Intelligent full-limb rehabilitation training robot

Abstract

The application discloses a kind of intelligent full-limb rehabilitation training robots, belong to rehabilitation equipment technical field, including frame, the top of the frame one end is provided with seat, the bottom of the seat is equipped with adjusting mechanism.The lower shell is slidably assembled on the top of the frame, and the real-time linkage of the rotation of the wheel disc is realized by using the reciprocating mechanism during training.The lower shell can complete short-distance sliding forward and backward synchronously with the stepping or hand swinging action of the patient, dynamically adjust the relative distance between the foot pedal lever, hand lever and sitting position, break the limitation that joints can only flex and extend in a single track in traditional equipment, so that the knee joint and elbow joint of the patient can not only complete basic flexion and extension action, but also can carry out compound flexion and extension movement in front and back directions synchronously, avoid local muscle fatigue and movement mode rigidity caused by single stress angle, and improve the pertinence and actual effect of rehabilitation training from the root.

Description

Technical Field

[0001] This invention relates to a rehabilitation training robot, and more particularly to an intelligent whole-limb rehabilitation training robot, belonging to the field of rehabilitation equipment technology. Background Technology

[0002] With the accelerating aging of the population, coupled with the increasing number of patients with limb dysfunction caused by factors such as stroke, spinal cord injury, and post-orthopedic surgery, limb function rehabilitation training has become a core need for clinical treatment and home-based care. Among these, sitting and standing upper and lower limb rehabilitation training devices have become commonly used equipment in the limb function recovery stage because they are suitable for the postural training needs of patients with limited mobility such as those who are bedridden, post-operative, or hemiplegic. These devices often integrate foot-operated lower limb training structures and hand-cranked upper limb training structures. With their ease of operation and wide adaptability to different postures, they are widely used in clinical rehabilitation and home-based care settings.

[0003] Existing seated upper and lower limb training devices require the patient to be adjusted and fixed in a preset seated position before use. Both the upper limb hand-cranked training mechanism and the lower limb foot-operated training mechanism employ rigid, fixed motion trajectories. This limits the patient's elbow and knee joints to repetitive flexion and extension movements within a single preset trajectory and angle of force, preventing simultaneous forward and backward flexion and extension. Consequently, joint range of motion is not fully expanded, and the synergistic muscle development is not effectively trained, significantly diminishing the effectiveness of rehabilitation training. Furthermore, the upper and lower limb training mechanisms of these devices are often separate structures with independent control, lacking effective mechanical linkage control. This prevents flexible implementation of coordinated training between the upper and lower limbs or vice versa, according to actual clinical rehabilitation needs. It also fails to accommodate individual limb training scenarios, resulting in limited training functionality and failing to meet the core training needs of patients for comprehensive limb rehabilitation.

[0004] To address these issues, an intelligent full-limb rehabilitation training robot was designed. Summary of the Invention

[0005] The main objective of this invention is to provide an intelligent full-limb rehabilitation training robot. By sliding the lower housing onto the top of the frame and utilizing a reciprocating mechanism composed of a linear guide groove, a reciprocating lead screw, a slider, a driven gear, a driving gear, a splined shaft, a worm gear, a spline groove, a worm, a first pulley, a second pulley, and a first belt, the robot achieves real-time linkage with the rotational motion of the wheel. During training, the lower housing can synchronously slide forward and backward a short distance in sync with the patient's foot or hand crank movements, dynamically adjusting the relative distance between the foot pedal, hand crank, and the sitting position. This breaks the limitation of traditional devices where joints can only flex and extend along a single trajectory, enabling the patient's knee and elbow joints not only to perform basic flexion and extension movements but also to simultaneously perform compound flexion and extension in the forward and backward directions. This exercise avoids localized muscle fatigue and rigid movement patterns caused by a single force angle, fundamentally improving the targeting and effectiveness of rehabilitation training. By setting up a one-way linkage mechanism between the shaft and the wheel, consisting of a third pulley, a fourth pulley, a second belt, a tensioning component, a ratchet, a mounting groove, ratchet teeth, and a return spring, a flexible and controllable transmission relationship is established between the hand crank and the foot pedal. By controlling the rotation direction of the hand crank and the foot pedal, a coordinated training mode of upper limb linkage with lower limb or lower limb linkage with upper limb can be achieved. At the same time, it supports independent use scenarios for upper limb training and lower limb training, completely solving the defects of traditional equipment with separate upper and lower limb independent control and single training function, and greatly improving the adaptability and practicality of the equipment.

[0006] The objective of this invention can be achieved by adopting the following technical solution:

[0007] An intelligent full-limb rehabilitation training robot includes a frame, a seat is provided at one end of the top of the frame, and an adjustment mechanism is installed at the bottom of the seat for adjusting the horizontal position and vertical height of the seat;

[0008] A lower housing is slidably disposed at the top of the frame away from the seat along the length of the frame. A wheel is rotatably installed inside the lower housing, and foot pedals are fixedly installed on both sides of the wheel, with the foot pedals located on the outside of the lower housing.

[0009] A reciprocating mechanism is provided at one end of the top of the frame near the lower housing. The reciprocating mechanism is connected to the wheel drive and forms a rotational linkage. The reciprocating mechanism is used to drive the lower housing to reciprocate along the length of the frame.

