through the driven input rod. The driven lever rotates around the lever hinge seat. The driven output rod is in the opposite direction to the driven input rod, causing the driven output rod to push out and support the driven outer shell and the protective inner pad from the side where the patient fell. Since the sliding sleeve and the linkage sleeve are connected by the linkage rod, the forward and backward movement of the sliding sleeve will also drive the linkage sleeve to move, causing the protective inner pad to move with the patient's forward and backward falls. In this way, if the patient rolls to the side while falling forward or backward, the protective inner pad will immediately protect the patient.

[0025] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0026] In this invention, through the coordination of the lifting seat, the seat linkage frame, and the lifting armrests, during the patient's transition from a sitting to a standing position, the lifting seat uses a drive cylinder to merge the seat shell, lifting and securing the patient to the lifting seat. The seat linkage frame is connected to the seat shell via a connecting arm, realizing the lifting and dynamic support of the seat. The lifting armrests, through a threaded lifting cylinder and bevel gear transmission, help the patient complete the standing action. This coordination allows the patient to complete the transition from sitting to standing with the assistance of the device, while providing stable support and preventing the patient from falling due to insufficient lower limb strength. This design not only reduces the difficulty of rehabilitation training but also enhances the patient's self-confidence, helping them gradually recover lower limb strength and standing ability.

[0027] In this invention, the combination of a protective grip, front and rear protective components, and side protective components provides protection during patient standing and walking training. The protective grip, through its sliding sleeve and inner chain design, senses the patient's movements in real time and transmits them to the protective components. The front and rear protective components, through the linkage of a rectangular frame and a supporting protective frame, provide protection in the forward and backward directions. The side protective components, through the mechanical transmission of a linkage rod and a driven lever, deploy protective pads based on the patient's lateral tilting movements. This dynamic protection mechanism not only provides immediate protection in case of a fall but also allows the patient to actively adjust their posture in a safe environment, enhancing their balance. This design helps patients gradually adapt to the dynamic changes of standing and walking during rehabilitation, improving rehabilitation outcomes.

[0028] In this invention, through the coordination of the lifting seat, protective handle, and front and rear protective components, the lifting seat, after providing support to enable the patient to stand, works in conjunction with the protective handle. If the patient falls backward, the handle will grip and move the sliding sleeve backward, while the lifting seat, under the action of the front and rear protective components, moves forward, thus providing support from the direction of the patient's fall. This coordination mechanism ensures that the patient remains in a safe state throughout the rehabilitation training process. The lifting seat provides stable support for the patient, while the protective handle and front and rear protective components provide timely protection in the event of an accidental fall, preventing secondary injuries and enhancing the patient's confidence and courage in undergoing rehabilitation training. Attached Figure Description

[0029] Figure 1 This is a side view schematic diagram of the overall structure of the present invention;

[0030] Figure 2 The present invention comprises a training vehicle base, a sliding roller, and a mounting housing;

[0031] Figure 3 This is a right-side view of the overall structure of the present invention;

[0032] Figure 4 This is a side view of the internal structure of the present invention;

[0033] Figure 5 This is a schematic diagram A of the structure of the lifting seat, seat linkage frame, and lifting armrest of the present invention.

[0034] Figure 6 This is a schematic diagram of the structure in which the seat lifter and the seat linkage frame cooperate with each other according to the present invention;

[0035] Figure 7 This is a schematic diagram of the interlocking structure of the various components of the lifting seat according to the present invention;

[0036] Figure 8 This is a schematic diagram of the interoperability of the various components of the lifting handrail of the present invention;

[0037] Figure 9 This is a schematic diagram of the interlocking structure of the armrest handle, the driving bevel gear, and the driven bevel gear of the present invention.

[0038] Figure 10 This is a side view schematic diagram of the overall structure of the present invention (B).

[0039] Figure 11 This is a schematic diagram (B) of the structure of the lifting seat, seat linkage frame, and lifting armrest of the present invention.

[0040] Figure 12 This is a schematic diagram of the interlocking structure of the various components of the protective grip of the present invention;

[0041] Figure 13 This is a schematic diagram of the structure in which the protective grip and the rectangular frame of the present invention interact.

