Crank-slider mechanism with local degree of freedom and lower limb rehabilitation device

Abstract

The utility model provides a crank-slider mechanism with a local degree of freedom and a lower limb rehabilitation device. The crank-slider mechanism with the local degree of freedom comprises a crank part, a slider part or a roller, a connecting rod part and a degree of freedom adjusting part, the sliding block part or the roller moves along the arranged guide rail part; two ends of the connecting rod part are respectively hinged with the crank part and the slider part or the roller; the degree-of-freedom adjusting part is arranged at the hinged position of the crank part and the connecting rod part, or the hinged position in the connecting rod part, or the hinged position of the guide rail part, and / or the hinged position of the connecting rod part and the sliding block part or the rolling wheel, so that the connecting rod part has local degree of freedom, and non-planar motion is achieved. Local degree of freedom is introduced, and the connecting rod part, the slider part or the roller and the guide rail part are allowed to deflect in a specific plane, so that the slider-crank mechanism is deflected and adjusted to enable the movement track to be matched with the posture of the lower limb, natural movement of the lower limb can be better simulated, and the problem of limitation existing in a traditional rehabilitation mode and mechanism is solved; rehabilitation efficiency and effect are improved, and prognosis of patients is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of rehabilitation medical fitness equipment, especially a crank slider mechanism with local degrees of freedom and a lower limb rehabilitation device. BACKGROUND

[0002] Lower extremity motor dysfunction is a common sequelae of nervous system diseases and musculoskeletal system injuries, about 70%-85% of stroke patients have impaired lower extremity motor function, of which 30% develop into permanent disability; the lower extremity paralysis rate of patients with spinal cord injury is as high as more than 90%. Such dysfunction not only leads to loss of walking ability in patients, but also causes secondary complications such as muscle atrophy, osteoporosis, deep vein thrombosis, forming a vicious cycle of " disability-complications-further disability". The traditional rehabilitation medicine adopts the "one-on-one" artificial training mode dominated by therapists, which has many limitations such as efficiency bottleneck, lack of standardization, human resource crisis, etc.

[0003] The crank slider mechanism is widely used in lower limb rehabilitation robots because of its kinematic characteristics similar to human lower limb flexion and extension movement. Early research has proved that when the crank radius and the length of the connecting rod meet certain proportions, the hip, knee and ankle joint movements of the lower limbs can be carried out, which promotes the clinical application of related rehabilitation equipment. However, the traditional design is simplified for structure and control logic, usually adopts guiding constraint, that is, a linear guide is set in the direction of slider movement (sagittal plane), and the lateral degree of freedom is limited through close tolerance fit in the coronal plane. This design has the following defects when facing crank rotation axis offset:

[0004] Slider trajectory mismatch: due to the offset of the rotation axis from the original position, the movement plane of the connecting rod and the slider naturally deflects, which will cause the original motion trajectory that fits the guide to change and deviate from the guide.

[0005] Slider posture mismatch: due to the deflection of the movement plane of the connecting rod and the slider, the movement direction of the slider will change when it cooperates with the guide, resulting in collision and friction with the guide.

[0006] The existing crank slider mechanism lacks coronal plane freedom, leading to biomechanical conflict, safety hazards and decreased efficacy in rehabilitation training. There are also some products that achieve error adjustment through gap fit, but the adjustment precision control is insufficient and additional noise will be generated due to the collision of the mechanism gap. It is urgent to improve to achieve small amplitude movement in the coronal plane while maintaining precise control in the sagittal plane.

[0007] In summary, the rehabilitation of lower extremity motor dysfunction faces many challenges, and both the traditional rehabilitation mode and the existing crank slider mechanism have limitations, so it is urgent to develop new rehabilitation equipment and mechanisms to improve rehabilitation efficiency and effectiveness and improve patient prognosis. UTILITY MODEL CONTENT

[0008] In view of the above-mentioned defects of the prior art, the crank slider mechanism with local degrees of freedom and the lower limb rehabilitation device have the following advantages: the crank slider mechanism is introduced with local degrees of freedom, the connecting rod part, the slider part or the roller and the guide rail part are allowed to deflect in a specific plane, the deflection adjustment of the crank slider mechanism makes the motion trajectory match the lower limb posture, abnormal stress and local pressure are reduced, the natural movement of the lower limb can be better simulated, the problems of the limitations of the traditional rehabilitation mode and the existing crank slider mechanism are solved, the rehabilitation efficiency and effect are improved, and the prognosis of the patient is improved.