[0010] A lower support rod is fixedly installed on the top of the wheel, and an upper support rod is slidably installed inside the lower support rod along its axial direction. An upper housing is fixedly installed on the top of the upper support rod.

[0011] A shaft is rotatably mounted inside the upper housing, with both ends of the shaft extending to the outside of the upper housing, and a hand crank is fixedly mounted at each end of the shaft. A control panel is mounted on the top of the upper housing.

[0012] A linkage mechanism is provided between the shaft and the wheel. The linkage mechanism is used to establish a switchable transmission relationship between the shaft and the wheel, so as to realize the linkage rotation of the shaft and the wheel or their independent rotation.

[0013] Preferably, the adjustment mechanism includes an inverted V-shaped frame, a sliding sleeve, an outer sleeve, and an inner sleeve. The inverted V-shaped frame is fixedly installed on the top of the frame, the sliding sleeve is slidably fitted on the outside of the inverted V-shaped frame, the outer sleeve is vertically fixed to the top of the sliding sleeve, and the inner sleeve is slidably inserted into the inside of the outer sleeve, with the top end of the inner sleeve fixedly connected to the bottom of the seat.

[0014] Preferably, the reciprocating mechanism includes a linear guide groove, a reciprocating lead screw, a slider, and a transmission assembly. The linear guide groove is opened at the top of the frame along the length of the frame. The reciprocating lead screw is rotatably installed inside the linear guide groove. The slider is threaded onto the outside of the reciprocating lead screw, and the top of the slider is fixedly connected to the bottom of the lower housing. A transmission assembly is provided between the end of the reciprocating lead screw and the wheel.

[0015] Preferably, the transmission assembly includes a driven gear, a driving gear, a splined shaft, a worm gear, a spline groove, a worm, a first pulley, a second pulley, and a first belt. The driven gear is fixedly sleeved on one end of the reciprocating lead screw. The driving gear meshes with the driven gear. The splined shaft is rotatably mounted between the two ends of the linear guide groove, and the end of the splined shaft is fixedly connected to the driving gear. The worm gear is slidably sleeved on the splined shaft, and the worm gear has a spline groove that mates with the splined shaft. The worm meshes with the worm gear. The first pulley is fixedly sleeved on one end of the worm. The second pulley is fixedly sleeved on the outside of the rotating shaft of the wheel disc. The first belt is sleeved between the first pulley and the second pulley.

[0016] Preferably, the linkage mechanism includes a third pulley, a fourth pulley, a second belt, a tensioning assembly, a ratchet, a mounting groove, ratchet teeth, and a return spring. The third pulley is fixedly sleeved on the middle of the shaft, the fourth pulley is fixedly sleeved on the middle of the wheel disc's rotating shaft, the second belt is sleeved between the third pulley and the fourth pulley, and the tensioning assembly is installed inside the lower support rod to tension the second belt.

[0017] The ratchet is fixedly sleeved on the side of the shaft near the third pulley. The mounting groove is opened on the side wall of the third pulley at the position corresponding to the ratchet. The ratchet tooth is rotatably installed inside the mounting groove through a pin, and the ratchet tooth meshes with the ratchet. One end of the return spring is connected to the ratchet tooth, and the other end is connected to the inner wall of the mounting groove, which is used to drive the ratchet tooth to maintain the meshing state with the ratchet.

[0018] Preferably, the tensioning assembly includes a groove, a slide rod, a wheel seat, a guide wheel, and a thrust spring. The groove is formed on the side wall of the lower support rod, the slide rod is slidably inserted into the groove, the wheel seat is fixedly installed at one end of the slide rod, the guide wheel is rotatably installed inside the wheel seat and is in contact with the outer side of the second belt, and the thrust spring is sleeved on the outer side of the slide rod, with one end of the thrust spring connected to the wheel seat and the other end connected to the inner wall of the lower support rod.

[0019] Preferably, a resistance cylinder is fixedly installed inside the lower housing, and a magnetic block is fixedly connected to the output end of the resistance cylinder. The edge of the wheel is made of magnetic material, and the magnetic block and the edge of the wheel are fitted with a gap. The distance between the magnetic block and the wheel is changed by adjusting the extension and retraction of the resistance cylinder to adjust the rotation resistance of the wheel. The resistance cylinder is electrically connected to the control panel.

[0020] Preferably, a lifting cylinder is hinged to the side of the lower support rod, the output end of the lifting cylinder is hinged to the bottom of the upper housing, the inner walls of the upper support rod and the lower support rod slide against each other, and the lifting cylinder is electrically connected to the control panel.

[0021] Preferably, the top of both sides of the linear guide groove is provided with a rubber dustproof plate along the length direction, and the sides of the rubber dustproof plate are attached to each other.

[0022] Preferably, the sliding sleeve and the outer sleeve sidewall are both threaded with locking bolts for locking, and the inverted V-shaped bracket and the inner sleeve sidewall are both provided with positioning holes that cooperate with the locking bolts.