[0042] Figure 14 This is a schematic diagram of the interlocking structure of the various components of the front and rear protective parts of the present invention;

[0043] Figure 15 This is a schematic diagram of the structure in which the lifting seat, seat linkage frame, and front and rear protective components of the present invention cooperate with each other.

[0044] Figure 16 This is a schematic diagram of the structure in which the protective grip and side guards of the present invention cooperate with each other;

[0045] Figure 17 This is a schematic diagram of the interlocking structure of the various components of the side protection member of the present invention;

[0046] Figure 18 This is a top view of the internal structure of the present invention;

[0047] Figure 19 This is a schematic diagram of the interaction between the side guard and the rectangular frame of the present invention;

[0048] Figure 20 This is a side view of the internal structure of the present invention.

[0049] In the diagram: 1. Training bike base; 11. Sliding roller; 12. Mounting shell; 3. Seat support; 31. Sliding guide rail; 32. Sliding hinge seat; 321. Drive cylinder; 33. Seat shell; 331. Seat cushion; 332. Seat base; 333. Insertion wedge; 4. Seat linkage frame; 41. Connecting arm; 411. Seat insertion rod; 42. Sliding connecting groove; 5. Lifting armrest; 51. Threaded fixing post; 52. Threaded lifting cylinder; 521. Output gear; 522. Input gear; 523. Driven bevel gear; 53. Armrest shell; 531. Seat connecting pin; 54. Inner support column; 55. Armrest grip; 551. Grip connecting frame; 55 2. Drive motor; 553. Drive bevel gear; 6. Protective grip; 61. Fixed support; 62. Grip bracket; 621. Centering spring; 63. Sliding sleeve; 631. Grip finger sleeve; 632. Sleeve connecting block; 65. Chain housing; 651. Inner sprocket; 652. Inner chain; 7. Front and rear protective components; 71. Rectangular frame; 711. Drive connecting seat; 72. Driven linkage seat; 73. Front connecting seat; 74. Support protective frame; 8. Side protective components; 81. Linkage sleeve; 82. Linkage rod; 83. Driven input rod; 84. Driven lever; 841. Lever hinge seat; 85. Driven output rod; 86. Driven housing; 861. Protective inner pad. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0051] Please see Figures 1 to 20 The present invention provides a technical solution: a lower limb rehabilitation device, including a training cart base 1, a plurality of equally spaced sliding rollers 11 rotatably connected to the bottom surface of the training cart base 1, and symmetrically distributed mounting shells 12 fixedly connected to the outer surface of the training cart base 1.

[0052] The training cart base 1 is fixed in position, the sliding roller 11 is used to step on and roll in place to enable walking in place to help lower limb rehabilitation, and the outer shell 12 is used to install and protect the internal components, and has slots for the components to pass through and limit their movement.

[0053] The top surface of the training cart base 1 is provided with a support seat 3 for lifting the patient and a protective lifting seat 3. The outer surface of the lifting seat 3 is provided with a seat linkage frame 4 for driving the lifting seat 3 to rise and fall. The other end of the seat linkage frame 4 is provided with a lifting handrail 5 for lifting the patient. The top surface of the training cart base 1 is provided with a protective grip 6 for the patient to hold during training. The bottom surface of the protective grip 6 is provided with front and rear protective parts 7 for protecting the patient from falling forward or backward. The outer surface of the protective grip 6 is provided with a side protective part 8 for protecting the patient from falling to the side.

[0054] The seat 3 is supported by a sliding guide rail 31, which is slidably connected to the top surface of the training vehicle base 1. A sliding hinge seat 32 is slidably connected to the top surface of the sliding guide rail 31. A drive cylinder 321 is fixedly connected to the outer surface of the sliding hinge seat 32. A seat shell 33 is rotatably connected to one end of the sliding hinge seat 32. A seat cushion 331 is fixedly connected to the outer surface of the seat shell 33. A seat base 332 is fixedly connected to the outer surface of the seat cushion 331. An insertion wedge 333 is fixedly connected to one side of the seat base 332.

[0055] By lifting the seat 3, during use, the seat shell 33 can rotate on the sliding hinge seat 32 to lift the patient. The sliding hinge seat 32 can move on the sliding guide rail 31 to drive the seat shell 33 to open and close to both sides and close inward. At the same time, the sliding guide rail 31 also moves with the driven linkage seat 72 to drive the seat shell 33 to move and achieve the effect of supporting the patient when he falls.

