Upper and lower limb multi-joint training device

Abstract

The utility model discloses an upper and lower limb multi-joint training device, and belongs to the technical field of rehabilitation devices. The defects that in the prior art, a traditional upper and lower limb training device is single in training device structure body, and debugging modes of the height of an upper limb mechanism, the relative position of a rotation center and the position of a display screen are relatively insufficient are overcome. A main body structure of the device comprises a base, a switching mechanism and a lower limb training mechanism are arranged on the base, the lower limb training mechanism is arranged on the base through a supporting frame, an upper limb training mechanism is arranged on the switching mechanism, and the switching mechanism comprises a fixing structure connected with the supporting frame, a sectional material, a stroke base connected with the sectional material and an electric push rod. The lower end of the electric push rod is hinged to the base through a support, the output end of the electric push rod is connected with the stroke base through a profile, and the upper end of the stroke base is connected with the upper limb training mechanism through a connecting block. The device is mainly used for active training or passive training of upper and lower limbs of a patient.

Description

Technical Field

[0001] The utility model belongs to the technical field of rehabilitation devices, and in particular relates to a multi-joint training device for upper and lower limbs. Background Art

[0002] The joints of the upper and lower limbs serve as the main support and interactive carriers of daily human activities, and have a direct impact on the quality of life of individuals. For patients with upper and lower limb disabilities, rehabilitation training is an important part of eliminating or alleviating upper and lower limb disabilities. The main purpose of rehabilitation training is to enable the patient's upper and lower limb joints to move and gradually restore the functions of muscles and nerves related to upper and lower limb activities.

[0003] Active and passive exercise rehabilitation machines for the upper and lower limbs are common devices for patients undergoing upper and lower limb rehabilitation training. These machines typically utilize motors to drive the patient's upper and lower limbs for active or passive training. Existing upper and lower limb training devices have a simple main structure. Adjusting the height of the upper limb mechanism, the relative position of the rotation center of the upper limb training support mechanism, and the display screen position is relatively inflexible, affecting patient comfort during training. Furthermore, they lack compensation for speed changes during the peak critical point of lower limb rotation, resulting in sudden changes in training speed during each rotation cycle.

[0004] For example, the Chinese utility model patent with authorization announcement number CN 217138583 U discloses an intelligent upper and lower limb active and passive exercise rehabilitation machine. However, its shortcomings are: the upper limb training platform is complicated to adjust, and the upper limb training platform adopts a belt transmission method, which is easy to deviate and affect the user's rehabilitation training process. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide an upper and lower limb multi-joint training device.

[0006] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0007] A multi-joint training device for upper and lower limbs includes a base, on which a transfer mechanism and a lower limb training mechanism are provided. The lower limb training mechanism is arranged on the base through a support frame, and the upper limb training mechanism is arranged on the transfer mechanism. The transfer mechanism includes a fixed structure connected to the support frame, a profile, a travel seat connected to the profile, and an electric push rod. The lower end of the electric push rod is hingedly connected to the base through a support, the output end of the electric push rod is connected to the travel seat through the profile, and the upper end of the travel seat is connected to the upper limb training mechanism through a connecting block.

[0008] Preferably, the upper limb training mechanism includes a fixed component, and a handle member and a handle component are respectively provided at both ends of the fixed component. A slide rail and a slider provided on the slide rail are provided on the fixed component. The slider is connected to the connecting block. A first motor is also slidably connected to the slide rail. The first motor is rotatably connected to the handle assembly through a reducer and a rotating shaft.

[0009] Preferably, the upper limb training mechanism further comprises a control screen, which is mounted on a bracket via a screen seat, and the bracket is rotatably connected to the fixed assembly via a rotating shaft.

[0010] Preferably, the upper limb training mechanism further includes an emergency stop switch.

[0011] Preferably, the lower limb training mechanism includes a pulley assembly, a pedal assembly and a second motor. The pulley assembly is rotatably mounted on the support frame through a bearing, the pedal assembly is rotationally connected to the pulley assembly, and the output end of the second motor is transmission-connected to the pulley assembly.