[0023] The beneficial effects of this invention are as follows:

[0024] This invention provides an intelligent full-limb rehabilitation training robot. By sliding the lower shell onto the top of the frame and utilizing a reciprocating mechanism composed of a linear guide groove, a reciprocating lead screw, a slider, a driven gear, a driving gear, a spline shaft, a worm gear, a spline groove, a worm, a first pulley, a second pulley, and a first belt, the robot achieves real-time linkage with the rotational motion of the wheel. During training, the lower shell can synchronously complete short-distance forward and backward sliding with the patient's foot or hand crank movements, dynamically adjusting the relative distance between the foot pedal, hand crank, and the sitting position. This breaks the limitation of traditional equipment where joints can only flex and extend along a single trajectory, enabling the patient's knee and elbow joints to not only complete basic flexion and extension movements but also simultaneously perform compound flexion and extension movements in the forward and backward directions. This avoids local muscle fatigue and rigid movement patterns caused by a single force angle, fundamentally improving the targeting and practical effect of rehabilitation training.

[0025] By setting a one-way linkage mechanism consisting of a third pulley, a fourth pulley, a second belt, a tensioning component, a ratchet, a mounting groove, ratchet teeth, and a return spring between the shaft and the wheel, a flexible and controllable transmission relationship between the hand crank and the foot pedal is constructed. By controlling the rotation direction of the hand crank and the foot pedal, a coordinated training mode of upper limb linkage with lower limb or lower limb linkage with upper limb can be realized. At the same time, it supports independent use scenarios of upper limb training and lower limb training alone. It completely solves the defects of traditional equipment with separate upper and lower limb independent control and single training function, and greatly improves the adaptability and practicality of the equipment. Attached Figure Description

[0026] Figure 1 This is a front view structural diagram of the present invention;

[0027] Figure 2 This is a front sectional view of the present invention;

[0028] Figure 3 This is the internal structure of the lower housing of the present invention;

[0029] Figure 4 This is a partial sectional view of the front end of the frame of the present invention;

[0030] Figure 5 This is a diagram showing the state of the wheel and worm gear transmission of the present invention;

[0031] Figure 6 This is a diagram of the worm gear structure of the present invention;

[0032] Figure 7 This is a cross-sectional view of the interior of the upper housing of the present invention;

[0033] Figure 8 This is an internal sectional view of the support rod of the present invention;

[0034] Figure 9 This is a diagram of the adjustment mechanism of the present invention.

[0035] In the diagram: 1. Rack; 2. Seat;

[0036] 3. Adjustment mechanism; 301. Inverted V-shaped bracket; 302. Sliding sleeve; 303. Outer sleeve; 304. Inner sleeve;

[0037] 4. Lower housing; 5. Wheel; 6. Foot pedal;

[0038] 7. Reciprocating mechanism; 701. Linear guide groove; 702. Reciprocating lead screw; 703. Slider; 704. Driven gear; 705. Driving gear; 706. Splined shaft; 707. Worm gear; 708. Splined groove; 709. Worm; 710. First pulley; 711. Second pulley; 712. First belt;

[0039] 8. Resistance cylinder; 9. Magnetic block; 10. Lower support rod; 11. Upper support rod; 12. Lifting cylinder; 13. Upper housing; 14. Control panel; 15. Shaft; 16. Hand crank;

[0040] 17. Linkage mechanism; 1701. Third pulley; 1702. Fourth pulley; 1703. Second belt;

[0041] 1704, tensioning assembly; 17041, slide groove; 17042, slide rod; 17043, wheel seat; 17044, guide wheel; 17045, thrust spring;

[0042] 1705, ratchet; 1706, mounting slot; 1707, ratchet tooth; 1708, return spring. Detailed Implementation

[0043] To enable those skilled in the art to more clearly understand the technical solution of the present invention, the present invention will be further described in detail below with reference to embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0044] Example 1

[0045] like Figures 1-9 As shown, this embodiment provides an intelligent full-limb rehabilitation training robot, including a frame 1, a seat 2 is provided at one end of the top of the frame 1, and an adjustment mechanism 3 is assembled at the bottom of the seat 2. The adjustment mechanism 3 is used to adjust the horizontal position and vertical height of the seat 2.

[0046] A lower housing 4 is slidably disposed at the top of the frame 1 away from the seat 2 along the length of the frame 1. A wheel 5 is rotatably installed inside the lower housing 4. Foot pedals 6 are fixedly installed on both sides of the wheel 5, and the foot pedals 6 are located on the outside of the lower housing 4.

[0047] A reciprocating mechanism 7 is provided at one end of the top of the frame 1 near the lower housing 4. The reciprocating mechanism 7 is connected to the wheel 5 and forms a rotational linkage. The reciprocating mechanism 7 is used to drive the lower housing 4 to reciprocate along the length of the frame 1.

[0048] A lower support rod 10 is fixedly installed on the top of the wheel 5. An upper support rod 11 is slidably installed inside the lower support rod 10 along its axis. An upper housing 13 is fixedly installed at the top of the upper support rod 11.

[0049] A shaft 15 is rotatably mounted inside the upper housing 13. Both ends of the shaft 15 extend to the outside of the upper housing 13, and a hand crank 16 is fixedly mounted at both ends of the shaft 15. A control panel 14 is mounted on the top of the upper housing 13.

[0050] A linkage mechanism 17 is provided between the shaft 15 and the wheel 5. The linkage mechanism 17 is used to establish a switchable transmission relationship between the shaft 15 and the wheel 5 so as to realize the linkage rotation of the shaft 15 and the wheel 5 or their independent rotation.