[0056] There are two sliding guide rails 31, two sliding hinge seats 32, and two seat shells 33. The two sliding guide rails 31, two sliding hinge seats 32, and two seat shells 33 are symmetrically distributed about the central axis of the training vehicle base 1. The output end of the drive cylinder 321 is slidably connected to the top surface of the training vehicle base 1. The seat shell 33 rotates around the rotational connection with the sliding hinge seat 32. The surface of the inserted wedge 333 is inclined, and the two sides of the inserted wedge 333 fit together.

[0057] When the symmetrical seat shell 33 is separated, it will not obstruct the patient's forward movement. After the patient enters, it enters from both sides under the patient's buttocks and inserts the inclined blocks 333 with rounded corners to lift the patient. After lifting, the inclined blocks 333 interlock to form a plane, improving the patient's comfort when sitting.

[0058] The seat linkage frame 4 includes a connecting arm 41, which is slidably connected to the outer surface of the seat shell 33. A seat insertion rod 411 is fixedly connected to the outer surface of the connecting arm 41, and a sliding connecting groove 42 is provided at the other end of the connecting arm 41.

[0059] With the seat linkage frame 4 in use, the connecting arm 41 is connected to the seat shell 33 via the seat insertion rod 411. When the seat shell 33 is closed and opened, the seat insertion rod 411 remains connected to the seat shell 33. When the seat shell 33 is closed, the connecting arm 41 pulls the seat insertion rod 411 upward and causes the seat shell 33 to rise. When the armrest shell 53 causes the seat connecting pin 531 to rise, the bottom of the sliding connecting groove 42 contacts the seat connecting pin 531, thereby lifting the connecting arm 41. When the armrest shell 53 rises to its highest position, the sliding connecting groove 42 is in a horizontal state. Only then can the seat shell 33 move the connecting arm 41 on the seat connecting pin 531 for protection.

[0060] The seat insertion rod 411 extends through to the inner surface of the seat shell 33 and is slidably connected to the inner surface of the seat shell 33. Since the connecting arm 41 can only rotate around the connection point of the seat shell 33, while the armrest shell 53 can only rise and fall, the sliding connecting groove 42 is a straight line, and the rotation of the connecting arm 41 is an arc. When it rotates, it will be blocked by the sliding connecting groove 42. Only the armrest shell 53 can pull the connecting arm 41 to rotate when it rises and falls. This makes the rotation path of the connecting arm 41 and the rising and falling path of the armrest shell 53 unique at each point. That is, the rotation angle of the connecting arm 41 corresponding to each height of the armrest shell 53 is unique.

[0061] The lifting armrest 5 includes a threaded fixing post 51, which is fixedly connected to the top surface of the training vehicle base 1. A threaded lifting cylinder 52 is threadedly connected to the outer surface of the threaded fixing post 51. Symmetrically distributed output gears 521 are fixedly connected to the outer surface of the threaded lifting cylinder 52, with the two output gears 521 located at the top and bottom of the threaded lifting cylinder 52 respectively. An input gear 522 meshes with the outer surface of the output gear 521. A driven bevel gear 523 is fixedly connected to the outer surface of the input gear 522. The armrest 5 is rotatably connected to the outer surface of the threaded lifting cylinder 52. The outer surface of the armrest housing 53 is fixedly connected to a seat connecting pin 531. The inner surface of the armrest housing 53 is fixedly connected to an inner support column 54. There are two inner support columns 54, and the outer surface of one of the inner support columns 54 is slidably connected to an armrest handle 55. The outer surface of the armrest handle 55 is fixedly connected to a handle connecting frame 551. One end of the handle connecting frame 551 is fixedly connected to a drive motor 552. The output end of the drive motor 552 is fixedly connected to a drive bevel gear 553. The drive bevel gear 553 can mesh with the driven bevel gear 523.

[0062] With the lifting handrail 5 in use, the handrail handle 55 is used for gripping during lifting and lowering. The handrail handle 55 fits tightly with the inner support column 54 and will not fall due to gravity when not subjected to external force. When the patient needs to stand up, he / she grips the handrail handle 55 and pulls it down. The active bevel gear 553 meshes with the driven bevel gear 523 below, and the handrail shell 53 rises. During the rising process, the handrail shell 53 pulls the patient's arm to rise. The patient's grip will move downward relative to the handrail shell 53, thus maintaining the downward pressure state. When the handrail handle 55 is lifted up, the handrail shell 53 descends. At this time, the patient's grip will move upward relative to the handrail shell 53, thus maintaining the upward state.

