Lower limb bionic exercise rehabilitation training machine

Abstract

A lower limb bionic exercise rehabilitation training machine comprises a fixed rack and a lower limb bionic swing mechanism at least arranged on one side of the fixed rack. The lower limb bionic swing mechanism comprises a thigh swing rod, a shank swing rod, a foot swing block, a heel swing rod, a knee swing rod, a swing rod and a transmission wheel. The thigh swing rod is hinged to the fixed rack and the shank swing rod, the shank swing rod is further hinged to the foot swing block and the knee swing rod, the foot swing block is further hinged to the heel swing rod, the heel swing rod is further hinged to the knee swing rod, the knee swing rod is further hinged to the swing rod, and the swing rod is further hinged to the thigh swing rod and the transmission wheel. The transmission wheel is installed on the fixed rack and provided with a rotating shaft, and the hinged point of the swing rod and the transmission wheel is staggered with the rotating shaft of the transmission wheel in the radial direction. The lower limb bionic swing mechanism forms a cam driving type closed-loop connecting rod structure, so that lower limb bionic swing is achieved, and hip joints, knee joints and ankle joints of a rehabilitation patient are exercised in an adaptive degree while walking movement is simulated.

Description

Technical Field

[0001] This utility model relates to a rehabilitation training machine. Background Technology

[0002] Currently, various types of lower limb rehabilitation training machines exist on the market, such as those disclosed in CN103932870A, CN105456002A, CN106539668B, CN108186285A, CN111419642B, and CN221787189U. To achieve biomimetic joint movements, these rehabilitation training machines are designed with relatively complex structures, resulting in high costs and making them particularly unsuitable for ordinary home use. Utility Model Content

[0003] The purpose of this invention is to provide a lower limb bionic exercise rehabilitation training machine with a simple structure and low cost.

[0004] The lower limb bionic exercise rehabilitation training machine provided by this utility model includes a fixed frame and a lower limb bionic swing mechanism at least on one side of the fixed frame. The lower limb bionic swing mechanism includes a thigh swing rod, a calf swing rod, a foot swing block, a heel swing rod, a knee swing rod, a swing rod, and a transmission wheel. The thigh swing rod is hinged to the fixed frame and the calf swing rod, the calf swing rod is also hinged to the foot swing block and the knee swing rod, the foot swing block is also hinged to the heel swing rod, the heel swing rod is also hinged to the knee swing rod, the knee swing rod is also hinged to the swing rod, and the swing rod is also hinged to the thigh swing rod and the transmission wheel. The transmission wheel is mounted on the fixed frame and has a rotation axis. The hinge point between the swing rod and the transmission wheel is radially offset from the rotation axis of the transmission wheel.

[0005] According to the present invention, the upper end of the thigh swing arm is hinged to the support arm installed on the upper part of the fixed frame, and the lower end is hinged to the calf swing arm. The swing arm is hinged to the thigh swing arm at the hinge point between the upper and lower ends of the thigh swing arm.

[0006] According to the present invention, the upper end of the knee swing arm is hinged to the swing arm, and the lower end is hinged to the calf swing arm. The heel swing arm is hinged to the knee swing arm at the hinge point between the upper and lower ends of the knee swing arm.

[0007] According to the present invention, the lower limb bionic exercise rehabilitation training machine has a swing arm whose rear end is hinged to a transmission wheel and whose front end is hinged to a thigh swing arm, wherein the knee swing arm is hinged to the swing arm at the hinge point between the front end and the rear end of the swing arm.

[0008] According to the lower limb bionic exercise rehabilitation training machine of this utility model, the lower leg swing arm can also form a corner of 60 to 120 degrees, the thigh swing arm is hinged to the lower leg swing arm at the corner, and the knee swing arm is hinged to the lower leg swing arm at the rear end of the corner.

[0009] According to the lower limb bionic exercise rehabilitation training machine of this utility model, the heel swing arm can also form a corner of 60 to 120 degrees, and the hinge point of the heel swing arm and the knee swing arm is at the front end of the corner of the heel swing arm.

[0010] According to the present invention, the front end of the foot swing block is hinged to the lower end of the lower leg swing rod at the corner, and the rear end of the foot swing block is hinged to the lower end of the heel swing rod.

[0011] According to the present invention, in the lower limb bionic exercise rehabilitation training machine, the hinge point between the swing rod and the transmission wheel is adjustablely offset from the rotation axis of the transmission wheel in the radial direction.

[0012] According to the present invention, the lower limb bionic exercise rehabilitation training machine can be provided with lower limb bionic swinging mechanisms on both sides of the fixed frame.