[0051] Before use, the patient adjusts the horizontal position and vertical height of the seat 2 through the adjustment mechanism 3 so that after the patient sits on the seat 2, the limbs can naturally adapt to the initial position of the foot pedal 6 and the hand crank 16. After the adaptation is completed, the device enters the training state.

[0052] For lower limb training: The patient steps on the foot pedal 6 with both feet, which drives the wheel 5 to rotate. The wheel 5 is connected to the reciprocating mechanism 7, which drives the lower housing 4 to move back and forth along the length of the frame 1. This dynamically adjusts the relative distance between the foot pedal 6 and the seat 2, so that the patient's knee joint can complete basic flexion and extension movements, as well as perform compound flexion and extension movements in the forward and backward directions. At the same time, the linkage mechanism 17 is in a disengaged state, and the shaft 15 does not rotate with the wheel 5, ensuring that the lower limb training is not interfered with by the upper limb mechanism.

[0053] If upper limb training is performed separately: the patient cranks the hand crank 16 with both hands, causing the shaft 15 to rotate. At this time, the linkage mechanism 17 cuts off the transmission relationship between the shaft 15 and the wheel 5. The wheel 5 remains stationary, and only the upper limb completes the flexion and extension movement of the elbow joint through the rotation of the hand crank 16. In addition, the upper limb flexion and extension movement can also be achieved by controlling the up and down tilting and sliding of the upper support rod 11.

[0054] For upper and lower limb coordinated training: the linkage mechanism 17 establishes the transmission relationship between the shaft 15 and the wheel 5. When the patient shakes the hand crank 16, the shaft 15 drives the wheel 5 to rotate through the linkage mechanism 17, realizing upper limb coordinated lower limb training; when the patient steps on the foot pedal 6, the wheel 5 drives the shaft 15 to rotate through the linkage mechanism 17, realizing lower limb coordinated upper limb training. During the training process, the reciprocating mechanism 7 operates synchronously to ensure that both upper and lower limb joints can complete compound flexion and extension movements.

[0055] Example 2

[0056] The solution in Example 1 will be further described below with reference to its specific working method.

[0057] In this embodiment, the adjustment mechanism 3 includes an inverted V-shaped frame 301, a sliding sleeve 302, an outer sleeve 303, and an inner sleeve 304. The inverted V-shaped frame 301 is fixedly installed on the top of the frame 1. The sliding sleeve 302 is slidably sleeved on the outside of the inverted V-shaped frame 301. The outer sleeve 303 is vertically fixed to the top of the sliding sleeve 302. The inner sleeve 304 is slidably inserted into the inside of the outer sleeve 303, and the top end of the inner sleeve 304 is fixedly connected to the bottom of the seat 2.

[0058] Horizontal position adjustment: The sliding sleeve 302 can slide freely along the length of the inverted V-shaped frame 301. When the seat 2 is pushed, the sliding sleeve 302 drives the outer sleeve 303, inner sleeve 304 and the entire seat 2 to move along the inverted V-shaped frame 301 until the seat 2 reaches the horizontal position suitable for the patient. The horizontal position is locked by inserting the locking bolt into the positioning hole of the sliding sleeve 302 and the inverted V-shaped frame 301.

[0059] Height adjustment: The inner sleeve 304 can slide up and down along the axis of the outer sleeve 303. When the seat 2 is pulled or pressed, the inner sleeve 304 extends and retracts relative to the outer sleeve 303 to adjust the vertical height of the seat 2. When the height is suitable, the locking bolt on the side wall of the outer sleeve 303 is inserted into the positioning hole of the inner sleeve 304 to achieve height locking, ensuring that the patient's limbs can naturally fit the training components after sitting.

[0060] In this embodiment, the reciprocating mechanism 7 includes a linear guide groove 701, a reciprocating lead screw 702, a slider 703, and a transmission assembly. The linear guide groove 701 is opened at the top of the frame 1 along the length direction of the frame 1. The reciprocating lead screw 702 is rotatably installed inside the linear guide groove 701. The slider 703 is threadedly sleeved on the outside of the reciprocating lead screw 702, and the top of the slider 703 is fixedly connected to the bottom of the lower housing 4. A transmission assembly is provided between the end of the reciprocating lead screw 702 and the wheel 5.

[0061] When the wheel 5 rotates, the power is transmitted to the reciprocating screw 702 through the transmission assembly, causing the reciprocating screw 702 to rotate inside the linear guide groove 701. Since the slider 703 is threadedly engaged with the reciprocating screw 702 and the top of the slider 703 is fixedly connected to the lower housing 4, the rotational motion of the reciprocating screw 702 is converted into the linear reciprocating motion of the slider 703 along the linear guide groove 701, which in turn drives the lower housing 4, the wheel 5 and the foot pedal 6 to move back and forth along the length of the frame 1, dynamically changing the relative distance between the foot pedal 6 and the seat 2, breaking the limitation of the single motion trajectory of traditional equipment.

[0062] In this embodiment, the transmission assembly includes a driven gear 704, a driving gear 705, a splined shaft 706, a worm gear 707, a splined groove 708, a worm 709, a first pulley 710, a second pulley 711, and a first belt 712. The driven gear 704 is fixedly sleeved on one end of the reciprocating lead screw 702. The driving gear 705 meshes with the driven gear 704. The splined shaft 706 is rotatably mounted between the two ends of the linear guide groove 701, and the splined... The end of shaft 706 is fixedly connected to drive gear 705. Worm wheel 707 is slidably sleeved on spline shaft 706. Spline groove 708 that mates with spline shaft 706 is provided on worm wheel 707. Worm 709 meshes with worm wheel 707. First pulley 710 is fixedly sleeved on one end of worm 709. Second pulley 711 is fixedly sleeved on the outside of the rotating shaft of wheel disk 5. First belt 712 is sleeved between first pulley 710 and second pulley 711.

