Household treadmill matched with lower limb exoskeleton rehabilitation training device for use

Abstract

The utility model provides a home treadmill used in cooperation with a lower limb exoskeleton rehabilitation training device. The home treadmill comprises a bearing support, two pedals arranged on the bearing support in a sliding mode in the front-back direction and an automatic reset mechanism enabling the pedals to move forwards. The two pedals alternately move backwards under the action of the lower limb assisting exoskeleton; when one leg of the user is assisted by the lower limb assistance exoskeleton to step forwards to be separated from the corresponding pedal, the pedal automatically moves forwards under the action of the automatic reset mechanism to support the stepped leg; in this way, the two pedals can alternately move along with the gait of the user, and in-situ circulating exercise of the user is achieved; the household treadmill does not have an additional power source, so that the cost is reduced, the workload caused by speed adjustment of a traditional medical treadmill is avoided, the problem that a user is injured due to the fact that the speed of the traditional medical treadmill is not matched with the speed of the lower limb assisting exoskeleton is effectively solved, and the exercise safety and comfort are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of auxiliary exercise, and particularly relates to a home treadmill used in combination with a lower limb exoskeleton rehabilitation training device. Background Art

[0002] A lower limb exoskeleton rehabilitation training device is a robot used to assist the lower limb disabled to exercise and walk, which includes a lower limb assist exoskeleton that helps the user's legs move alternately and a weight reduction hanger that lifts the user and the lower limb assist exoskeleton. At present, the lower limb exoskeleton rehabilitation training device mainly includes a hanger following exercise mode and a hanger stationary exercise mode. Among them, the hanger following exercise mode needs to be carried out in a large-scale venue, while the hanger stationary exercise mode is suitable for small venues such as indoors. At present, when the user uses the lower limb exoskeleton rehabilitation training device to exercise and walk indoors, a medical treadmill needs to be equipped to achieve stationary exercise and walking.

[0003] The invention patent application of CN108245380A discloses a human lower limb rehabilitation training robot. The robot includes an exoskeleton power device, a treadmill, a waist connection device, a suspension weight reduction device and its control system, wherein the exoskeleton power device drives the human body to train according to the gait trajectory when a normal person walks; the treadmill cooperates with the exoskeleton to provide the same training speed for the user; due to the existence of two motion variables, one is the motion variable of the exoskeleton power device and the other is the motion variable of the medical treadmill, therefore, once the rate of the medical treadmill and the exoskeleton power device do not match well, it is easy to hurt the user; in addition, in order to ensure good rehabilitation exercise effect, it is also necessary to regularly adjust the motion speed of the exoskeleton power device and the speed of the treadmill according to the user's rehabilitation situation, which further increases the workload. Summary of the Utility Model

[0004] In view of the above-mentioned disadvantages of the prior art, the purpose of the present utility model is to provide a home treadmill used in combination with a lower limb exoskeleton rehabilitation training device, which not only avoids the workload caused by the adjustment of the treadmill speed, but also avoids the problem of user injury caused by the mismatch between the exoskeleton speed and the treadmill speed, effectively ensuring the use safety of the user.

[0005] To achieve the above and other related purposes, the present utility model provides a home treadmill for use in conjunction with a lower limb exoskeleton rehabilitation training device. The lower limb exoskeleton rehabilitation training device includes a weight reduction hanger and a lower limb assist exoskeleton mounted on the weight reduction hanger. The home treadmill includes a load-bearing bracket, two pedals slidably arranged on the load-bearing bracket in the front-back direction, and an automatic reset mechanism for moving the pedals forward. The two pedals perform alternating backward movement under the action of the lower limb assist exoskeleton. When the lower limb assist exoskeleton assists one leg of the user to step forward to leave the corresponding pedal, the pedal automatically moves forward under the action of the automatic reset mechanism to support the stepped leg. In this way, the two pedals can follow the user's gait and move alternately, realizing the user's in-situ cyclic exercise. Since the home treadmill of the present application does not require an additional power source, it not only reduces the cost, but also avoids the workload caused by the speed adjustment of traditional medical treadmills, effectively avoiding the problem of user injury caused by the mismatch between the speed of traditional medical treadmills and the speed of the lower limb assist exoskeleton, and improving the safety and comfort of exercise.

