Active and passive rehabilitation training equipment for lower limbs

Abstract

Active and passive rehabilitation training equipment for lower limbs comprises a rack and a lower limb training assembly, and the lower limb training assembly comprises a control mechanism, a driving mechanism and foot supports located on the two opposite sides of the bottom end of the rack. The foot support is rotationally connected to the rack through a crank, the driving mechanism is provided with a power output shaft, the power output shaft is in driving connection with the crank and suitable for driving the foot support to rotate relative to the rack, and a Hall sensor is arranged on the peripheral side of the power output shaft and used for monitoring the motion state of the foot support. The control mechanism is used for controlling the driving mechanism to operate so as to drive the foot support to rotate, and the control mechanism can control the output power of the driving mechanism according to the feedback of the lower limb action of the patient in the control process to provide resistance or assistance for training of the patient, so that two modes of active training and passive training are realized; the training requirements of patients with different diseases are met, targeted training is carried out, and the training effect is more remarkable. A Hall sensor is further arranged, the motion state of the foot support can be monitored, equipment self-inspection is achieved, and safety is high.

Description

Technical Field

[0001] The present application relates to the field of medical rehabilitation technology, and in particular to a lower limb active and passive rehabilitation training device. Background Art

[0002] Lower limb dysfunction refers to a disorder in which movement of a particular or related lower limb is not controlled by the mind, or is controlled but not fully regulated. Lower limb dysfunction severely impacts patients' quality of life and requires rehabilitation training. With the advancement of science and technology, rehabilitation robotics are also continuously improving. Among these, lower limb rehabilitation robots, used for people with lower limb motor dysfunction, enable patients to restore or improve their walking and movement abilities through the machine.

[0003] The rational use of lower limb rehabilitation robots can effectively improve patient symptoms and optimize rehabilitation strategies. However, depending on the disease, the functions required by patients are different. For example, patients with insufficient muscle strength need enhanced assistance, patients with spinal cord injury need motor compensation, patients with gait abnormalities need gait correction, and stroke patients need neurological rehabilitation.

[0004] Therefore, in order to design rehabilitation medical devices with more targeted rehabilitation strategies, the inventors have conducted years of dedicated research and investigated the usage scenarios of specific departments, and are committed to developing a lower limb rehabilitation training device that can perform targeted training. Utility Model Content

[0005] The purpose of this application is to provide a lower limb active and passive rehabilitation training device that can train the patient's lower limbs in a targeted manner according to different situations, with significant training effects and high safety.

[0006] The technical solutions provided by this utility model are as follows:

[0007] A lower limb active and passive rehabilitation training device, comprising:

[0008] rack and lower body training components;

[0009] The lower limb training assembly includes a control mechanism, a driving mechanism, and footrests located on opposite sides of the bottom end of the frame, the footrests being rotatably connected to the frame via cranks, the driving mechanism having a power output shaft, the power output shaft being drivingly connected to the cranks and adapted to drive the footrests to rotate relative to the frame, and a Hall sensor being provided on a circumferential side of the power output shaft, one of the cranks being provided with a magnet, the Hall sensor sensing the position of the magnet to determine the motion state of the footrest;

[0010] The control mechanism is used to control the operation of the driving mechanism to drive the footrest to rotate, and the control mechanism is configured to control the output power of the driving mechanism according to feedback of the patient's lower limb movement.

[0011] In some embodiments, the driving mechanism includes a servo motor and a reducer connected to each other, and the reducer is provided with the power output shaft for converting the high-speed and low-torque output of the servo motor into a low-speed and high-torque output.

[0012] In some embodiments, the footrest includes a pedal, a side panel, and a support panel;

[0013] The side panel is arranged above the pedal along the edge of the pedal to form a receiving groove for accommodating the patient's foot, and an opening is provided at one end of the receiving groove in the length direction, and the inner side wall of the receiving groove opposite to the opening is suitable for abutting against the patient's heel; the side of the side panel facing away from the receiving groove is connected to the crank, and the supporting plate is fixed above the side panel and is located on the side of the side panel connected to the crank, and is suitable for abutting against the patient's leg.

[0014] In some embodiments, the end of the pedal having the opening is tilted toward the top of the frame.

[0015] In some embodiments, the bottom end of the rack has a first side, a second side, a third side, and a fourth side, the first side and the second side are oppositely disposed, and the third side and the fourth side are oppositely disposed;

[0016] The footrest is arranged on the first side and the second side, the third side is provided with a fixed foot cup, and the fourth side is provided with a universal foot cup.