[0063] When the wheel 5 rotates, it drives the second pulley 711 on the outer side of its shaft to rotate synchronously. The second pulley 711 drives the first pulley 710 to rotate through the first belt 712, which in turn drives the worm 709 fixedly connected to the first pulley 710 to rotate. The worm 709 meshes with the worm wheel 707, transmitting rotational power to the worm wheel 707. The worm wheel 707 engages with the spline shaft 706 through the spline groove 708, driving the spline shaft 706 to rotate. The driving gear 705 fixedly connected to the end of the spline shaft 706 rotates synchronously with the spline shaft 706. The driving gear 705 meshes with the driven gear 704, driving the driven gear 704 and the reciprocating screw 702 fixedly connected to it to rotate, completing the power transmission from the wheel 5 to the reciprocating screw 702. The spline engagement design of the spline shaft 706 and the worm wheel 707 ensures the stability of the power transmission.

[0064] In this embodiment, the linkage mechanism 17 includes a third pulley 1701, a fourth pulley 1702, a second belt 1703, a tensioning assembly 1704, a ratchet 1705, a mounting groove 1706, a ratchet tooth 1707, and a return spring 1708. The third pulley 1701 is fixedly sleeved on the middle of the shaft 15, the fourth pulley 1702 is fixedly sleeved on the middle of the rotating shaft of the wheel 5, the second belt 1703 is sleeved between the third pulley 1701 and the fourth pulley 1702, and the tensioning assembly 1704 is installed inside the lower support rod 10 for tensioning the second belt 1703.

[0065] The ratchet 1705 is fixedly sleeved on the side of the shaft 15 near the third pulley 1701. The mounting groove 1706 is opened on the side wall of the third pulley 1701 at the position corresponding to the ratchet 1705. The ratchet 1707 is rotatably mounted inside the mounting groove 1706 through a pin, and the ratchet 1707 meshes with the ratchet 1705. One end of the return spring 1708 is connected to the ratchet 1707, and the other end is connected to the inner wall of the mounting groove 1706, which is used to drive the ratchet 1707 to maintain the meshing state with the ratchet 1705.

[0066] Collaborative training state: When the patient cranks the hand lever 16 clockwise, the shaft 15 drives the ratchet 1705 to rotate clockwise synchronously. The tooth surface of the ratchet 1705 meshes with the planar structure of the ratchet 1707, pushing the ratchet 1707 to drive the third pulley 1701 to rotate. The third pulley 1701 drives the fourth pulley 1702 to rotate through the second belt 1703, which in turn drives the wheel 5 to rotate, realizing the linkage between the upper limb and the lower limb. When the patient steps on the foot pedal 6 to drive the wheel 5 to rotate clockwise, the fourth pulley 1702 drives the third pulley 1701 to rotate through the second belt 1703. The third pulley 1701 meshes with the ratchet 1705 through the ratchet 1707, driving the shaft 15 to rotate, realizing the linkage between the lower limb and the upper limb. The tensioning component 1704 always keeps the second belt 1703 in a taut state to ensure smooth power transmission.

[0067] Individual training mode: When the patient cranks the hand lever 16 counterclockwise, the ratchet 1705 rotates counterclockwise, and its tooth surface contacts the arc-shaped guide surface of the ratchet 1707, pushing the ratchet 1707 to compress the return spring 1708 and rotate into the mounting slot 1706. The ratchet 1707 disengages from the ratchet 1705, and the third pulley 1701 does not rotate with the shaft 15. The transmission relationship between the shaft 15 and the wheel 5 is cut off, realizing individual training of the upper limb. Similarly, when the wheel 5 rotates counterclockwise, the fourth pulley 1702 drives the third pulley 1701 to rotate, the ratchet 1707 disengages from the ratchet 1705, and the transmission relationship between the wheel 5 and the shaft 15 is cut off, realizing individual training of the lower limb. The return spring 1708 always applies an elastic force to the ratchet 1707 to ensure that the ratchet 1707 can quickly return to its original position when rotating in the opposite direction, waiting for the next engagement.

[0068] In this embodiment, the tensioning assembly 1704 includes a groove 17041, a slide rod 17042, a wheel seat 17043, a guide wheel 17044, and a thrust spring 17045. The groove 17041 is formed on the side wall of the lower support rod 10. The slide rod 17042 is slidably inserted into the groove 17041. The wheel seat 17043 is fixedly installed on one end of the slide rod 17042. The guide wheel 17044 is rotatably installed inside the wheel seat 17043 and is in contact with the outer side of the second belt 1703. The thrust spring 17045 is sleeved on the outer side of the slide rod 17042, and one end of the thrust spring 17045 is connected to the wheel seat 17043, and the other end is connected to the inner wall of the lower support rod 10.