[0013] According to the lower limb bionic exercise rehabilitation training machine of this utility model, a motor can also be installed on the fixed frame, and the motor drives the rotating shaft of the transmission wheel to rotate.

[0014] The bionic swing mechanism of the lower limbs of this invention forms a cam-driven closed-loop linkage structure, thereby realizing bionic swing of the lower limbs. While simulating walking movements, it also allows the hip, knee and ankle joints of rehabilitation patients to receive an appropriate level of exercise.

[0015] In summary, the lower limb bionic exercise rehabilitation training machine of this invention has a simple structure and can significantly reduce manufacturing costs. Attached Figure Description

[0016] Figure 1 This is a structural schematic diagram of the lower limb bionic exercise rehabilitation training machine according to the present invention. Detailed Implementation

[0017] The present invention will be described in detail below with reference to the accompanying drawings.

[0018] Figure 1 The schematic diagram shows a lower limb bionic exercise rehabilitation training machine according to the present invention, which is generally composed of a fixed frame 10 and lower limb bionic swinging mechanisms respectively arranged on the left and right sides of the fixed frame 10.

[0019] As shown in the figure, the fixed frame 10 includes several fixed anchor plates 11 for easy fixing and installation on, for example, the ground. A left support arm 20 and a right support arm 30, parallel to each other, are also fixedly installed on the upper part of the fixed frame 10. The fixed frame 10 can be welded from a rigid material such as angle steel.

[0020] The lower limb bionic swing mechanism on both sides of the fixed frame 10 has a symmetrical structure. Taking the right lower limb bionic swing mechanism as an example, it includes a thigh swing rod 31, a lower leg swing rod 32, a foot swing block 33, a heel swing rod 37, a knee swing rod 36, a swing rod 35, and a transmission wheel 34, etc.

[0021] The thigh swing arm 31 shown has a straight rod shape, with its upper end hinged to the right support arm 30 of the fixed frame 10 at hinge point 311, and its lower end hinged to the calf swing arm 32 at hinge point 321.

[0022] The lower leg swing arm 32 shown has a right-angled L-shape and therefore has a rear end and a lower end, with hinge point 321 located at its corner. The lower end of the lower leg swing arm 32 is hinged to the front end of the foot swing block 33 at hinge point 322. The rear end of the lower leg swing arm 32 is hinged to the lower end of the knee swing arm 36 at hinge point 362.

[0023] The foot swing block 33 shown also forms a foot support base plate. The rear end of the foot swing block 33 is hinged to the lower end of the heel swing rod 37 at hinge point 372.

[0024] The heel lever 37 shown also has a right-angled L-shape and therefore has a lower end and a front end. The front end of the heel lever 37 is hinged to the knee lever 36 at hinge point 371.

[0025] The knee swing arm 36 shown has a straight rod shape, with its upper end hinged to the swing arm 35 at hinge point 361. Furthermore, hinge point 371 is located between the upper and lower ends of the knee swing arm 36, approximately in the middle of the knee swing arm 36.

[0026] The swing arm 35 shown has a straight rod shape, with its front end hinged to the thigh swing arm 31 at hinge point 352. Hinge point 352 is located between the upper and lower ends of the thigh swing arm 31, approximately in the upper-middle part of the thigh swing arm 31. The rear end of the swing arm 35 is hinged to the drive wheel 34 at hinge point 351. Hinge point 361 is located between the front and rear ends of the swing arm 35, approximately in the middle of the swing arm 35.

[0027] The transmission wheel 34 shown is disc-shaped and has a rotating shaft 340. The rotating shaft 340 of the transmission wheel 34 is fixedly mounted on the upper part of the fixed frame 10, below the hinge point 311, and located behind the thigh swing arm 31. The hinge point 351 is radially offset from the rotating shaft 340. In addition, the transmission wheel 34 is also provided with multiple mounting holes 341, which are radially distanced from the rotating shaft 340.

[0028] The left lower limb bionic swing mechanism also includes a thigh swing arm 21, a calf swing arm 22, a foot swing block 23, and a heel swing arm 27. The upper end of the thigh swing arm 21 is hinged to the left support arm 20 at hinge point 211, and the lower end is hinged to the calf swing arm 22 at hinge point 221. The lower end of the calf swing arm 22 is hinged to the foot swing block 23 at hinge point 222. The other components and connections of the left lower limb bionic swing mechanism will not be described in detail here.