[0017] In some embodiments, a movable roller is further provided on the fourth side of the bottom end of the frame. The movable roller is located on the side of the universal foot cup away from the fixed foot cup, and the height of the movable roller is higher than the height of the universal foot cup.

[0018] In some embodiments, both the first side and the second side of the bottom end of the frame are provided with indicator lights to indicate the operating status of the lower limb active and passive rehabilitation training device.

[0019] In some embodiments, the rack includes a bottom shell and a bottom frame disposed within the bottom shell;

[0020] The chassis includes a base, a mounting plate arranged above the base, and a connecting plate connecting the mounting plate and the base, the mounting plate, the connecting plate and the base together form an accommodating space, and the accommodating space is suitable for storing the electrical module; the driving mechanism is provided on the side of the mounting plate away from the base; and the bottom shell includes a first shell and a second shell fixedly connected, and the first shell and the second shell are arranged in sequence along the extension direction of the power output shaft.

[0021] In some embodiments, the lower limb active and passive rehabilitation training device further includes:

[0022] an armrest, provided at the top of the frame, suitable for the patient to grasp;

[0023] and / or

[0024] An interactive component is provided at the top of the rack;

[0025] The interactive component includes an interactive screen and a fixed column, the interactive screen is hinged to the fixed column, the fixed column is installed on the frame at one end away from the interactive screen, and an adjustment member is provided between the interactive screen and the fixed column to adjust the pitch angle of the interactive screen.

[0026] In some embodiments, the rack further includes a top shell, a bracket and a mounting frame, wherein the mounting frame is fixed to the base for docking the bracket, and two mounting interfaces are provided at the top of the bracket for installing the armrest and the interactive component respectively, and the top shell and the bottom shell are fixedly connected to accommodate the bracket.

[0027] The technical effects of this application are:

[0028] 1. In this application, the control mechanism can control the output power of the driving mechanism according to the feedback of the patient's lower limb movements. By appropriately increasing or decreasing the output power, it can provide appropriate resistance or assistance for the patient's training, realize the patient's active and passive training, thereby adapting to the rehabilitation strategies of patients with different diseases, and realizing more targeted lower limb rehabilitation training with significant training effects.

[0029] 2. In this application, a Hall effect sensor is provided to monitor the movement status of the footrest. When the lower limb active and passive rehabilitation training device is first started, the crank can be controlled to slowly rotate the footrest one circle. After the Hall effect sensor confirms that the footrest is rotating normally, it sends a signal to the control mechanism to perform a self-check before the device is put into operation, which better ensures the safety of the patient during use.

[0030] 3. In this application, the drive mechanism includes a directly connected reducer and servo motor, which has excellent transmission performance and is suitable for driving continuous uneven load motion. It can meet more sophisticated motion control requirements and is more conducive to targeted training for patients with different diseases, and the training effect is better. At the same time, the reducer and servo motor in this application adopt a modular design as a whole, which has low processing requirements for the structural parts installed with them, simple assembly steps, high production efficiency, and is more conducive to daily maintenance and replacement.

[0031] 4. In this application, fixed foot cups and universal foot cups are set at the bottom of the frame, which can not only ensure the stable landing of the lower limb active and passive rehabilitation training equipment on the ground, but also adapt to the multi-directional vibration of the lower limb active and passive rehabilitation training equipment during patient training, reduce the risk of shaking and tipping of the lower limb active and passive rehabilitation training equipment, and further ensure the safety of patients during training. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments:

[0033] Figure 1 This is a schematic diagram of the three-dimensional structure of the lower limb active and passive rehabilitation training device provided in one embodiment of the present application;

[0034] Figure 2 This is a schematic diagram of the disassembled three-dimensional structure of the lower limb active and passive rehabilitation training device provided in one embodiment of the present application;

[0035] Figure 3 This is a schematic diagram of a disassembled three-dimensional structure of a rack provided in one embodiment of the present application;

[0036] Figure 4 This is a schematic diagram of the disassembled three-dimensional structure of a chassis provided in one embodiment of the present application;

[0037] Figure 5 This is a schematic diagram of the disassembly of the three-dimensional structure of the footrest provided in one embodiment of the present application.