[0069] The thrust spring 17045 is always in a compressed state, applying an elastic thrust towards the second belt 1703 to the wheel seat 17043. The wheel seat 17043 drives the slide rod 17042 to move along the slide groove 17041 towards the second belt 1703, so that the guide wheel 17044 inside the wheel seat 17043 is always tightly attached to the outside of the second belt 1703. When the second belt 1703 becomes loose due to long-term use, the elastic thrust of the thrust spring 17045 pushes the guide wheel 17044 to further tighten the second belt 1703, automatically compensating for the looseness. When the equipment is raised or lowered, causing changes in the tension of the second belt 1703, the guide wheel 17044 slides along the slide groove 17041 through the slide rod 17042, cooperating with the elastic deformation of the thrust spring 17045 to adjust the tightening force in real time, ensuring that the second belt 1703 is always in a taut state and ensuring power transmission efficiency.

[0070] In this embodiment, a resistance cylinder 8 is fixedly installed inside the lower housing 4. A magnetic block 9 is fixedly connected to the output end of the resistance cylinder 8. The edge of the wheel 5 is made of magnetic material, and the magnetic block 9 and the edge of the wheel 5 are fitted with a gap. The distance between the magnetic block 9 and the wheel 5 is changed by adjusting the extension and retraction of the resistance cylinder 8, so as to adjust the rotation resistance of the wheel 5. The resistance cylinder 8 is electrically connected to the control panel 14.

[0071] The control panel 14 is electrically connected to the resistance cylinder 8. The patient sends a resistance adjustment command through the control panel 14. After receiving the command, the resistance cylinder 8 performs an extension and retraction action: when the training resistance needs to be increased, the resistance cylinder 8 extends, pushing the magnetic block 9 closer to the edge of the wheel 5, increasing the magnetic attraction between the magnetic block 9 and the wheel 5, and increasing the resistance that hinders the rotation of the wheel 5; when the training resistance needs to be decreased, the resistance cylinder 8 retracts, pulling the magnetic block 9 away from the edge of the wheel 5, weakening the magnetic attraction, and reducing the resistance to the rotation of the wheel 5; by precisely controlling the extension and retraction of the resistance cylinder 8, stepless adjustment of the training resistance can be achieved to meet different intensity requirements from initial rehabilitation to intensive training.

[0072] In this embodiment, a lifting cylinder 12 is hinged to the side of the lower support rod 10. The output end of the lifting cylinder 12 is hinged to the bottom of the upper housing 13. The upper support rod 11 slides against the inner wall of the lower support rod 10. The lifting cylinder 12 is electrically connected to the control panel 14.

[0073] When it is necessary to raise the height of the upper limb training, the lifting cylinder 12 extends, pushing the upper housing 13 upward, and the upper support rod 11 slides upward along the inner wall of the lower support rod 10, causing the hand crank 16 to rise; when it is necessary to lower the height of the upper limb training, the lifting cylinder 12 retracts, pulling the upper housing 13 downward, and the upper support rod 11 slides downward along the inner wall of the lower support rod 10, causing the hand crank 16 to fall.

[0074] In this embodiment, rubber dustproof plates are provided on the top of both sides of the linear guide groove 701 along the length direction, and the sides of the rubber dustproof plates are attached to each other.

[0075] The rubber dustproof plate is laid along the length of the linear guide groove 701, with its sides tightly fitted together to form a closed dustproof barrier, preventing external dust, debris and other impurities from entering the interior of the linear guide groove 701. When the slider 703 reciprocates along the linear guide groove 701, the top of the slider 703 is fixedly connected to the lower housing 4. The rubber dustproof plate can elastically deform with the movement of the lower housing 4, without hindering the movement of the lower housing 4, and at the same time always maintains a close fit to ensure the dustproof effect, avoid impurities affecting the movement flexibility of transmission parts such as the reciprocating screw 702 and the slider 703, and extend the service life of the equipment.

[0076] In this embodiment, the sliding sleeve 302 and the outer sleeve 303 are both threaded with locking bolts for locking, and the side walls of the inverted V-shaped bracket 301 and the inner sleeve 304 are both provided with positioning holes that cooperate with the locking bolts.

[0077] After the seat 2 is adjusted to the appropriate position, tighten the locking bolt on the side wall of the sliding sleeve 302 so that the end of the bolt is inserted into the positioning hole of the inverted V-shaped frame 301. Through the mechanical engagement of the bolt and the positioning hole, the sliding sleeve 302 is restricted from sliding along the inverted V-shaped frame 301, thus locking the horizontal position of the seat 2. Tighten the locking bolt on the side wall of the outer sleeve 303 so that the end of the bolt is inserted into the positioning hole of the inner sleeve 304, thus restricting the extension and retraction of the inner sleeve 304 along the outer sleeve 303, thus locking the vertical height of the seat 2. The evenly distributed design of the positioning holes can realize multi-level adjustment and locking, ensuring that patients of different body types can find a stable and appropriate position, avoiding displacement of the seat 2 during training, and ensuring training safety.

[0078] Example 3

[0079] The solutions in Embodiment 1 and Embodiment 2 will be further described below with reference to their specific working methods.