[0006] Preferably, the automatic reset mechanism includes a reversing member connecting the two pedals. When one pedal moves backward under the action of the lower limb assist exoskeleton, the other pedal moves forward synchronously under the action of the reversing member. In this way, the synchronous opposite movement of the two pedals can be realized by using the reversing member, so that the movement mode of the two pedals can be as close as possible to the gait movement of a normal person, thus meeting the user's gait exercise needs.

[0007] Preferably, the reversing member includes a fixed pulley group and a steel wire rope. The fixed pulley group is installed on the load-bearing bracket. One end of the steel wire rope is connected to one pedal, and the other end of the steel wire rope bypasses the fixed pulley group and is connected to the other pedal. In this way, the synchronous opposite movement of the two pedals can be realized.

[0008] Preferably, there are two reversing members, and the fixed pulley groups of the two reversing members are respectively located on the front side and the rear side of the load-bearing bracket to ensure the stability of exercise.

[0009] Preferably, the automatic reset mechanism includes an elastic member coupled between the pedal and the load-bearing bracket. The elastic member expands and contracts in the front-back direction. When the lower limb assist exoskeleton assists one leg of the user to push backward against the corresponding pedal, the pedal will move backward and the connected elastic member will deform and store energy. When the lower limb assist exoskeleton assists the leg on this pedal to step forward, the pedal will move forward and reset under the action of the corresponding elastic member to support the stepped leg. In this way, the two pedals can follow the user's gait and move back and forth alternately, realizing the user's in-situ cyclic exercise. In addition, since the two pedals are not associated with each other, the problem of abnormal wear caused by the synchronization of the two pedals during double support is effectively avoided.

[0010] Preferably, the elastic member is a tension spring or a compression spring, which can be selected according to the actual situation.

[0011] Preferably, elastic members are provided on both the front and rear sides of each pedal to ensure the stability of the forward and backward movement of the pedal.

[0012] Preferably, the load-bearing bracket includes a load-bearing base plate; two guide rail groups are arranged at intervals in the left-right direction below the load-bearing base plate; the pedal includes a pedal body located above the load-bearing base plate and a sliding seat fixed to the bottom of the pedal body; the two sliding seats are respectively slidably installed on the two guide rail groups, and a sliding groove for avoiding the sliding seat is provided on the load-bearing base plate; the automatic reset mechanism is arranged below the load-bearing base plate; since both the guide rail group and the automatic reset mechanism are arranged below the load-bearing base plate, the aesthetics of the entire home treadmill is effectively improved.

[0013] Preferably, the home treadmill includes a limiting member for restricting the movement of the two pedals, so as to reduce the difficulty for users to get on the machine and avoid the problem of splitting when users get on the machine.

[0014] Preferably, rollers are provided at the rear side of the load-bearing bracket, and a handle is provided at the front side of the load-bearing bracket, which is convenient for users to lift the home treadmill through the handle so that the rollers of the load-bearing bracket are in contact with the ground, thereby facilitating the transfer of the home treadmill.

[0015] As above, a home treadmill for use in conjunction with a lower limb exoskeleton rehabilitation training device of the present utility model has the following beneficial effects:

[0016] (1) Without the need to additionally equip a power source, the two pedals in this application can automatically move forward and backward alternately following the gait of the user wearing the lower limb assistive exoskeleton to meet the user's requirement for in-situ cyclic exercise walking; since there is no need to adjust the treadmill speed according to the user's rehabilitation situation, it not only effectively saves the extra workload brought by the treadmill speed adjustment, but also avoids the problem that it is difficult to match the traditional treadmill speed with the lower limb assistive exoskeleton speed and easily causes injury to the user, thereby improving the convenience and safety of user exercise.