[0009] The crank slider mechanism with local degrees of freedom comprises a crank part, a slider part or a roller, a connecting rod part and a degree-of-freedom adjusting part.

[0010] In an embodiment of the utility model, the degree-of-freedom adjusting part makes the degree of freedom of at least one of the crank part, the slider part or the roller and the connecting rod part of the crank slider mechanism not less than 2, and is used for compensating the position and posture error of the slider part or the roller in the crank slider mechanism.

[0011] In an embodiment of the utility model, the degree-of-freedom adjusting part comprises a trajectory adjusting part and a posture adjusting part, the trajectory adjusting part is used for adjusting the motion trajectory of the hinged end of the connecting rod part connected with the slider part or the roller to match the motion trajectory of the slider part or the roller, and the posture adjusting part is used for adjusting the motion direction of the slider part or the roller to match the tangent direction of the motion trajectory.

[0012] In an embodiment of the utility model, the trajectory adjusting part comprises a crank-connecting rod deflection assembly, a connecting rod-connecting rod deflection assembly and a guide rail deflection assembly, the crank-connecting rod deflection assembly is arranged at the hinge joint of the crank part and the connecting rod part, is used for deflecting the connecting rod part in a plane perpendicular to the rotation plane of the crank part, the connecting rod-connecting rod deflection assembly is arranged in the connecting rod part, is used for separating the connecting rod part into two hinged parts and deflecting the two separated parts of the connecting rod part in a plane perpendicular to the rotation plane of the crank part, and the guide rail deflection assembly is arranged on the base connected with the guide rail part, so that the guide rail part deflects relative to the mounting surface of the base.

[0013] In an embodiment of the utility model, the crank slider mechanism further comprises a limiting part, the limiting part is arranged on the crank connecting rod mechanism corresponding to the degree-of-freedom adjusting part, and is used for limiting the deflection range of the connecting rod part and the guide rail part in the crank connecting rod mechanism.

[0014] The utility model also provides a lower limbs rehabilitation device, including frame, pivot axle, crank portion, connecting rod portion, footboard portion and degree of freedom adjusting portion, the base of frame is equipped with guide rail portion, pivot axle rotation is equipped with on the frame, crank portion fixedly is equipped with on pivot axle, one end of connecting rod portion is hinged with crank portion, the other end is hinged with sliding block portion or gyro wheel, and sliding block portion or gyro wheel moves along guide rail portion, footboard portion is equipped with on connecting rod portion, degree of freedom adjusting portion is equipped with in the hinged place of crank portion and connecting rod portion, or in the hinged place in connecting rod portion, or in the hinged place of guide rail portion, and / or in the hinged place of connecting rod portion and sliding block portion or gyro wheel, to make connecting rod portion exist local degree of freedom, realize non-plane movement.

[0015] In the embodiment of the utility model, the degree of freedom adjusting portion equipped in the hinged place of crank portion and connecting rod portion includes crank-connecting rod deflection assembly and bearing seat, the bearing seat is connected with the crank portion through the bearing equipped in the inner ring, and is connected with the connecting rod portion through the crank-connecting rod deflection assembly equipped in the outer ring, the axial direction of the bearing seat is parallel with the axial direction of the crank portion, is perpendicular with the axial direction of the crank-connecting rod deflection assembly, and the clearance is left between the end face of the bearing seat and the connecting rod portion.

[0016] In the embodiment of the utility model, the degree of freedom adjusting portion equipped in the hinged place in the connecting rod portion includes connecting rod-connecting rod deflection assembly and baffle and protruding block, the connecting rod-connecting rod deflection assembly is connected with the crank portion and sliding block portion or gyro wheel respectively through the double connecting rods hinged, the baffle and protruding block are arranged on the double connecting rods hinged respectively to limit the deflection angle of the double connecting rods, wherein the double connecting rods of the connecting rod-connecting rod deflection assembly include the footboard portion and the connecting rod portion hinged.