[0063] There are two threaded fixing posts 51, which are symmetrically distributed on the top surface of the training vehicle base 1. The driven bevel gear 523 is rotatably connected to the inner surface of the armrest housing 53. The threaded fixing posts 51 penetrate the armrest housing 53. The armrest handle 55 is tightly fitted with the inner support post 54. The seat connecting pin 531 is slidably connected to the inner surface of the sliding connecting groove 42.

[0064] The protective grip 6 includes a fixed support column 61, which is fixedly connected to the top surface of the training vehicle base 1. A grip bracket 62 is fixedly connected to the top surface of the fixed support column 61. A central spring 621 is sleeved on the outer surface of the grip bracket 62. A sliding sleeve 63 is slidably connected to the outer surface of the grip bracket 62, and the central spring 621 is symmetrically distributed at both ends of each sliding sleeve 63. A grip finger sleeve 631 is fixedly connected to the outer surface of the sliding sleeve 63. A sleeve connecting block 632 is fixedly connected to the bottom surface of the sliding sleeve 63. A chain shell 65 is fixedly connected to the bottom surface of the grip bracket 62. A symmetrical inner sprocket 651 is rotatably connected to the inner surface of the chain shell 65. An inner chain 652 is sleeved on the outer surface of the inner sprocket 651.

[0065] With the protective grip 6 in place, the fixed support 61 keeps the position and height of the grip bracket 62 fixed during use. When the patient pushes or pulls the sliding sleeve 63, only the sliding sleeve 63 moves on the grip bracket 62, while the grip bracket 62 itself does not move. The sliding sleeve 63 is pushed and maintained in the middle position by the central springs 621 on both sides. The inner chain 652 is sleeved on the inner sprocket 651 for support. Utilizing the characteristic that the upper and lower parts of the inner chain 652 move in opposite directions during transmission, the upper part is connected to the gripping area of ​​the sliding sleeve 63, and the lower part is connected to the front and rear protective parts 7. When the patient falls in the forward or backward direction, the front and rear protective parts 7 provide support in the direction of the fall, while the side protective parts 8 are still connected to the upper part of the sliding sleeve 63. Therefore, the movement direction of the side protective parts 8 is the same as the direction of the patient's fall.

[0066] There are two fixed support pillars 61, which are symmetrically distributed on the top surface of the training vehicle base 1. The sleeve connecting block 632 is fixedly connected to the outer surface of the inner chain 652.

[0067] The front and rear protective components 7 include a rectangular frame 71, which is fixedly connected to the outer surface of the inner chain 652. The bottom surface of the rectangular frame 71 is fixedly connected to an active connecting seat 711, and the outer surface of the active connecting seat 711 is fixedly connected to a driven linkage seat 72. One end of the driven linkage seat 72 is fixedly connected to a front connecting seat 73, and the other end of the driven linkage seat 72 is fixedly connected to a sliding guide rail 31. The top surface of the front connecting seat 73 is fixedly connected to a support protective frame 74.

[0068] With the front and rear protective parts 7 in place, during use, the rectangular frame 71 drives the lifting seat 3 and the support protective frame 74 to move to achieve front and rear protection. The rectangular frame 71 is hollow in the middle, so that when the side protective parts 8 move with the protective handle 6, the driven output rod 85 has enough room to move. The support protective frame 74 is at the same height as the protective handle 6, so that when the patient leans forward, it supports the patient's torso.

[0069] The front and rear protective components 7 are symmetrically distributed on both sides of the training vehicle base 1. The rectangular frame 71 and the sleeve connecting block 632 are fixedly connected to different sides of the inner chain 652 respectively. The rectangular frame 71 is rectangular and hollow inside. The top of the supporting protective frame 74 is made of an inflatable cushion.