[0017] (2) In this application, the two pedals are linked by a reversing member, so that the power for the pedal to move forward comes from the backward movement of the other pedal, ensuring that the two pedals can move synchronously in the opposite direction; thus, when the lower limb exoskeleton drives the user's left leg to push backward and the right leg to step forward, the left pedal slides backward under the action of the left leg. At this time, the reversing member synchronously drives the right pedal to move forward to support the stepped right leg; when the lower limb exoskeleton drives the user's right leg to push backward and the left leg to step forward, the right pedal slides backward under the action of the right leg. At this time, the reversing member synchronously drives the left pedal to move forward to support the stepped left leg; thus, the two pedals can move forward and backward alternately following the user's gait, realizing the user's in-situ cyclic exercise.

[0018] (3) This application performs forward reset of the corresponding pedal through an elastic member, effectively avoiding the problem of abnormal wear and slippage of the pedal caused by the synchronous association of the pedal by the commutation member when the user is in the double-support period (i.e., both feet are on the ground), and improving the service life of the pedal.

[0019] (4) The guide rail group and the automatic reset mechanism are arranged below the load-bearing substrate, which can effectively improve the aesthetics of the home treadmill. Description of the Drawings

[0020] Figure 1 It is a state diagram (the user is not drawn) when the home treadmill is used in combination with the lower limb exoskeleton rehabilitation training device.

[0021] Figure 2 It is a top view of the home treadmill in the present utility model.

[0022] Figure 3 and Figure 4 It is an exploded view and a bottom view of the home treadmill in an embodiment of the present utility model.

[0023] Figure 5 It is a bottom view of the home treadmill in another embodiment of the present utility model.

[0024] Figure 6 It is a bottom view of the home treadmill in another embodiment of the present utility model.

[0025] Figure 7 It is a three-dimensional view of the pedal in the present utility model.

[0026] Description of the Reference Numerals

[0027] Weight reduction hanger 100, lower limb assist exoskeleton 200, home treadmill 300, load-bearing bracket 310, load-bearing substrate 311, sliding groove 3111, connecting beam 312, surrounding frame 313, guide rail mounting frame 314, guide rail group 320, pedal 330, pedal limit groove 330a, pedal body 331, sliding seat 332, fixed pulley group 341, steel wire rope 342, elastic member 343, intermediate gear 344, rack 345, limiting member 350, handle 360, roller 370. Detailed Embodiments

[0028] The following specific embodiments illustrate the implementation manners of the present utility model. Those skilled in the art can easily understand other advantages and effects of the present utility model from the content disclosed in this specification.

[0029] Please refer to Figures 1 to 7It should be noted that the structures, proportions, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those familiar with this technology to understand and read, and are not used to limit the conditions under which the present utility model can be implemented. Therefore, they do not have any technical essence. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present utility model can produce and the purposes that can be achieved, should still fall within the scope covered by the technical content disclosed by the present utility model. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and "one" cited in this specification are only for the convenience of clear narration, and are not used to limit the scope of implementation of the present utility model. The change or adjustment of their relative relationship, without substantial change in the technical content, should also be regarded as the scope of implementation of the present utility model.

[0030] The present utility model provides a home treadmill 300, which can be used in cooperation with a lower limb exoskeleton rehabilitation training device to enable a user to perform in-situ exercise walking. The lower limb exoskeleton rehabilitation training device includes a weight reduction hanger 100 and a lower limb assist exoskeleton 200 installed on the weight reduction hanger 100. Among them, after the user wears the lower limb assist exoskeleton 200 on the machine, the lower limb assist exoskeleton 200 can assist the two legs of the user to swing alternately to assist the user in exercising walking. For the convenience of narration, in the following embodiments, the front-back direction of the user after getting on the machine is defined as the front-back direction, the left-right direction of the user after getting on the machine is defined as the left-right direction, and the height direction of the user after getting on the machine is defined as the up-down direction. Based on this, Figures 4 to 6 In the view shown, the left and right sides of the paper surface are the back direction and the front direction respectively, the upper and lower sides of the paper surface are the right direction and the left direction respectively, and the inner and outer sides of the paper surface are the up direction and the down direction respectively.