[0012] Preferably, the pulley assembly includes a pulley, the output end of the second motor is connected to the pulley through a rotating wheel and a belt, the pulley is rotatably mounted on the support frame through a pulley shaft, and both ends of the pulley shaft are rotatably connected to the pedal assembly through a connecting piece.

[0013] Preferably, the second motor is mounted on the base via a positioning plate.

[0014] Preferably, the footrest assembly includes a footrest and an inclined rod for supporting the calf.

[0015] Preferably, the first motor and the second motor are both provided with Hall elements for monitoring the number of rotations of the motors.

[0016] Preferably, the bottom of the base is provided with feet and casters.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. The upper limb training mechanism and the control screen can be flexibly rotated and fixed after rotation to adapt to various needs. The upper limb part can be freely adjusted forward and backward, and the control screen can be rotated and adjusted, which is convenient for patients to train their upper limbs, control, and identify screen information. This can avoid the problems that the display direction of the control screen cannot follow the patient's position adjustment or the adjustment mechanism is not simple enough, and the upper limb training mechanism cannot be adjusted forward and backward or the adjustment is inconvenient;

[0019] 2. When an unexpected situation occurs, the device can be completely stopped by pressing the emergency stop switch. When the danger is eliminated, the device can be put into normal operation by pressing the emergency stop switch again. When the emergency stop switch is turned on, the controller can emit an audible and visual alarm to alert surrounding patients and / or staff.

[0020] 3. The lower limb training mechanism and the upper limb training mechanism are used for rehabilitation training of patients. The electric push rod of the adapter mechanism drives the travel seat to push the upper limb training mechanism up and down to adjust the height. The lifting of the upper limb training mechanism is achieved by the electric push rod, which can realize one-button adjustment of the lifting height. It is fast and stable and can be adjusted according to the individual differences of the patients to enhance the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the utility model;

[0022] Figure 2 This is a structural diagram of the utility model from another perspective;

[0023] Figure 3 This is a schematic structural diagram of the transfer mechanism in the present utility model;

[0024] Figure 4 This is a structural diagram of the upper limb training mechanism of the present invention.

[0025] In the figure: 1. Fixed assembly; 2. Bracket; 3. Slider; 4. Slide rail; 5. Handle piece; 6. Handle assembly; 7. First motor; 8. Reducer; 9. Connector; 10. Pedal; 11. Screen base; 12. Control panel; 13. Emergency stop switch; 14. Connecting block; 15. Fixed structure; 16. Profile; 18. Travel seat; 19. Electric push rod; 20. Support; 21. Base; 22. Support frame; 23. Pulley; 24. Belt; 25. Second motor; 26. Tensioner; 27. Pulley shaft; 28. Flange; 29. ​​Positioning plate; 30. Inclined rod; 31. Pedal assembly; 32. Caster; 33. Anchor. DETAILED DESCRIPTION

[0026] The present invention will be further described below through specific embodiments in conjunction with the accompanying drawings.

[0027] Example 1:

[0028] like Figure 1 、 3As shown, a multi-joint training device for upper and lower limbs includes a base 21, on which is provided a transfer mechanism and a lower limb training mechanism for lower limb training. The lower limb training mechanism is provided on the base 21 via a support frame 22, and the upper limb training mechanism is provided on the transfer mechanism. The transfer mechanism includes a fixed structure 15 connected to the support frame 22, a profile 16, a travel seat 18 connected to the profile 16, and an electric push rod 19. The lower end of the electric push rod 19 is hingedly connected to the base 21 via a support 20. The output end of the electric push rod 19 is connected to the travel seat 18 via the profile 16 to drive the travel seat 18 connected to the profile 16 to move axially along the electric push rod 19, so that the travel seat 18 connected to the connecting block 14 drives the upper limb training mechanism to adjust its height. The upper end of the travel seat 18 is connected to the upper limb training mechanism via the connecting block 14. The fixed structure 15 forms a directional channel for the travel seat 18 to slide.

[0029] In this embodiment, the lower limb training mechanism and the upper limb training mechanism are used for rehabilitation training of patients. The lifting and lowering of the upper limb training mechanism is achieved by an electric push rod 19, which can realize one-button adjustment of the lifting height, which is fast and stable, and can be adjusted according to the individual differences of the patients to enhance the user experience.