[0038] Figure 6 This is a schematic diagram of the disassembled three-dimensional structure of the top shell, bracket and armrest provided in one embodiment of the present application;

[0039] Figure 7 is a schematic diagram of the three-dimensional structure of an interactive component provided in one embodiment of the present application;

[0040] Figure 8 This is a schematic diagram of the disassembled three-dimensional structure of an interactive component provided in one embodiment of the present application;

[0041] Figure 9 This is a schematic diagram of the disassembled three-dimensional structure of the fixed column, damping plate and damping hinge provided in one embodiment of the present application.

[0042] Description of Figure Numbers:

[0043] 100, rack; 110, bottom housing; 111, first housing; 112, second housing; 120, bottom frame; 121, base; 1211, fixed foot cup; 1212, universal foot cup; 1213, movable roller; 1214, light strip holder; 122, mounting plate; 123, connecting plate; 124, mounting bracket; 130, top housing; 131, third housing; 132, fourth housing; 140, bracket; 141, mounting interface; 150, indicator light;

[0044] 200, lower limb training assembly; 210, drive mechanism; 211, servo motor; 212, reducer; 2121, power output shaft; 220, footrest; 221, pedal; 222, side plate; 223, support plate; 224, receiving groove; 225, opening; 226, lining; 227, connecting rod; 230, crank; 240, Hall sensor;

[0045] 300, handrail;

[0046] 400, interactive component; 410, interactive screen; 411, front housing; 412, rear housing; 413, touch screen; 415, speaker; 416, thermal printer; 420, fixed column; 430, damping plate; 440, damping hinge;

[0047] 500, electrical module;

[0048] 600. Emergency stop button. DETAILED DESCRIPTION

[0049] In the following description, specific details such as specific system structures and technologies are provided for illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obstructing the description of the present application with unnecessary details.

[0050] In order to more clearly illustrate the embodiments of this application or the technical solutions in the prior art, the specific implementation methods of this application will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive work.

[0051] To simplify the drawings, only the parts relevant to this application are schematically shown in each figure. They do not represent the actual structure of the product. In addition, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0052] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0053] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this application.

[0054] In the embodiments shown in the accompanying drawings, directional indications (such as up, down, left, right, front, and back) used to explain the structure and movement of various components of the present application are not absolute but relative. These descriptions are applicable when these components are in the positions shown in the accompanying drawings. If the descriptions of the positions of these components are changed, these directional indications will also change accordingly.

[0055] In addition, in the description of this application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0056] According to a specific embodiment provided by this application, see Figure 1 and Figure 2 , discloses a lower limb active and passive rehabilitation training device, comprising a frame 100 and a lower limb training assembly 200. The lower limb training assembly 200 comprises a control mechanism, a drive mechanism 210, and footrests 220 located on opposite sides of the bottom end of the frame 100. The footrests 220 are rotatably connected to the frame 100 via a crank 230. The drive mechanism 210 has a power output shaft 2121, which is drivably connected to the crank 230 and is suitable for driving the footrests 220 to rotate relative to the frame 100. The control mechanism is used to control the operation of the drive mechanism 210 to drive the footrests 220 to rotate, and the control mechanism is configured to control the output power of the drive mechanism 210 based on feedback from the patient's lower limb movements.

[0057] Specifically, the control mechanism is configured to detect the current changes of the driving mechanism 210, thereby calculating the load changes of the power output shaft 2121, thereby inferring the patient's exertion, and then providing appropriate resistance or assistance for patient training by appropriately increasing or decreasing the output power of the driving mechanism 210, thereby realizing the patient's active and passive training, which is more conducive to the lower limb active and passive rehabilitation training equipment to adapt to the rehabilitation strategies of patients with different diseases, and realize more targeted lower limb rehabilitation training with significant training effects.

[0058] Among them, see Figure 1 、 Figure 3 and Figure 4 A Hall sensor 240 is also provided around the power output shaft 2121 to monitor the movement state of the footrest 220. Specifically, one of the two cranks 230 is provided with a magnet. When the magnet moves to the sensing area of ​​the Hall sensor 240 under the drive of the crank 230, the Hall sensor 240 can sense the position of the magnet and generate a sensing signal, thereby confirming the movement position of the footrest 220.