[0031] Embodiment 1

[0032] As Figure 1 and Figure 2 shown, the home treadmill 300 provided in this Embodiment 1 includes a load-bearing bracket 310, two pedals 330 slidably arranged on the load-bearing bracket 310 in the front-back direction, and an automatic reset mechanism for moving the pedals 330 forward. During use, the two legs of the user step on the two pedals 330 respectively, and the two legs of the user swing alternately under the action of the lower limb assist exoskeleton 200 to make the two pedals 330 move backward alternately. When the lower limb assist exoskeleton 200 assists one leg of the user to step forward to leave the corresponding pedal 330, the pedal automatically moves forward under the action of the automatic reset mechanism to support the stepped leg. In this way, the two pedals 330 can move back and forth alternately following the gait of the user to achieve the in-situ cyclic exercise walking of the user.

[0033] Specifically, the automatic reset mechanism includes a reversing member connecting two pedals 330. When the lower limb power exoskeleton 200 drives the user's left leg to push backward and the right leg to step forward, the left pedal 330 slides backward under the action of the left leg. At this time, the reversing member synchronously drives the right pedal 330 to move forward to support the stepped right leg. When the lower limb power exoskeleton 200 drives the user's right leg to push backward and the left leg to step forward, the right pedal 330 slides backward under the action of the right leg. At this time, the reversing member synchronously drives the left pedal 330 to move forward to support the stepped left leg. In this way, the two pedals 330 can move synchronously and in opposite directions to meet the support requirements when the user exercises and walks in place.

[0034] It can be understood that the structure and setting form of the reversing member are diverse, including but not limited to the following two setting forms;

[0035] The first setting form: As Figure 3 and Figure 4 shown, the reversing member includes a fixed pulley group 341 and a steel wire rope 342. The fixed pulley group 341 includes at least one fixed pulley. Among them, the fixed pulley group 341 is installed on the front side or the rear side of the load-bearing bracket 310. One end of the steel wire rope 342 is connected to one pedal 330, and the other end of the steel wire rope 342 bypasses each fixed pulley in the fixed pulley group 341 and is connected to the other pedal 330. In this way, when one pedal 330 moves backward, the other pedal 330 will move forward synchronously under the action of the steel wire rope 341. In this embodiment, the reversing member is preferably set to two, and the fixed pulley groups 341 of the two reversing members are respectively located on the front side and the rear side of the load-bearing bracket 310 to improve the service life of the home treadmill 300.

[0036] The second setting form: As Figure 6 shown, the reversing member includes an intermediate gear 344 and two racks 345 that mesh with the intermediate gear 344 at the same time. The two racks 345 are respectively connected to the two pedals 330, so that when one pedal 330 drives the corresponding rack 345 to move backward, the intermediate gear 344 rotates self and drives the other rack 345 and the pedal 330 to move forward. Of course, the reversing member can also adopt other synchronous transmission components such as a synchronous belt assembly that can realize the function of synchronous reverse movement of two components, and this is not limited herein.

[0037] Preferably, a friction pad is detachably installed on the pedal body 331 to increase the friction between the pedal 330 and the user's foot and avoid slipping problems.