[0030] It should be noted that a groove is provided on the stroke seat 18 to facilitate the rotation and positioning of the upper limb training mechanism. The stroke seat 18 and the connecting block 14 adopt a hole-shaft combination. A retaining spring groove is provided on the shaft of the stroke seat 18 to facilitate the positioning of the connecting block 14. At the same time, an oil-free bushing is installed in the shaft-hole, and the two are fastened by quick-insert screws. Through the hole-shaft combination, the upper limb training mechanism can be rotated 180°, so that the handle side can contact patients with weak upper limb muscle strength, thereby providing contact strength between the patient and the device.

[0031] Example 2:

[0032] like Figure 4 As shown, a multi-joint training device for upper and lower limbs is different from Example 1 in that the upper limb training mechanism includes a fixed component 1, and a handle 5 and a handle component 6 for upper limb training are respectively provided at both ends of the fixed component 1. A slide rail 4 and a slider 3 provided on the slide rail 4 are provided on the fixed component 1. The slider 3 is connected to the connecting block 14. The slide rail 4 is also slidably connected to the first motor 7. The first motor 7 is rotatably connected to the handle component 6 through a reducer 8 and a rotating shaft. The first motor 7 and the handle component 6 are driven by the slider 3 to slide in a direction along the slide rail 4 (the slider 3 is stationary and the slide rail 4 slides). The linkage between the two can achieve adaptation to different patient postures. Among them, the first motor 7 is also connected to an encoder for adjusting the speed.

[0033] Furthermore, the upper limb training mechanism also includes a control screen 12, which is installed on the bracket 2 through the screen seat 11, and the bracket 2 is rotatably connected to the fixed component 1 through a rotating shaft and a retaining spring; specifically, the bracket 2 is provided with a rotating shaft, and the fixed component 1 is provided with a countersunk hole that can cooperate with the rotating shaft, so that the control screen 12 connected to the rotating shaft can rotate relative to the fixed component 1, and the rotating shaft is provided with a retaining spring groove for installing the retaining spring to limit the axial movement of the adjusted rotating shaft, and a limiter is provided between the rotating shaft and the countersunk hole to limit the rotation of the adjusted rotating shaft. The hole-shaft cooperation is adopted to realize 360° rotation of the control screen 12, and the limiter is preferably a quick-insert screw.

[0034] The upper limb training mechanism and the control screen 12 are flexibly rotated and fixed after rotation to adapt to various needs. The upper limb part can be freely adjusted forward and backward, and the control screen 12 can be rotated and adjusted to facilitate the patient's upper limb training, control and identification of screen information, thereby avoiding the problem that the display direction of the control screen 12 cannot follow the patient's position adjustment or the adjustment mechanism is not simple enough, and the upper limb training mechanism cannot be adjusted forward and backward or the adjustment is inconvenient.

[0035] The control screen 12 in this embodiment is specifically a touch screen. The user can select the corresponding training mode and training time on the control screen 12 according to his or her actual situation. The corresponding process is to turn on the software switch and enter the main interface. Exercise prescription training and custom training can be selected. It is usually based on one's own muscle strength level. The commonly used muscle strength level grading standard is usually divided into 0-5 levels, a total of 6 levels, specifically: at level 0, the muscles do not contract and no muscle movement can be generated at all, that is, it is usually said that no limb movement can be seen; at level 1, the muscles will contract slightly, which can cause joint movement, and the patient's small joints can move; at level 2, the muscles can move in the direction of the plane, that is, the limb can be translated on the bed; at level 3, the muscles can resist a little gravity and can be lifted up and down, that is, the limb can leave the bed; at level 4, the limb can completely resist gravity, but cannot resist a certain resistance, that is, the limb can be lifted off the bed, but it cannot be lifted by gently pressing with the hand; at level 5, the limb can move like a normal person and has normal muscle strength.