[0059] In this embodiment, Hall effect sensor 240 serves as a key component in the self-test of the lower limb active and passive rehabilitation training device. Specifically, when the lower limb active and passive rehabilitation training device is initially activated, the control mechanism first controls the drive mechanism 210 to operate, causing the crank 230 to slowly rotate the footrest 220 one revolution. Once the magnet on the crank 230 passes the Hall effect sensor 240, the Hall effect sensor 240 generates a sensing signal and sends it to the control mechanism, confirming that the drive mechanism 210 is operating normally and the footrest 220 is rotating normally. This allows for a self-test before the device is operational, effectively ensuring patient safety during use.

[0060] Preferably, see Figure 3 and Figure 4 The drive mechanism 210 includes a servo motor 211 and a reducer 212 connected to each other. The reducer 212 is provided with the above-mentioned power output shaft 2121, which is used to convert the high-speed, low-torque output of the servo motor 211 into a low-speed, high-torque output. Among them, the reducer 212 preferably adopts a precision right-angle planetary reducer, and the precision right-angle planetary reducer adopts heat-treated metal gears, has certain impact resistance, excellent transmission performance, and is suitable for driving continuous uneven load movement. The servo motor 211 adopts a standard DC servo motor, which is a mature motor widely used in the industrial automation industry, with stable performance and long life. The standard DC servo motor and the precision right-angle planetary reducer are fixed in a directly connected manner to form a modular drive mechanism 210.

[0061] The present embodiment adopts the direct-connected speed reducer 212 and servo motor 211, which is suitable for driving the load motion with uneven change of continuity, can meet the requirements of more refined motion control, is more conducive to the targeted training of patients with different diseases, and has better training effect. At the same time, the speed reducer 212 and servo motor 211 in this application adopt a modular setting as a whole, which has low processing requirements for the structural parts installed with it, simple assembly steps, high production efficiency, and is more conducive to daily maintenance and replacement. Moreover, the speed reducer 212 and servo motor 211 both adopt high-performance standard parts, which are more convenient to produce and low in cost, and are also conducive to improving the overall performance and quality of the equipment.

[0062] In a specific embodiment, see Figure 1 and Figure 5 The footrest 220 includes a pedal 221, a side panel 222, and a support plate 223. The side panel 222 is positioned above the pedal 221 along its edge to form a receiving slot 224 for accommodating the patient's foot. The receiving slot 224 has an opening 225 at one end in its longitudinal direction. The inner sidewall of the receiving slot 224, opposite the opening 225, is adapted to abut the patient's heel. The side of the side panel 222 facing away from the receiving slot 224 is connected to the crank 230. The support plate 223 is fixed above the side panel 222 and is located on the side of the side panel 222 connected to the crank 230, adapted to abut the patient's leg.

[0063] In this embodiment, the support plate 223 further facilitates the footrest 220 supporting the patient's lower limbs and adjusting the patient's training gait. Preferably, the support plate 223 is curved, with the recessed portion of the curved support plate 223 facing away from the frame 100, that is, the recessed portion of the support plate 223 faces the patient, to better fit the patient's calf. This further improves patient comfort while protecting the patient's calf, resulting in both practicality and safety.

[0064] In addition, this embodiment also provides an opening 225 at one end of the receiving groove 224 in the longitudinal direction, which can better accommodate patients with different foot lengths, making the structural arrangement more user-friendly and widely applicable. At the same time, the inner side wall of the receiving groove 224 opposite the opening 225 is suitable for abutting the patient's heel, allowing the patient to use the patient's heel as a reference during lower limb training. This brings the rotation center of the footrest 220 closer to the ankle joint, reducing limb compensation during training and making training more comfortable.

[0065] Preferably, one end of the pedal 221 having the opening 225 is tilted toward the top of the frame 100, that is, the pedal 221 is tilted downward corresponding to the position of the patient's heel, so that the footrest 220 can be installed on the crank 230 at a certain angle of backward tilt, which is ergonomic and particularly suitable for the foot posture during seated training, further improving the user's comfort during training.

[0066] Specifically, the support plate is secured to the side plate 222 via a connecting rod 227. A lining 226 is provided within the receiving groove 224 formed by the pedal 221 and the side plate 222 to better protect the patient's foot and provide a more comfortable training experience. Furthermore, the footrest 220 may include straps for the patient to securely wear the footrest 220, providing increased safety and facilitating active and passive lower limb training.