[0017] In the embodiment of the utility model, the degree of freedom adjusting portion equipped in the hinged place of guide rail portion includes guide rail deflection assembly and stopper, the guide rail deflection assembly hingedly connects one end of the guide rail portion on the base, and / or is equipped with gyro wheel at the other end of the guide rail portion, the stopper is equipped on the guide rail portion or the base and is on the deflection moving path of the guide rail portion.

[0018] In the embodiment of the utility model, the degree of freedom adjusting portion equipped in the hinged place of connecting rod portion and sliding block portion or gyro wheel includes universal wheel assembly and protruding block and arc groove, the universal wheel assembly is equipped in the hinged end of the connecting rod portion and the sliding block portion or gyro wheel, and replaces the sliding block portion or gyro wheel, the protruding block and arc groove are arranged on the rotary pair of the universal wheel assembly respectively, and the protruding block moves in the arc groove, and the deflection angle of the universal wheel assembly and the connecting rod portion is limited.

[0019] The utility model discloses a beneficial effect: through the introduction partial freedom, make crank slider mechanism allow lateral deflection adjustment make motion trail and user lower limbs posture match, allow connecting rod department, slider part or gyro wheel and guide rail department carry out deflection in specific plane, reduce abnormal stress and local pressure.

[0020] It is to be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the utility model. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings incorporated into the specification and constituting a part of the specification, show the embodiments consistent with the utility model, and are used together with the specification to explain the principle of the utility model. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without the creative labor for the ordinary skilled in the art. In the drawings:

[0022] Figure 1 It is the structure schematic drawing of crank slider mechanism with partial freedom of the utility model in an embodiment;

[0023] Figure 2 It is the structure schematic drawing of crank slider mechanism with partial freedom of the utility model in an embodiment;

[0024] Figure 3 It is the structure schematic drawing of crank slider mechanism with partial freedom of the utility model in an embodiment;

[0025] Figure 4 It is the structure schematic drawing of crank slider mechanism with partial freedom of the utility model in an embodiment;

[0026] Figure 5 It is the structure schematic drawing of crank slider mechanism with partial freedom of the utility model in an embodiment;

[0027] In the figure: 100, frame; 101, base; 102, rotating shaft; 10, crank part; 20, slider part or roller; 30, connecting rod part; 40, degree of freedom adjusting part; 41, crank-connecting rod deflection assembly; 411, bearing seat; 412, deflection fixing piece; 42, connecting rod-connecting rod deflection assembly; 421, baffle; 422, protruding block; 43, guide rail deflection assembly; 431, stop piece; 44, universal wheel assembly; 441, protrusion; 442, arc groove; 50, guide rail part; 60, footboard part. DETAILED DESCRIPTION

[0028] The advantages and effects of the present application can be easily understood by those skilled in the art from the content disclosed in the specification. The present application can also be implemented or applied in different specific embodiments, and the details in the specification can be modified or changed based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. It should also be understood that the terms used in the embodiments of the present application are for describing specific specific embodiments, not for limiting the protection scope of the present application.

[0029] Please refer to Figures 1 to 5 It should be understood that the structures, proportions, sizes, etc. shown in the drawings attached to the specification are only used to understand and read the content disclosed in the specification by those skilled in the art, and do not define the limiting conditions for the implementation of the present application, so they do not have technical significance. Any modification of the structure, change of the proportion relationship or adjustment of the size without affecting the effects and purposes that can be achieved by the present application should still fall within the scope of the technical content disclosed by the present application. At the same time, the terms used in the specification, such as position, quantity relationship, etc., are only for the purpose of clear description, not for limiting the scope of the present application. The change or adjustment of the relative relationship without substantially changing the technical content is also considered as the implementation range of the present application.