[0036] When exercise prescription training is selected, the instrument will run according to the corresponding prescription until the end of the single rehabilitation training. When custom training is selected, you can further select upper limb level training, upper limb conventional training, lower limb training and linkage training (i.e. training upper and lower limbs), and then further select training modes, such as: active training, passive training, active training and passive training, which also includes power training adjusted by settings (such as functional electrical stimulation settings, training speed settings, spasm level, spasm control, training time, sound settings, etc.), and then train until the end of the single rehabilitation training.

[0037] Furthermore, the upper limb training mechanism also includes an emergency stop switch 13. When an unexpected situation occurs, the device can be completely stopped by pressing the emergency stop switch 13. When the danger is eliminated, the normal operation of the device can be achieved by pressing the emergency stop switch 13 again. When the emergency stop switch 13 is turned on, an audible and visual alarm can be issued by the controller to alert surrounding patients and / or staff.

[0038] like Figure 2 As shown, the lower limb training mechanism includes a pulley assembly, a pedal assembly 31, and a second motor 25. The pulley assembly is rotatably mounted on the support frame 22 via a bearing. The pedal assembly 31 is rotatably connected to the pulley assembly. The output end of the second motor 25 is in transmission connection with the pulley assembly. The pulley assembly includes a pulley 23. The output end of the second motor 25 is in transmission connection with the pulley 23 via a rotating pulley and a belt 24. The pulley 23 is rotatably mounted on the support frame 22 via a pulley shaft 27. Both ends of the pulley shaft 27 are rotatably connected to the pedal assembly 31 via a connector 9. The second motor 25 is mounted on the base 21 via a positioning plate 29.

[0039] Specifically, the pulley 23 is connected through a support flange 28, and the pulley shaft 27 is provided with a retaining spring groove for installing a retaining spring to limit the axial movement of the installed pulley shaft 27. A rotating wheel is provided at the output end of the second motor 25, and the pulley 23 and the rotating wheel are connected by a belt 24 to drive the pulley 23 and the pedal assembly 31 to rotate synchronously.

[0040] The two retaining ring grooves provided on the pulley shaft 27 can achieve accurate positioning of the installed pulley shaft 27, thereby ensuring that the pulley 23 connected by the flange 28 is accurately positioned to ensure that the belt 24 connecting the pulley 23 and the rotating wheel is located on the vertical plane, preventing the belt 24 from deviating and affecting the user's rehabilitation training process. A tensioner 26 is also provided on the support frame 22. The tensioner 26 can adjust the tension of the belt 24 to prevent the belt 24 from becoming loose over time and affecting the actual training effect. In addition, a motor slide groove and a long hole are provided on the positioning plate 29 to facilitate adjustment of the distance between the second motor 25 and the pulley shaft 27 to ensure that the motor shaft and the pulley 23 are in the same horizontal plane.

[0041] Furthermore, the footrest assembly 31 includes a footrest 10 and an inclined rod 30 for supporting the calf. The footrest assembly 31 is provided with an angle adjustment knob to adjust the angle between the inclined rod 30 and the footrest 10 to meet the actual needs of different users and increase the comfort of the user's lower limb exercise.

[0042] Furthermore, each of the first motor 7 and the second motor 25 is provided with a Hall element for monitoring the number of revolutions of the motors. The first Hall element for monitoring the number of revolutions of the first motor 7 and the second Hall element for monitoring the number of revolutions of the second motor 25 can both send signals to the control screen 12 to record the training process. After the above-mentioned single rehabilitation training is completed, the user can select rehabilitation training again to continue training according to actual needs, or can choose to save data and view an evaluation report to understand the training status and training results. After that, the control screen 12 returns to the main interface for subsequent user use. When no user is using it, the software switch can be turned off, or it can be set to automatically shut down according to actual needs (for example, the system automatically shuts down after detecting that no one has been training for one minute).

[0043] Each of the first motor 7 and the second motor 25 includes an angle sensor and an algorithm module connected to an encoder. The angle sensor is capable of acquiring rotation information of the motor output shaft and transmitting this information to the algorithm module, so that the algorithm module transmits the corresponding coded information to the encoder, which is used by the encoder to adjust the rotation speed of the first motor 7 to perform reverse compensation control for the speed mutation at the highest critical point. It will be understood that, through the encoder, angle sensor, and algorithm module, reverse compensation control can be performed for the speed mutation caused by load when rotating to the highest critical point during upper limb and / or lower limb training, making the training process smoother and avoiding sudden changes in training speed during each rotation cycle during upper limb and / or lower limb training.