[0067] Specifically, see Figure 1 、 Figure 3 and Figure 4 The bottom end of the frame 100 has a first side, a second side, a third side, and a fourth side. The first side and the second side are opposite each other, and the third side and the fourth side are opposite each other. The footrest 220 is provided on the first and second sides, with a fixed foot cup 1211 provided on the third side and a universal foot cup 1212 provided on the fourth side.

[0068] The spherical joint design of the universal foot cup 1212 enables it to rotate freely in multiple directions and adapt to various complex sports scenes. This embodiment sets a fixed foot cup 1211 and a universal foot cup 1212 at the bottom of the frame 100, which can not only ensure the stable landing of the lower limb active and passive rehabilitation training equipment on the ground, but also adapt to the multi-directional vibration of the lower limb active and passive rehabilitation training equipment during patient training. It has a long service life, can reduce the risk of shaking and tipping of the lower limb active and passive rehabilitation training equipment, and further ensure the safety of patients during training.

[0069] Further, see Figure 4 A movable roller 1213 is also provided on the fourth side of the bottom end of the frame 100. This roller 1213 is located on the side of the universal foot cup 1212 away from the fixed foot cup 1211. The roller 1213 is higher than the universal foot cup 1212 and has a slight gap to the ground. When the lower limb active and passive rehabilitation training device needs to be moved, the device can be tilted and moved using the movable roller 1213. This ensures the stability of the device during normal use while allowing for convenient movement, making it highly practical.

[0070] In one embodiment, there are three fixed foot cups 1211, forming a three-point support structure. One fixed foot cup 1211 is positioned close to the universal foot cup 1212, while the other two are positioned further away from the universal foot cup 1212. Furthermore, there are two universal foot cups 1212 and two movable rollers 1213. When the lower limb active and passive rehabilitation training device is placed on the ground, the three fixed foot cups 1211 and the two universal foot cups 1212 are firmly planted, while the two movable rollers 1213 maintain a slight gap with the ground.

[0071] For example, see Figure 1Indicator lights 150 are provided on the first and second sides of the bottom of the frame 100 to indicate the operating status of the lower limb active and passive rehabilitation training equipment. At the same time, they can also enhance the technological sense of the lower limb active and passive rehabilitation training equipment, and are both beautiful and practical.

[0072] For example, the lamp beads in the indicator light 150 can emit light of various colors, and the control mechanism can control parameters such as the brightness, color and flashing frequency of the light. When the device is powered on but not started to enter the working state, the light of the indicator light 150 can be displayed in orange; after the device starts to enter the operating system and completes the self-test, the light can be switched to a breathing display in the color temperature sequence of "orange, yellow, green, blue and purple"; when the patient steps on the device to use it, the light can be set to a constant blue light; when the patient or doctor increases the training speed, the brightness of the constant light displayed by the light off becomes higher. Through light display modes such as the above, the status information of the device can be conveyed to the outside more efficiently and concisely. Of course, in actual production, the light of the indicator light 150 can also be set with other parameters, which are not limited here and are all within the scope of protection of this application.

[0073] Specifically, see Figure 1 、 Figure 3 and Figure 4 The frame 100 includes a bottom housing 110 and a base frame 120 disposed within the bottom housing 110. The base frame 120 includes a base 121, a mounting plate 122 disposed above the base 121, and a connecting plate 123 connecting the mounting plate 122 and the base 121. The mounting plate 122, the connecting plate 123, and the base 121 collectively enclose a storage space suitable for storing the electrical module 500. The aforementioned drive mechanism 210 is disposed on a side of the mounting plate 122 away from the base 121. Furthermore, the bottom housing 110 includes a first housing 111 and a second housing 112 that are fixedly connected. The first housing 111 and the second housing 112 are arranged sequentially along the direction in which the power output shaft 2121 extends.

[0074] In this embodiment, the electrical module 500 is integrated within the frame 100, rationally and effectively utilizing the internal space of the frame 100. Furthermore, the bottom housing 110 in this embodiment is configured as a detachable structure distributed along the extension direction of the power output shaft 2121. This facilitates maintenance and repair of the electrical module 500 by simply removing the corresponding first housing 111 or second housing 112.

[0075] Specifically, a plurality of cable tie holes are arranged on the base frame 120 for safe cable routing. In contrast, a light strip rack 1214 is also provided on the base frame 120 to better fix the light strip of the indicator light 150 .