[0038] As Figure 2As shown, there are two guide rail groups 320 provided on the load-bearing bracket 310 at intervals in the left-right direction, and each guide rail group 320 includes at least one guide rail; two pedals 330 are respectively slidably mounted on the guide rails of the two guide rail groups 320. In this way, the guide rails of the guide rail groups 320 can be used to guide the sliding direction of the corresponding pedals 330 to ensure the sliding stability of the pedals 330; in this embodiment, each guide rail group 320 includes two guide rails, and the two guide rails are arranged at intervals in the left-right direction.

[0039] Further, as Figure 2 , Figure 3 , Figure 4 and Figure 7 shown, the load-bearing bracket 310 includes a load-bearing base plate 311, and the two guide rail groups 320 are arranged at intervals below the load-bearing base plate 311; the pedal 330 includes a pedal body 331 located above the load-bearing base plate 311 and a sliding seat 332 fixed to the bottom of the pedal body 331; the two sliding seats 332 are respectively slidably mounted on the guide rails of the two guide rail groups 320, and a sliding groove 3111 for avoiding the sliding seat 332 is provided on the load-bearing base plate 311; an automatic reset mechanism is arranged below the load-bearing base plate 311 for driving the two sliding seats 332 to alternately move forward and reset; since there is only the pedal body 331 above the load-bearing base plate 311, the aesthetics and use safety of the home treadmill 300 are effectively improved.

[0040] Preferably, as Figure 3 shown, the load-bearing bracket 310 includes connecting beams 312 at the front end and the rear end of the bottom of the load-bearing base plate 311; a guide rail mounting frame 314 is provided between the two connecting beams 312; the 2 guide rail groups 320 are installed at intervals on the guide rail mounting frame 314; in this way, the two connecting beams 312 and the guide rail mounting frame 314 can form the bottom support frame for supporting the load-bearing bracket 310.

[0041] Further, as Figure 3 shown, the load-bearing bracket 310 includes an enclosing frame 313 for surrounding the bottom support frame; the enclosing frame 313 is used to block the remaining structures at the bottom of the load-bearing bracket 310, effectively improving the aesthetics of the home treadmill.

[0042] In order to facilitate the user to get on the machine, it is necessary to lock the positions of the two pedals 330. As Figure 2 shown, a limiting member 350 is detachably fixed on the load-bearing bracket 310, and a pedal limiting groove 330a is provided on the pedal 330; when the limiting member 350 is inserted into the pedal limiting grooves 330a of the two pedals 330 at the same time, the positions of the two pedals 330 can be locked; of course, the limiting member 350 can also be used to lock the pedals 330 on the load-bearing bracket 310 respectively.

[0043] As Figure 2As shown, a roller 370 is provided at the rear side of the load-bearing bracket 310, and a handle 360 is provided at the front side of the load-bearing bracket 310, so as to facilitate the user to move the home treadmill into or out of the weight loss hanging bracket.

[0044] Embodiment 2

[0045] The difference between this embodiment and Embodiment 1 lies only in the structure of the automatic reset mechanism.

[0046] As Figure 5 shown, the automatic reset mechanism includes elastic members 343 provided at the front side and / or the rear side of each pedal 330 and coupled to the load-bearing bracket 310, wherein the elastic members 343 expand and contract in the front-rear direction; in this embodiment, the elastic members 343 are tension springs or compression springs.

[0047] The elastic members 343 provided on each pedal 330 need to be symmetrically arranged with respect to the front-rear center line of the pedal 330 to ensure the reset stability of the pedal 330.

[0048] During use, the user's two feet step on the two pedals 330 respectively. When the lower limb assist exoskeleton 200 drives the user's left leg to push backward and the right leg to step forward, the left pedal 330 slides backward under the action of the left leg and deforms and stores energy in the elastic member 343 on the left pedal; when the lower limb assist exoskeleton 200 drives the user's right leg to push backward and the left leg to step forward, the right pedal 330 slides backward under the action of the right leg and deforms and stores energy in the elastic member 343 on the right pedal. At this time, the elastic member on the left pedal returns and pushes the left pedal 330 to move forward to support the stepped left leg; thus, the two pedals 330 can follow the user's gait and alternately move to achieve in-situ cyclic exercise walking.