[0030] Please refer to Figure 1 The present application provides a crank slider mechanism with local degree of freedom, comprising a crank part 10, a slider part or roller 20, a connecting rod part 30 and a degree of freedom adjusting part 40; the slider part or roller 20 moves along the installed guide rail part 50; the connecting rod part 30 is hingedly connected with the crank part 10 and the slider part or roller 20 at both ends; the degree of freedom adjusting part 40 is installed at the hinge connection between the crank part 10 and the connecting rod part 30, or at the hinge connection in the connecting rod part 30, or at the hinge connection in the guide rail part 50, and / or at the hinge connection between the connecting rod part 30 and the slider part or roller 20, so that the connecting rod part 30 has local degree of freedom and realizes non-planar motion.

[0031] The freedom degree adjusting part 40 is used for adjusting the freedom degree of at least one of the crank part 10, the slider part or the roller 20 and the connecting rod part 30 of the crank slider mechanism, and compensating the position and posture error of the slider part or the roller 20 in the crank slider mechanism.

[0032] Specifically, in the embodiment of the utility model, the freedom degree adjusting part 40 arranged in the crank slider mechanism solves the problems of the mismatching of the slider track and the mismatching of the slider posture of the traditional crank slider mechanism when the crank rotation shaft 102 is offset, realizes the flexible adjustment of the motion track of the connecting rod part 30 in the crank slider mechanism, makes the crank slider mechanism have partial freedom degree, and thus the structural stability is kept when being applied to the corresponding device.

[0033] More specifically, the crank part 10 can be used as the power input end of the crank slider mechanism, and the rotary motion thereof drives the motion of the whole mechanism. The slider part or the roller 20 moves along the guide rail part 50, and the motion track thereof can be used as the moving track of the lower limb rehabilitation training. The slider part or the roller 20 can be a slider sliding along the guide rail part 50 or a roller rolling along the guide rail part 50, and the slider part or the roller 20 can be understood as a slider in the crank slider mechanism, and the meaning represented by the slider part or the roller 20 is not limited herein. The connecting rod part 30 is hinged at two ends with the crank part 10 and the slider part or the roller 20 respectively, and converts the rotary motion of the crank into the linear motion of the slider. The freedom degree adjusting part 40 can be arranged at multiple hinge positions in the crank slider mechanism, so that the motion track of the connecting rod part 30 is not unique, and the flexible adjustment of the motion track is realized.

[0034] Further, the freedom degree adjusting part 40 introduces partial freedom degree at the hinge positions of the crank part 10, the slider part or the roller 20 and the connecting rod part 30, so that the motion of the connecting rod part 30 in the crank slider mechanism is no longer limited to a single track. Specifically, the freedom degree adjusting part 40 makes the freedom degree of at least one of the hinge positions of the crank part 10, the slider part or the roller 20 and the connecting rod part 30 of the crank slider mechanism not less than 2. The freedom degree adjusting part 40 can be used for compensating the offset error of the crank slider mechanism. When the crank rotation shaft 102 is offset, the freedom degree adjusting part 40 can automatically adjust and compensate the error generated thereby, so as to keep the fitting degree of the motion track of the slider and the guide rail. The freedom degree adjusting part 40 can also be used for adapting to individual differences. The degrees of lower limb motor dysfunction of different patients are different, and the freedom degree adjusting part 40 can be adjusted according to the actual situation of the patient to realize personalized rehabilitation training. Meanwhile, the freedom degree adjusting part 40 can also improve the motion flexibility. The traditional rigid guide constraint limits the freedom degree of the motion of the slider, and the introduction of the freedom degree adjusting part 40 enables the slider to move in the coronal plane with small amplitude, so as to be closer to the natural motion mode of the human body.

[0035] Therefore, by setting the crank slider mechanism with local degrees of freedom, it has a wide application prospect in the field of lower limb rehabilitation devices. It can effectively solve many problems of traditional mechanisms when facing bias errors, improve the safety, effectiveness and comfort of rehabilitation training. Also, it can be customized according to different rehabilitation needs, further expanding its application range and use effect.

[0036] In an embodiment, the degree of freedom adjusting part 40 includes a trajectory adjusting part and a posture adjusting part. The trajectory adjusting part is used to adjust the movement trajectory of the hinged end of the connecting rod part 30 connected to the slider part or the roller 20 to match the movement trajectory of the slider part or the roller 20. The posture adjusting part is used to adjust the movement direction of the slider part or the roller 20 to match the tangent direction of the movement trajectory.