[0070] The side protection component 8 includes a linkage sleeve 81, which is slidably connected to the outer surface of the grip bracket 62. One end of the linkage sleeve 81 is hinged to a symmetrical linkage rod 82, and the other end of the linkage rod 82 is hinged to a sliding sleeve 63. The other end of the linkage sleeve 81 is hinged to a driven input rod 83. One end of the driven input rod 83 is hinged to a driven lever 84. The outer surface of the driven lever 84 is hinged to a lever hinge seat 841. The other end of the driven lever 84 is fixedly connected to a driven output rod 85. The outer surface of the driven output rod 85 is slidably connected to a driven housing 86, and the inner surface of the driven housing 86 is fixedly connected to a protective inner pad 861.

[0071] With the side protection component 8, during use, the linkage sleeve 81 is hinged to the sliding sleeve 63 via the linkage rod 82, forming a parallel four-bar structure. The linkage sleeve 81 and the sliding sleeve 63 rotate in the same direction, which is used to transmit the rotation and movement of the sliding sleeve 63 to the linkage sleeve 81. The rotation of the linkage sleeve 81 drives the driven lever 84 to rotate through the driven input rod 83, and drives the driven output rod 85 on the other side to move. Compared with the reverse four-bar structure, when the patient falls and twists the sliding sleeve 63 to one side, the protective inner pad 861 extends from that side. At the same time, the protective inner pad 861 moves with the sliding sleeve 63. In this way, the protective inner pad 861 can move with the patient during the fall, increasing the protection range.

[0072] Side guards 8 are symmetrically distributed on both sides of the training vehicle base 1, and lever hinge seat 841 is fixedly connected to the inner surface of the mounting housing 12.

[0073] In this embodiment, as Figure 1 , Figure 2 , Figure 3 As shown, each component is installed inside the training vehicle base 1 and the mounting housing 12;

[0074] In this embodiment, as Figure 4 As shown, the seat support 3, seat linkage frame 4, lifting armrest 5, protective grip 6, front and rear protective parts 7, and side protective parts 8 are interconnected and cooperate with each other.

[0075] In this embodiment, as Figure 5 As shown, the seat 3 and the lifting armrest 5 are connected by a seat linkage frame 4;

[0076] In this embodiment, as Figure 6 As shown, the bottom of the seat 3 is lifted and moved laterally by the drive cylinder 321. It is not fixed to the training vehicle base 1 and only plays a pushing role when the seats are combined.

[0077] In this embodiment, as Figure 7 As shown, the seat insertion rod 411 can be fully inserted into the seat housing 33, and the two side insertion wedges 333 are asymmetrical and can be inserted into each other;

[0078] In this embodiment, as Figure 8 , Figure 9 As shown, the driving bevel gear 553 controls the rotation direction of the threaded lifting cylinder 52 by meshing with the driven bevel gears 523 on the upper and lower sides.

[0079] In this embodiment, as Figure 10 As shown, after the lifting seat 3 is separated, there is no obstruction in the middle. The patient can enter the middle through the seat or wheelchair, and after being combined, the patient is lifted onto the lifting seat 3.

[0080] In this embodiment, as Figure 11 As shown, when the lifting armrest 5 is raised to its highest position, the lifting seat 3 is pulled up, and the sliding connecting groove 42 is horizontal;

[0081] In this embodiment, as Figure 12 , Figure 13 As shown, the fixed support 61 is fixed in position, the overall position of the protective handle 6 remains unchanged, and the sliding sleeve 63 controls the direction of the front and rear protective parts 7 through the inner chain 652;

[0082] In this embodiment, as Figure 14 , Figure 15 As shown, the rectangular frame 71 drives the driven linkage seat 72 to move back and forth, respectively pushing and pulling the seat 3 directly through the driven linkage seat 72 to achieve rear protection, and pushing and pulling the support protective frame 74 through the front connecting seat 73 to achieve front protection.

[0083] In this embodiment, as Figure 16 As shown, the protective grip 6 drives the side protective component 8 to rotate synchronously;

[0084] In this embodiment, as Figure 17 As shown, the rotation of the linkage sleeve 81, through the amplification effect of the driven lever 84, pushes the driven housing 86 forward a long distance;

[0085] In this embodiment, as Figure 18 As shown, when the linkage sleeve 81 rotates, the driven outer shell 86 is pushed inward to achieve lateral protection. When the other side does not rotate or rotates in the opposite direction, the driven outer shell 86 remains stationary or is pushed outward. In this case, only one side of the driven outer shell 86 provides protection and will not push the patient inward from both sides at the same time.