[0044] Furthermore, the control screen 12 is connected to the first motor 7 and the second motor 25. The control screen 12 is provided with an inching member, and the inching member can cause the first motor 7 and / or the second motor 25 to rotate slightly to adjust the handle assembly 6 and / or the foot pedal assembly 31 to the initial position. It is understandable that the control screen 12 is provided with an inching member capable of controlling the first motor 7 and / or the second motor 25 to operate slightly. By manually triggering the inching member, and causing the first motor 7 and / or the second motor 25 to rotate slightly, the handle assembly 6 and / or the foot pedal assembly 31 can be returned to the initial position for adaptive adjustment before training begins.

[0045] In this embodiment, the bottom of the base 21 is provided with feet 33 and casters 32. The casters 32 can drive the feet 33 and casters 32 to move, thereby increasing the transfer efficiency of the device, and the feet 33 and casters 32 can support the base 21 after movement, thereby supporting the entire device.

Claims

1. A multi-joint training device for upper and lower limbs, comprising a base (21), characterized in that: The base (21) is provided with a transfer mechanism and a lower limb training mechanism, the lower limb training mechanism is provided on the base (21) via a support frame (22), the transfer mechanism is provided with an upper limb training mechanism, the transfer mechanism comprises a fixed structure (15) connected to the support frame (22), a profile (16), a travel seat (18) connected to the profile (16), and an electric push rod (19), the lower end of the electric push rod (19) is hingedly connected to the base (21) via a support (20), the output end of the electric push rod (19) is connected to the travel seat (18) via the profile (16), and the upper end of the travel seat (18) is connected to the upper limb training mechanism via a connecting block (14); The upper limb training mechanism comprises a fixed assembly (1), wherein a handle member (5) and a handle assembly (6) are respectively provided at both ends of the fixed assembly (1), a slide rail (4) and a slider (3) provided on the slide rail (4), the slider (3) being connected to a connecting block (14), and a first motor (7) being slidably connected to the slide rail (4), and the first motor (7) being rotationally connected to the handle assembly (6) via a reducer (8) and a rotating shaft.

2. The upper and lower limb multi-joint training device according to claim 1, characterized in that: The upper limb training mechanism further comprises a control screen (12), which is mounted on the bracket (2) via a screen seat (11), and the bracket (2) is rotatably connected to the fixed assembly (1) via a rotating shaft.

3. The upper and lower limb multi-joint training device according to claim 2, characterized in that: The upper limb training mechanism also includes an emergency stop switch (13).

4. The upper and lower limb multi-joint training device according to any one of claims 1 to 3, characterized in that: The lower limb training mechanism comprises a pulley assembly, a pedal assembly (31) and a second motor (25); the pulley assembly is rotatably mounted on a support frame (22) via a bearing; the pedal assembly (31) is rotatably connected to the pulley assembly; and the output end of the second motor (25) is transmission-connected to the pulley assembly.

5. The upper and lower limb multi-joint training device according to claim 4, characterized in that: The pulley assembly includes a pulley (23), the output end of the second motor (25) is connected to the pulley (23) through a rotating wheel and a belt (24), the pulley (23) is rotatably mounted on the support frame (22) through a pulley shaft (27), and both ends of the pulley shaft (27) are rotatably connected to the pedal assembly (31) through a connecting piece (9).

6. The upper and lower limb multi-joint training device according to claim 4, characterized in that: The second motor (25) is mounted on the base (21) via a positioning plate (29).

7. The upper and lower limb multi-joint training device according to claim 4, characterized in that: The footrest assembly (31) comprises a footrest (10) and an inclined rod (30) for supporting the calf.

8. The upper and lower limb multi-joint training device according to claim 4, characterized in that: The first motor (7) and the second motor (25) are both provided with a Hall element for monitoring the number of motor rotations.

9. The upper and lower limb multi-joint training device according to any one of claims 1 to 3, characterized in that: The bottom of the base (21) is provided with feet (33) and casters (32).

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