[0076] In a preferred embodiment, see Figure 1 and Figure 2The lower limb active and passive rehabilitation training device also includes an armrest 300, which is provided at the top of the frame 100 and is suitable for the patient to grasp, so that the patient can use it to gain leverage and improve the safety of the patient during training. The armrest 300 is preferably set at a certain angle to the ground to improve the comfort of the patient when grasping. In addition, the spatial relationship between the power output shaft 2121 in the drive mechanism 210 and the gripping position of the armrest 300 should be more in line with the use of an adult sitting position, further improving the comfort of the user during training. In actual use, the lower limb active and passive rehabilitation training device can also be tilted with the help of the armrest 300 to achieve the movement of the device, which is highly practical.

[0077] Specifically, see Figure 1 、 Figure 2 and Figure 6 The rack 100 further includes a top housing 130, a bracket 140, and a mounting bracket 124. The mounting bracket 124 is fixed to the base 121 for docking with the bracket 140. The top of the bracket 140 is provided with a mounting interface 141 for mounting the handrail 300. The top housing 130 is fixedly connected to the bottom housing 110 to accommodate the bracket 140.

[0078] In this embodiment, bracket 140 is fixed to mounting bracket 124 of base 121 via screws. Base 121, as a core structural component, supports the main structure and balances the overall weight of the equipment. Mounting bracket 124 is provided on base 121 to secure bracket 140, enabling bracket 140 to better support the upper section (handrail 300, mounting bracket 124, and other structures). Bracket 140 also has multiple cable tie holes for secure wiring.

[0079] Further, see Figure 6 The top housing 130 includes a third housing 131 and a fourth housing 132. The third and fourth housings 131, 132 are arranged front and back, separated by the armrest 300. This facilitates assembly and disassembly of the armrest 300 and facilitates routine maintenance and replacement. Specifically, the third housing 131 is used to dock with the bottom housing 110. After the bracket 140 is secured, the third housing 131 is positioned and locked to the bracket 140 using screws. The armrest 300 is then secured. After the armrest 300 is secured, the fourth housing 132 is then installed onto the third housing 131.

[0080] Specifically, the lower limb active and passive rehabilitation training device also includes an emergency stop assembly electrically connected to the control mechanism to urgently stop the control mechanism, thereby stopping the operation of the footrest 220 to prevent mechanical or personal accidents. The emergency stop assembly includes an emergency stop button 600, which is integrated into the top housing 130. In an emergency, the patient or doctor can press the emergency stop button 600 to stop the device, providing enhanced safety.

[0081] In a preferred embodiment, see Figure 1 and Figure 7 The active and passive rehabilitation training equipment for lower limbs may also include an interactive component 400, which is arranged at the top of the frame 100 and can display parameters such as training data, for example, the torque of the drive mechanism 210 and the balance deviation of the left and right legs. At this time, two mounting interfaces 141 should be provided at the top of the bracket 140, which are used to install the armrest 300 and the interactive component 400 respectively. Specifically, the interactive component 400 includes an interactive screen 410 and a fixed column 420, and the interactive screen 410 is hinged to the fixed column 420. The end of the fixed column 420 away from the interactive screen 410 is installed on the frame 100, and an adjustment member is provided between the interactive screen 410 and the fixed column 420 to adjust the pitch angle of the interactive screen 410 to adapt to patients of different body shapes, making it more convenient for patients or doctors to view parameters such as training data.

[0082] Specifically, see Figure 8 and Figure 9 A damping hinge 440 and a damping plate 430 that can be connected to the damping hinge 440 are provided at the top of the fixed column 420. A docking piece is provided on the damping plate 430 to connect the interactive screen 410, thereby realizing the hinge connection between the interactive screen 410 and the fixed column 420. At the same time, the damping hinge 440 and the damping plate 430 can also be used as adjustment parts for patients or doctors to manually adjust the angle between the interactive screen 410 and the ground. The structure is reasonably set and easy to operate.

[0083] In this embodiment, see Figure 8 Interactive screen 410 includes a front housing 411, a rear housing 412, a touchscreen display 413, a power button, a speaker 415, a thermal printer 416, a device debugging interface, and a system control circuit board. It provides a touch-operated platform for users to interact visually and auditorily, and prints a training report after training. Furthermore, interactive screen 410 can be configured with fun training games to encourage patients to engage more actively in training, accelerating their progress.