[0086] In this embodiment, as Figure 19 As shown, the rectangular frame 71 is rectangular and hollow inside, and the driven output rod 85 has enough room to move inside, so that the driven housing 86 moves back and forth with the protective grip 6.

[0087] In this embodiment, as Figure 20 As shown, the driven housing 86 moves back and forth following the protective grip 6.

[0088] A method for using a lower limb rehabilitation device includes the following steps:

[0089] S1. In the initial state, the drive cylinder 321 is retracted, and the seat shell 33 is manually separated to both sides on the sliding guide rail 31. At this time, the user pushes the wheelchair or seat into the gap of the seat shell 33. The drive cylinder 321 extends and pushes itself, causing the two seat shells 33 to merge. The inclined block 333 is an inclined surface that will be inserted between the patient's buttocks and the seat. As the inclined surface extends in, it lifts the patient. The seat base 332 interlocks to form a complete seat surface. The patient sits on the seat base 332 and leans against the seat cushion 331.

[0090] S2. The patient holds the armrest handles 55 on both sides and pulls them down, causing the handle connecting frame 551 to move down. The drive motor 552 drives the active bevel gear 553 to rotate and mesh with the driven bevel gear 523 below after moving down. The driven bevel gear 523 drives the input gear 522 and the output gear 521 to rotate, and achieves a deceleration effect by changing the transmission ratio. The threaded lifting cylinder 52 rises at the threaded fixed column 51 and pulls up the patient sitting on the seat base 332. At the same time, as the threaded lifting cylinder 52 drives the armrest housing 53 to rise, it pulls the seat housing 33 through the connecting arm 41, causing the seat housing 33 to rotate around the sliding hinge seat 32. This lifts the patient up and also supports the patient from the bottom, allowing the patient to enter a standing position. When it is necessary to return to a sitting position, the armrest handles 55 are lifted up, the active bevel gear 553 meshes with the driven bevel gear 523 above, the threaded lifting cylinder 52 rotates in the opposite direction and descends, cooperating with the seat base 332 to restore the patient to a sitting position.

[0091] S3. After the patient stands up, they insert their hands into the gripping finger sleeves 631 and grip the sliding sleeve 63. Their feet can walk on the sliding roller 11 to simulate walking. The sliding roller 11 will roll so that the patient stays in place. If the patient falls, especially backward, the patient grips the sliding sleeve 63 and moves it backward. The sliding sleeve 63 pulls the upper part of the inner chain 652 backward through the sleeve connecting block 632, and the lower part of the inner chain 652 moves forward, thereby driving the rectangular frame 71 forward. The sliding hinge seat 32 is pulled forward through the driven linkage seat 72, causing the seat shell 33, seat cushion 331, and seat base 332 behind the patient to move forward, thus providing support and protection from the rear when the patient falls backward. When the patient falls forward, the rectangular frame 71 moves backward and pulls the support and protective frame 74 in front of the patient, thus catching and protecting the patient from the front when the patient falls forward.

[0092] S4. If the patient falls to either side, the wrist will rotate the sliding sleeve 63 in the direction of the fall. The sliding sleeve 63 drives the other side's linkage sleeve 81 to rotate via the linkage rod 82. When the linkage sleeve 81 rotates, it pushes or pulls the driven lever 84 via the driven input rod 83. The driven lever 84 rotates around the lever hinge seat 841. The driven output rod 85 is in the opposite direction to the driven input rod 83, so that the driven output rod 85 pushes out and supports the driven outer shell 86 and the protective inner pad 861 from the side where the patient falls. Since the sliding sleeve 63 and the linkage sleeve 81 are connected by the linkage rod 82, the forward and backward movement of the sliding sleeve 63 will also drive the linkage sleeve 81 to move, so that the protective inner pad 861 will also move with the patient's forward and backward falls. In this way, if the patient rolls to the side while falling forward or backward, the protective inner pad 861 will also protect the patient in time.