[0080] Adaptation Phase: Before the patient sits down, medical staff or the patient can use the adjustment mechanism 3 to precisely adapt the seat 2. Push the seat 2 to make the sliding sleeve 302 slide along the inverted V-shaped frame 301 to adjust the horizontal position. Then, adjust the height by extending and retracting the inner sleeve 304 along the outer sleeve 303. After the adaptation is completed, tighten the locking bolts to fix the position of the seat 2 by engaging the bolts with the positioning holes. At the same time, control the extension and retraction of the lifting cylinder 12 through the control panel 14 to drive the upper support rod 11 to slide along the lower support rod 10 and adjust the height of the upper shell 13 and the hand crank 16 so that after the patient sits on the seat 2, both hands can naturally hold the hand crank 16 and both feet can stably step on the foot pedal 6, preparing for training.

[0081] Lower limb independent training: The patient steps on the foot pedal 6 with both feet, which drives the wheel 5 to rotate. The wheel 5 drives the second pulley 711 to rotate, which in turn drives the first pulley 710 and the worm gear 709 to rotate via the first belt 712. The worm gear 709 meshes with the worm wheel 707, which drives the spline shaft 706 to rotate. The spline shaft 706 meshes with the drive gear 705 and the driven gear 704, which drives the reciprocating screw 702 to rotate. The slider 703 moves back and forth along the linear guide groove 701, which drives the lower housing 4, the wheel 5 and the foot pedal 6 to move back and forth synchronously, so that the patient's knee joint can complete basic flexion and extension and compound flexion and extension movements. At this time, in the linkage mechanism 17, the rotation direction of the wheel 5 causes the ratchet 1707 to disengage from the ratchet 1705, and the shaft 15 does not rotate, ensuring independent training of the lower limb. The training resistance can be adjusted by extending and retracting the resistance cylinder 8 through the control panel 14, changing the distance between the magnetic block 9 and the wheel 5, and adjusting the magnetic attraction force.

[0082] Upper limb isolated training: The patient cranks the hand crank 16 with both hands to rotate the shaft 15. The rotation of the shaft 15 causes the ratchet 1707 to disengage from the ratchet wheel 1705. The linkage mechanism 17 cuts off the transmission between the shaft 15 and the wheel 5, and the wheel 5 remains stationary. At the same time, the lifting cylinder 12 can be extended and retracted through the control panel 14, driving the upper support rod 11 to slide along the lower support rod 10, adjusting the tilt angle of the upper housing 13, so that the patient's elbow joint can complete compound flexion and extension movements.

[0083] Upper and lower limb coordinated training: When the linkage mechanism 17 is engaged, and the hand crank 16 is turned, the shaft 15 drives the ratchet 1705 to rotate. The ratchet 1707 engages with the ratchet 1705 to drive the third pulley 1701 to rotate. Through the second belt 1703, the fourth pulley 1702 and the wheel 5 are driven to rotate, realizing the linkage between the upper and lower limbs. When the foot pedal 6 is stepped on, the wheel 5 drives the fourth pulley 1702 to rotate. Through the second belt 1703, the third pulley 1701 is driven to rotate. The ratchet 1707 engages with the ratchet 1705 to drive the shaft 15 to rotate, realizing the linkage between the lower and upper limbs. At the same time, the reciprocating mechanism 7 operates synchronously, and both the upper and lower limb joints can complete compound flexion and extension movements, greatly improving the training effect of muscle coordination.

[0084] The above description is merely a further embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the technical solution and concept of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. An intelligent whole-limb rehabilitation training robot, characterized in that, Includes a frame (1), a seat (2) is provided at one end of the top of the frame (1), and an adjustment mechanism (3) is installed at the bottom of the seat (2). The adjustment mechanism (3) is used to adjust the horizontal position and vertical height of the seat (2). The top of the frame (1) away from the seat (2) has a lower housing (4) that is slidably provided along the length of the frame (1). A wheel (5) is rotatably installed inside the lower housing (4). Foot pedals (6) are fixedly installed on both sides of the wheel (5), and the foot pedals (6) are located on the outside of the lower housing (4). A reciprocating mechanism (7) is provided at one end of the top of the frame (1) near the lower housing (4). The reciprocating mechanism (7) is connected to the wheel (5) and forms a rotational linkage. The reciprocating mechanism (7) is used to drive the lower housing (4) to reciprocate along the length of the frame (1). The wheel (5) is fixedly installed with a lower support rod (10) on the top, and an upper support rod (11) is slidably installed inside the lower support rod (10) along its axial direction. The upper shell (13) is fixedly installed at the top of the upper support rod (11). The upper housing (13) is rotatably mounted with a shaft (15), both ends of which extend to the outside of the upper housing (13), and a hand crank (16) is fixedly mounted at both ends of the shaft (15). The top of the upper housing (13) is equipped with a control panel (14). A linkage mechanism (17) is provided between the shaft (15) and the wheel (5). The linkage mechanism (17) is used to establish a switchable transmission relationship between the shaft (15) and the wheel (5) so as to realize the linkage rotation of the shaft (15) and the wheel (5) or their independent rotation.

2. The intelligent whole-limb rehabilitation training robot according to claim 1, characterized in that: The adjustment mechanism (3) includes an inverted V-shaped frame (301), a sliding sleeve (302), an outer sleeve (303), and an inner sleeve (304). The inverted V-shaped frame (301) is fixedly installed on the top of the frame (1). The sliding sleeve (302) is slidably sleeved on the outside of the inverted V-shaped frame (301). The outer sleeve (303) is vertically fixed to the top of the sliding sleeve (302). The inner sleeve (304) is slidably inserted into the inside of the outer sleeve (303), and the top of the inner sleeve (304) is fixedly connected to the bottom of the seat (2).