[0037] Specifically, in the embodiment of the utility model, the trajectory adjusting part and the posture adjusting part are set to work together to realize accurate adjustment of the movement trajectory and posture of the connecting rod part 30. Specifically, the function of the trajectory adjusting part is to adjust the movement trajectory of the hinged end of the connecting rod part 30 connected to the slider part or the roller 20, so that it can remain unchanged when the position trajectory of the hinged end of the connecting rod part 30 connected to the crank part 10 changes. In the traditional crank slider mechanism, the movement trajectory of the slider is fixed, which will cause the problem of trajectory mismatch when facing the offset of the crank rotation shaft 102. The trajectory adjusting part allows the connecting rod part 30 to fine-tune during movement by introducing additional degrees of freedom, thereby ensuring that the slider part or the roller 20 always moves along the predetermined trajectory. In turn, it improves the adaptability of the crank slider mechanism and enhances the stability under complex working conditions.

[0038] The function of the posture adjusting part is to adjust the movement direction of the slider part or the roller 20 to match the movement trajectory. In actual application, the posture of the slider part or the roller 20 determines the smoothness of its movement, for example, in the lower limb rehabilitation device, the posture of the slider part or the roller 20 relates to the moving resistance of the connecting rod part 30, i.e. the smoothness of movement, which directly affects the comfort and rehabilitation effect of the patient. The posture adjusting part adjusts the orientation of the slider part or the roller 20 to ensure its fit with the guide rail during movement, thereby reducing friction and resistance and improving the smoothness of movement.

[0039] Therefore, through the coordinated action of the trajectory adjusting part and the posture adjusting part, the bias error of the crank slider mechanism is effectively compensated, the connecting rod part 30 in the crank slider mechanism can maintain stable and smooth movement, thereby improving the stability and effectiveness of the rehabilitation device during training, and individualized adjustment can be made according to the individual differences of patients, so as to realize targeted rehabilitation exercise training.

[0040] In an embodiment, the trajectory adjustment part includes a crank-link deflection assembly 41, a link-link deflection assembly 42, and a guide rail deflection assembly 43; the crank-link deflection assembly 41 is arranged at the hinge between the crank part 10 and the link part 30 to deflect the link part 30 in a plane perpendicular to the rotation plane of the crank part 10; the link-link deflection assembly 42 is arranged in the link part 30 to split the link part 30 into two hinged parts and deflect the two split parts of the link part 30 in a plane perpendicular to the rotation plane of the crank part 10; and the guide rail deflection assembly 43 is arranged on the base 101 connected to the guide rail part 50 to deflect the guide rail part 50 relative to the mounting surface of the base 101.

[0041] Specifically, in the embodiment of the utility model, the crank-link deflection assembly 41 is used to allow the link part 30 to adjust the angle during movement, thereby compensating for the trajectory deviation caused by the offset of the rotation shaft 102 of the crank part 10. Similarly, the link-link deflection assembly 42 is also used to adjust the angle during movement, increasing the flexibility of the link part 30 and adapting to complex movement requirements. The guide rail deflection assembly 43 further optimizes the movement trajectory of the slider part or the roller 20 by adjusting the deflection angle of the guide rail part 50, ensuring that it matches the predetermined trajectory under the traction of the link part 30.

[0042] More specifically, the crank-link deflection assembly 41 introduces a deflection degree of freedom at the hinge between the crank part 10 and the link part 30 to compensate for the trajectory deviation caused by the offset of the rotation shaft 102 of the crank part 10, ensuring that the movement trajectory of the slider is consistent with the guide rail. The link-link deflection assembly 42 further increases the flexibility of the mechanism by splitting the link part 30 into two hinged parts and introducing a deflection degree of freedom between the two parts. In this way, the link part 30 not only adapts to different movement trajectory requirements, but also improves the stability and reliability of the crank slider mechanism. The guide rail deflection assembly 43 adjusts the deflection angle of the guide rail part 50 relative to the mounting surface of the base 101 to ensure that the slider always moves along the predetermined trajectory during movement, thereby improving the safety and effectiveness of the rehabilitation training device.