[0093] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A lower limb rehabilitation device, comprising a training cart base (1), wherein a plurality of equally spaced sliding rollers (11) are rotatably connected to the bottom surface of the training cart base (1), and symmetrically distributed mounting shells (12) are fixedly connected to the outer surface of the training cart base (1). Its features are: The top surface of the training cart base (1) is provided with a support seat (3) for lifting the patient. The outer surface of the support seat (3) is provided with a seat linkage frame (4) for driving the support seat (3) to rise and fall. The other end of the seat linkage frame (4) is provided with a lifting armrest (5) for lifting the patient. The top surface of the training cart base (1) is provided with a protective grip (6) for the patient to hold during training. The bottom surface of the protective grip (6) is provided with front and rear protective parts (7) for protecting the patient from falling forward or backward. The outer surface of the protective grip (6) is provided with a side protective part (8) for protecting the patient from falling to the side.

2. The lower limb rehabilitation device according to claim 1, characterized in that: The lifting seat (3) includes a sliding guide rail (31), which is slidably connected to the top surface of the training vehicle base (1). A sliding hinge seat (32) is slidably connected to the top surface of the sliding guide rail (31). A drive cylinder (321) is fixedly connected to the outer surface of the sliding hinge seat (32). A seat shell (33) is rotatably connected to one end of the sliding hinge seat (32). A seat cushion (331) is fixedly connected to the outer surface of the seat shell (33). A seat base (332) is fixedly connected to the outer surface of the seat cushion (331). An insertion wedge (333) is fixedly connected to one side of the seat base (332). The number of sliding guide rails (31), sliding hinge seats (32), and seat shells (33) are all two, and the two sliding guide rails (31), two sliding hinge seats (32), and two seat shells (33) are symmetrically distributed with the central axis of the training vehicle base (1) as the axis of symmetry. The output end of the drive cylinder (321) is slidably connected to the top surface of the training vehicle base (1). The seat shell (33) rotates around the rotational connection with the sliding hinge seat (32). The surface of the insertion wedge (333) is an inclined plane, and the two sides of the insertion wedges (333) fit together.

3. The lower limb rehabilitation device according to claim 1, characterized in that: The seat linkage frame (4) includes a connecting arm (41), which is slidably connected to the outer surface of the seat shell (33). A seat insertion rod (411) is fixedly connected to the outer surface of the connecting arm (41), and a sliding connecting groove (42) is provided at the other end of the connecting arm (41). The seat insertion rod (411) extends through to the inner surface of the seat housing (33) and is slidably connected to the inner surface of the seat housing (33).

4. The lower limb rehabilitation device according to claim 1, characterized in that: The lifting armrest (5) includes a threaded fixing post (51), which is fixedly connected to the top surface of the training vehicle base (1). A threaded lifting cylinder (52) is threadedly connected to the outer surface of the threaded fixing post (51). A symmetrically distributed output gear (521) is fixedly connected to the outer surface of the threaded lifting cylinder (52), with the two output gears (521) located at the top and bottom of the threaded lifting cylinder (52) respectively. An input gear (522) meshes with the outer surface of the output gear (521). A driven bevel gear (523) is fixedly connected to the outer surface of the input gear (522). The armrest is rotatably connected to the outer surface of the threaded lifting cylinder (52). The outer shell (53) has a seat connecting pin (531) fixedly connected to its outer surface, and an inner support column (54) fixedly connected to its inner surface. There are two inner support columns (54), and an armrest handle (55) is slidably connected to the outer surface of one of the inner support columns (54). A handle connecting frame (551) is fixedly connected to the outer surface of the armrest handle (55). A drive motor (552) is fixedly connected to one end of the handle connecting frame (551). An active bevel gear (553) is fixedly connected to the output end of the drive motor (552). The active bevel gear (553) can mesh with the driven bevel gear (523). The number of threaded fixing posts (51) is two and they are symmetrically distributed on the top surface of the training vehicle base (1). The driven bevel gear (523) is rotatably connected to the inner surface of the armrest housing (53). The threaded fixing posts (51) penetrate the armrest housing (53). The armrest handle (55) is tightly fitted with the inner support post (54). The seat connecting pin (531) is slidably connected to the inner surface of the sliding connecting groove (42).