3. The intelligent whole-limb rehabilitation training robot according to claim 1, characterized in that: The reciprocating mechanism (7) includes a linear guide groove (701), a reciprocating screw (702), a slider (703), and a transmission assembly. The linear guide groove (701) is opened at the top of the frame (1) along the length direction of the frame (1). The reciprocating screw (702) is rotatably installed inside the linear guide groove (701). The slider (703) is threaded on the outside of the reciprocating screw (702), and the top of the slider (703) is fixedly connected to the bottom of the lower housing (4). A transmission assembly is provided between the end of the reciprocating screw (702) and the wheel (5).

4. The intelligent whole-limb rehabilitation training robot according to claim 3, characterized in that: The transmission assembly includes a driven gear (704), a driving gear (705), a splined shaft (706), a worm gear (707), a splined groove (708), a worm (709), a first pulley (710), a second pulley (711), and a first belt (712). The driven gear (704) is fixedly sleeved on one end of the reciprocating lead screw (702). The driving gear (705) meshes with the driven gear (704). The splined shaft (706) is rotatably mounted between the two ends of the linear guide groove (701), and the splined shaft (706)... The end is fixedly connected to the drive gear (705), the worm wheel (707) is slidably sleeved on the spline shaft (706), the worm wheel (707) is provided with a spline groove (708) that cooperates with the spline shaft (706), the worm (709) meshes with the worm wheel (707), the first pulley (710) is fixedly sleeved on one end of the worm (709), the second pulley (711) is fixedly sleeved on the outside of the rotating shaft of the wheel disc (5), and the first belt (712) is sleeved between the first pulley (710) and the second pulley (711).

5. The intelligent whole-limb rehabilitation training robot according to claim 1, characterized in that: The linkage mechanism (17) includes a third pulley (1701), a fourth pulley (1702), a second belt (1703), a tensioning assembly (1704), a ratchet (1705), a mounting groove (1706), a ratchet tooth (1707), and a return spring (1708). The third pulley (1701) is fixedly sleeved in the middle of the shaft (15), the fourth pulley (1702) is fixedly sleeved in the middle of the rotating shaft of the wheel disc (5), and the second belt (1703) is sleeved between the third pulley (1701) and the fourth pulley (1702). The tensioning assembly (1704) is installed inside the lower support rod (10) and is used to tension the second belt (1703). The ratchet (1705) is fixedly sleeved on the side of the shaft (15) near the third pulley (1701). The mounting groove (1706) is opened on the side wall of the third pulley (1701) at the position corresponding to the ratchet (1705). The ratchet tooth (1707) is rotatably installed inside the mounting groove (1706) through a pin, and the ratchet tooth (1707) meshes with the ratchet (1705). One end of the return spring (1708) is connected to the ratchet tooth (1707), and the other end is connected to the inner wall of the mounting groove (1706), which is used to drive the ratchet tooth (1707) to maintain the meshing state with the ratchet tooth (1705).

6. The intelligent whole-limb rehabilitation training robot according to claim 5, characterized in that: The tensioning assembly (1704) includes a groove (17041), a slide rod (17042), a wheel seat (17043), a guide wheel (17044), and a thrust spring (17045). The groove (17041) is opened on the side wall of the lower support rod (10). The slide rod (17042) is slidably inserted into the groove (17041). The wheel seat (17043) is fixedly installed at one end of the slide rod (17042). The guide wheel (17044) is rotatably installed inside the wheel seat (17043) and is in contact with the outer side of the second belt (1703). The thrust spring (17045) is sleeved on the outer side of the slide rod (17042). One end of the thrust spring (17045) is connected to the wheel seat (17043), and the other end is connected to the inner wall of the lower support rod (10).

7. The intelligent whole-limb rehabilitation training robot according to claim 1, characterized in that: A resistance cylinder (8) is fixedly installed inside the lower housing (4). A magnetic block (9) is fixedly connected to the output end of the resistance cylinder (8). The edge of the wheel (5) is made of magnetic material, and the magnetic block (9) and the edge of the wheel (5) are fitted with a gap. The distance between the magnetic block (9) and the wheel (5) is changed by adjusting the extension and retraction of the resistance cylinder (8) to adjust the rotation resistance of the wheel (5). The resistance cylinder (8) is electrically connected to the control panel (14).

8. The intelligent whole-limb rehabilitation training robot according to claim 1, characterized in that: A lifting cylinder (12) is hinged to the side of the lower support rod (10). The output end of the lifting cylinder (12) is hinged to the bottom of the upper housing (13). The upper support rod (11) slides against the inner wall of the lower support rod (10). The lifting cylinder (12) is electrically connected to the control panel (14).

9. The intelligent whole-limb rehabilitation training robot according to claim 3, characterized in that: The top of both sides of the linear guide groove (701) is provided with rubber dustproof plates along the length direction, and the sides of the rubber dustproof plates are attached to each other.

10. The intelligent whole-limb rehabilitation training robot according to claim 2, characterized in that: The sliding sleeve (302) and the outer sleeve (303) are both threaded with locking bolts for locking, and the side walls of the inverted V-shaped bracket (301) and the inner sleeve (304) are both provided with positioning holes that cooperate with the locking bolts.

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