[0029] Although not clearly shown, the fixed frame 10 may also be equipped with a motor and / or a reduction gear to drive the rotation shaft 340 of the transmission wheel 34 to rotate. The left and right lower limb bionic swinging mechanisms may each be equipped with a corresponding motor, and the control system may perform asynchronous rotational movements, for example, in 180° phase, to mimic the misaligned movement of the two legs.

[0030] In addition, the right-angled right-angled shape of the lower leg swing arm 32 and the heel swing arm 37 can also be adjusted to other angles, such as 60 to 120 degrees, as long as it does not cause motion interference.

[0031] In addition, although not specifically shown, the lower limb bionic exercise rehabilitation training machine of this utility model can also be equipped with foot straps, knee straps and waist straps at corresponding positions, so as to facilitate safe use by rehabilitation patients.

[0032] In this bionic lower limb rehabilitation training machine, the bionic swinging mechanisms on both sides of the lower limbs form a cam-driven closed-loop linkage structure, thereby realizing bionic swinging of the lower limbs and allowing the hip, knee, and ankle joints of the rehabilitation patient to receive adaptive exercise simultaneously. Furthermore, since the swinging motion of each part of the bionic swinging mechanism on both sides of the lower limbs revolves around a horizontal axis, it also bionically simulates the forward and backward movement during walking.

[0033] Those skilled in the art should understand that the directional terms "front", "back", "left", "right", "up", "down", etc. in this utility model are for convenience of understanding with reference to the accompanying drawings, and do not constitute any limitation on this utility model.

Claims

1. A lower limb bionic exercise rehabilitation training machine, comprising a fixed frame and a lower limb bionic swing mechanism disposed at least on one side of the fixed frame, characterized in that, The lower limb bionic swing mechanism includes a thigh swing arm, a calf swing arm, a foot swing block, a heel swing arm, a knee swing arm, a swing rod, and a transmission wheel. The thigh swing arm is hinged to the fixed frame and the calf swing arm. The calf swing arm is also hinged to the foot swing block and the knee swing arm. The foot swing block is also hinged to the heel swing arm. The heel swing arm is also hinged to the knee swing arm. The knee swing arm is also hinged to the swing rod. The swing rod is also hinged to the thigh swing arm and the transmission wheel. The transmission wheel is mounted on the fixed frame and has a rotation axis. The hinge point between the swing rod and the transmission wheel is radially offset from the rotation axis of the transmission wheel.

2. The lower limb bionic movement rehabilitation training machine according to claim 1, characterized in that, The upper end of the thigh swing arm is hinged to the support arm mounted on the upper part of the fixed frame, and the lower end is hinged to the calf swing arm. The swing arm is hinged to the thigh swing arm at the hinge point between the upper and lower ends of the thigh swing arm.

3. The lower limb bionic movement rehabilitation training machine according to claim 2, characterized in that, The upper end of the knee swing arm is hinged to the swing arm, and the lower end is hinged to the calf swing arm. The heel swing arm is hinged to the knee swing arm at the hinge point between the upper and lower ends of the knee swing arm.

4. The lower limb bionic movement rehabilitation training machine according to claim 3, characterized in that, The rear end of the swing arm is hinged to the drive wheel, and the front end is hinged to the thigh swing arm. The knee swing arm is hinged to the swing arm at the hinge point between the front and rear ends of the swing arm.

5. The lower limb bionic movement rehabilitation training machine according to claim 4, characterized in that, The lower leg swing arm also forms a 60-120 degree bend, the thigh swing arm is hinged to the lower leg swing arm at the bend, and the knee swing arm is hinged to the lower leg swing arm at the rear end of the bend.

6. The lower limb bionic movement rehabilitation training machine according to claim 5, characterized in that, The heel swing arm also forms a 60-120 degree angle, and the hinge point between the heel swing arm and the knee swing arm is at the front end of the angle of the heel swing arm.

7. The lower limb bionic movement rehabilitation training machine according to claim 6, characterized in that, The front end of the foot swing block is hinged to the lower end of the lower leg swing rod at the corner, while the rear end of the foot swing block is hinged to the lower end of the heel swing rod.

8. The lower limb bionic movement rehabilitation training machine according to claim 1, characterized in that, The hinge point between the swing arm and the drive wheel is adjustablely offset radially from the rotation axis of the drive wheel.

9. The lower limb bionic movement rehabilitation training machine according to claim 1, characterized in that, The fixed frame is equipped with a lower limb bionic swing mechanism on each side.

10. The lower limb bionic movement rehabilitation training machine according to claim 1, characterized in that, A motor is also installed on the fixed frame, which drives the rotating shaft of the transmission wheel to rotate.

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