[0084] In actual production, the interactive component 400 can be used as an independent component for production assembly, storage, and after-sales replacement and maintenance.

[0085] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0086] It should be noted that the above embodiments can be freely combined as needed. The above are only preferred implementations of this application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of this application, and these improvements and modifications should also be considered as the scope of protection of this application.

Claims

1. A lower limb active and passive rehabilitation training device, characterized in that: include: rack and lower body training components; The lower limb training assembly includes a control mechanism, a driving mechanism, and footrests located on opposite sides of the bottom end of the frame, the footrests being rotatably connected to the frame via cranks, the driving mechanism having a power output shaft, the power output shaft being drivingly connected to the cranks and adapted to drive the footrests to rotate relative to the frame, and a Hall sensor being provided on a circumferential side of the power output shaft, one of the cranks being provided with a magnet, the Hall sensor sensing the position of the magnet to determine the motion state of the footrest; The control mechanism is used to control the operation of the driving mechanism to drive the footrest to rotate, and the control mechanism is configured to control the output power of the driving mechanism according to feedback of the patient's lower limb movement.

2. The lower limb active and passive rehabilitation training device according to claim 1, characterized in that: The driving mechanism includes a servo motor and a reducer connected to each other. The reducer is provided with the power output shaft for converting the high-speed and low-torque output of the servo motor into a low-speed and high-torque output.

3. The lower limb active and passive rehabilitation training device according to claim 1, characterized in that: The footrest includes a pedal, a side plate and a supporting plate; The side panel is arranged above the pedal along the edge of the pedal to form a receiving groove for accommodating the patient's foot, and an opening is provided at one end of the receiving groove in the length direction, and the inner side wall of the receiving groove opposite to the opening is suitable for abutting against the patient's heel; the side of the side panel facing away from the receiving groove is connected to the crank, and the supporting plate is fixed above the side panel and is located on the side of the side panel connected to the crank, and is suitable for abutting against the patient's leg.

4. The lower limb active and passive rehabilitation training device according to claim 3, characterized in that: The end of the pedal provided with the opening is tilted toward the top of the frame.

5. The lower limb active and passive rehabilitation training device according to claim 1, characterized in that: The bottom end of the frame has a first side, a second side, a third side and a fourth side, the first side and the second side are arranged opposite to each other, and the third side and the fourth side are arranged opposite to each other; The footrest is arranged on the first side and the second side, the third side is provided with a fixed foot cup, and the fourth side is provided with a universal foot cup.

6. The lower limb active and passive rehabilitation training device according to claim 5, characterized in that: A movable roller is further provided on the fourth side of the bottom end of the frame. The movable roller is located on the side of the universal foot cup away from the fixed foot cup, and the height of the movable roller is higher than the height of the universal foot cup.

7. The lower limb active and passive rehabilitation training device according to claim 5, characterized in that: The first side and the second side of the bottom end of the frame are both provided with indicator lights for indicating the operating status of the lower limb active and passive rehabilitation training equipment.

8. The lower limb active and passive rehabilitation training device according to any one of claims 1 to 7, characterized in that: The frame includes a bottom shell and a bottom frame arranged in the bottom shell; The chassis includes a base, a mounting plate arranged above the base, and a connecting plate connecting the mounting plate and the base, the mounting plate, the connecting plate and the base together form an accommodating space, and the accommodating space is suitable for storing the electrical module; the driving mechanism is provided on the side of the mounting plate away from the base; and the bottom shell includes a first shell and a second shell fixedly connected, and the first shell and the second shell are arranged in sequence along the extension direction of the power output shaft.

9. The lower limb active and passive rehabilitation training device according to claim 8, characterized in that: Also includes: an armrest, provided at the top of the frame, suitable for the patient to grasp; and / or An interactive component is provided at the top of the rack; The interactive component includes an interactive screen and a fixed column, the interactive screen is hinged to the fixed column, the fixed column is installed on the frame at one end away from the interactive screen, and an adjustment member is provided between the interactive screen and the fixed column to adjust the pitch angle of the interactive screen.

10. The lower limb active and passive rehabilitation training device according to claim 9, characterized in that: The rack also includes a top shell, a bracket and a mounting frame. The mounting frame is fixed to the base for docking with the bracket. Two mounting interfaces are provided at the top of the bracket, which are respectively used to install the armrest and the interactive component. The top shell and the bottom shell are fixedly connected to accommodate the bracket.

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