5. A lower limb rehabilitation device according to claim 1, characterized in that: The protective grip (6) includes a fixed support (61), which is fixedly connected to the top surface of the training vehicle base (1). A grip bracket (62) is fixedly connected to the top surface of the fixed support (61). A central spring (621) is sleeved on the outer surface of the grip bracket (62). A sliding sleeve (63) is slidably connected to the outer surface of the grip bracket (62), and the central spring (621) is symmetrically distributed at both ends of each sliding sleeve (63). A grip finger sleeve (631) is fixedly connected to the outer surface of the sliding sleeve (63). A sleeve connecting block (632) is fixedly connected to the bottom surface of the sliding sleeve (63). A chain shell (65) is fixedly connected to the bottom surface of the grip bracket (62). A symmetrical inner sprocket (651) is rotatably connected to the inner surface of the chain shell (65). An inner chain (652) is sleeved on the outer surface of the inner sprocket (651). The number of fixed support pillars (61) is two and they are symmetrically distributed on the top surface of the training vehicle base (1). The sleeve connecting block (632) is fixedly connected to the outer surface of the inner chain (652).

6. A lower limb rehabilitation device according to claim 1, characterized in that: The front and rear protective components (7) include a rectangular frame (71), which is fixedly connected to the outer surface of the inner chain (652). An active connecting seat (711) is fixedly connected to the bottom surface of the rectangular frame (71), and a driven linkage seat (72) is fixedly connected to the outer surface of the active connecting seat (711). A front connecting seat (73) is fixedly connected to one end of the driven linkage seat (72), and the other end of the driven linkage seat (72) is fixedly connected to the sliding guide rail (31). A support protective frame (74) is fixedly connected to the top surface of the front connecting seat (73). The front and rear protective components (7) are symmetrically distributed on both sides of the training vehicle base (1). The rectangular frame (71) and the sleeve connecting block (632) are fixedly connected to different sides of the inner chain (652). The rectangular frame (71) is rectangular and hollow inside. The top of the support protective frame (74) is made of an inflatable cushion.

7. A lower limb rehabilitation device according to claim 1, characterized in that: The side protection component (8) includes a linkage sleeve (81), which is slidably connected to the outer surface of the grip bracket (62). One end of the linkage sleeve (81) is hinged to a symmetrical linkage rod (82), and the other end of the linkage rod (82) is hinged to a sliding sleeve (63). The other end of the linkage sleeve (81) is hinged to a driven input rod (83). One end of the driven input rod (83) is hinged to a driven lever (84). The outer surface of the driven lever (84) is hinged to a lever hinge seat (841). The other end of the driven lever (84) is fixedly connected to a driven output rod (85). The outer surface of the driven output rod (85) is slidably connected to a driven outer shell (86), and the inner surface of the driven outer shell (86) is fixedly connected to a protective inner pad (861). The side guards (8) are symmetrically distributed on both sides of the training vehicle base (1), and the lever hinge seat (841) is fixedly connected to the inner surface of the mounting shell (12).

8. A method of using a lower limb rehabilitation device, comprising using a lower limb rehabilitation device as described in any one of claims 1-7, characterized in that, Includes the following steps: S1. In the initial state, the two sides of the seat shell (33) are separated. The user enters the gap of the seat shell (33), and the drive cylinder (321) drives the seat shell (33) to close and lift the patient. The patient sits on the seat base (332). S2. The patient holds the armrest handles (55) on both sides and pulls them down to move the handle connecting frame (551) down. The threaded lifting cylinder (52) rises and pulls the patient sitting on the seat base (332) up. At the same time, the connecting arm (41) pulls the seat shell (33) up, so that the patient can stand up. When it is necessary to return to the sitting position, the armrest handles (55) are lifted up and the threaded lifting cylinder (52) rotates in the opposite direction to return to the sitting position. S3. The patient inserts both hands into the gripping finger sleeve (631) and grips the sliding sleeve (63). The patient can walk on the sliding roller (11) to simulate the effect of walking. If the patient falls, grips the sliding sleeve (63) and moves it. The seat shell (33) behind the patient moves forward to support and protect the patient from behind when the patient falls backward. Alternatively, the rectangular frame (71) moves backward to pull the support and protective frame (74) in front of the patient to catch and protect the patient. S4. If the patient falls to the side, the wrist will rotate the sliding sleeve (63) in the direction of the fall, and the driven lever (84) will be pushed or pulled by the driven input rod (83) to rotate around the lever hinge seat (841), so that the driven outer shell (86) and the protective inner pad (861) are pushed out and supported from the side where the patient falls, and the protective inner pad (861) will move with the patient's forward and backward falls.

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