[0049] Since the forward movement and reset of the two pedals 330 are carried out independently, it is ensured that the static friction between the user's feet and the pedals 330 is always maintained. When the double support period (i.e., both feet are in contact with the corresponding pedals 330) occurs, the linkage of the two pedals 330 causes sliding friction between the pedals 330 and the feet, resulting in excessive wear of the pedals 330 and slipping problems, and the service life of the pedals 330 is improved.

[0050] In summary, the present utility model effectively overcomes various disadvantages in the prior art and has high industrial utilization value.

[0051] The above embodiments are only illustrative of the principles and effects of the present utility model, and are not used to limit the present utility model. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present utility model. Therefore, all equivalent modifications or changes made by those with ordinary knowledge in the technical field without departing from the spirit and technical idea disclosed by the present utility model should still be covered by the claims of the present utility model.

Claims

1. A home treadmill used in conjunction with a lower limb exoskeleton rehabilitation training device, the lower limb exoskeleton rehabilitation training device comprising a weight-reducing hanger (100) and a lower limb power-assisted exoskeleton (200) mounted on the weight-reducing hanger (100); characterized in that: The home treadmill (300) comprises a load-bearing frame (310), two pedals (330) slidably arranged on the load-bearing frame (310) in the front-rear direction, and an automatic resetting mechanism for moving the pedals (330) forward; the two pedals (330) realize an alternating backward movement under the action of the lower limb power-assisting exoskeleton (200); When the lower limb assisting exoskeleton (200) assists one leg of the user to step forward to disengage from the corresponding pedal (330), the pedal automatically moves forward under the action of the automatic reset mechanism to support the stepping leg.

2. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The automatic resetting mechanism comprises a reversing member connecting two pedals (330); when one pedal (330) moves backward under the action of the lower limb power-assisting exoskeleton (200), the other pedal (330) moves forward synchronously under the action of the reversing member.

3. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 2, characterized in that: The reversing member comprises a fixed pulley block (341) and a steel wire rope (342), wherein the fixed pulley block (341) is mounted on a load-bearing bracket (310); one end of the steel wire rope (342) is connected to a pedal (330), and the other end of the steel wire rope (342) passes around the fixed pulley block (341) and is connected to another pedal (330).

4. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 3, characterized in that: There are two reversing members, and the fixed pulley groups (341) of the two reversing members are respectively located at the front side and the rear side of the load-bearing bracket (310).

5. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The automatic reset mechanism comprises an elastic member (343) coupled between the pedal (330) and the load-bearing bracket (310), and the elastic member (343) is retracted and contracted in the front-rear direction.

6. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 5, characterized in that: The elastic member (343) is a tension spring or a compression spring.

7. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 5, characterized in that: Elastic members (343) are provided on the front and rear sides of each pedal (330).

8. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to any one of claims 1 to 7, characterized in that: The load-bearing bracket (310) comprises a load-bearing base plate (311); two guide rail groups (320) are arranged at intervals along the left-right direction below the load-bearing base plate (311); the pedal (330) comprises a pedal body (331) located above the load-bearing base plate (311) and a sliding seat (332) fixed at the bottom of the pedal body (331); the two sliding seats (332) are respectively slidably mounted on the two guide rail groups (320), and the load-bearing base plate (311) is provided with a sliding groove for avoiding the sliding seats (332); and the automatic reset mechanism is arranged below the load-bearing base plate (311).

9. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: The home treadmill (300) comprises a limiting member (350) for limiting the movement of two pedals.

10. A home treadmill for use with a lower limb exoskeleton rehabilitation training device according to claim 1, characterized in that: A roller (370) is provided on the rear side of the load-bearing bracket (310), and a handle (360) is provided on the front side of the load-bearing bracket (310).

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