[0043] In this way, the use of the crank slider mechanism with a trajectory adjustment part has significant application advantages in the field of lower limb rehabilitation devices. Through the synergistic effect of the crank-link deflection assembly 41, the link-link deflection assembly 42, and the guide rail deflection assembly 43, the offset error of the crank slider mechanism can be effectively compensated for, improving the safety and effectiveness of rehabilitation training. It can also actively utilize the offset error or set appropriate offset parameters to make targeted adjustments according to individual differences of patients, achieving more precise rehabilitation training.

[0044] In an embodiment, the crank slider mechanism further comprises a limiting part corresponding to the degree of freedom adjusting part 40, which is installed on the crank link mechanism to limit the deflection range of the link part 30 and the guide rail part 50.

[0045] Specifically, in practical applications, the crank slider mechanism usually needs to limit the deflection range of the link part 30 and the guide rail part 50 to ensure the stability and safety of the movement. By installing the limiting part corresponding to the degree of freedom adjusting part 40 on the crank slider mechanism, the deflection range of the link part 30 and the guide rail part 50 is limited, thereby avoiding mechanical failure and safety accidents caused by excessive deflection.

[0046] More specifically, the limiting part can be set according to the movement characteristics and actual application requirements of the crank slider mechanism. Specifically, the limiting part can be a limiting block, which is usually installed at the deflection path position of the link part 30 and the guide rail part 50 to directly limit the deflection angle of the link part 30 and the guide rail part 50, ensuring that it deflects within a set angle range. Similarly, elastic elements can also be arranged in the limiting part to improve its adaptability and buffering performance, for example, elastic elements are installed between the limiting block and the link part 30 or the guide rail part 50. The elastic element can absorb impact force to some extent, reduce mechanical wear, and also provide resistance when the deflection angle approaches the limit, further improving the stability of the movement. For some high-precision application scenarios, the limiting part can also be equipped with sensors and control systems. The sensor monitors the deflection angle of the link part 30 and the guide rail part 50 in real time, and the control system automatically adjusts the deflection position of the link part 30 or the stiffness of the elastic element according to the information fed back by the sensor, thereby realizing precise control of the deflection angle.

[0047] In this way, by limiting the deflection range of the link part 30 and the guide rail part 50, the limiting part can effectively reduce mechanical vibration and impact caused by excessive deflection, thereby improving the movement stability of the entire mechanism. The limiting part can effectively prevent the link part 30 and the guide rail part 50 from excessive deflection caused by mechanical failure or operation error, thereby avoiding possible safety accidents. The buffering and protection function of the limiting part can reduce the wear between mechanical parts, thereby prolonging the service life of the crank slider mechanism.

[0048] Please refer to Figures 1 to 5The utility model also provides a lower limbs rehabilitation device, including frame 100, swivel axle 102, crank part 10, connecting rod part 30, footboard part 60 and degree of freedom adjusting part 40, the base 101 of frame 100 is equipped with guide rail part 50, swivel axle 102 rotates and is equipped with on frame 100, crank part 10 fixedly equipped with on swivel axle 102, connecting rod part 30 one end is hinged with crank part 10, and the other end is hinged with slider part or gyro wheel 20, and slider part or gyro wheel 20 moves along guide rail part 50, footboard part 60 is equipped with on connecting rod part 30, degree of freedom adjusting part 40 is equipped with at the hinge of crank part 10 and connecting rod part 30, or is equipped with in the hinge in connecting rod part 30, or is equipped with in the hinge in guide rail part 50, and / or is equipped with at the hinge of connecting rod part 30 and slider part or gyro wheel 20, to make connecting rod part 30 exist local degree of freedom, realize non-plane movement.

[0049] Specifically, in the utility model embodiment, frame 100 is the basic structure of the whole lower limbs rehabilitation device, and bears the role of supporting and fixing other mechanisms. The design of frame 100 needs to consider both structural strength and stability to ensure that it can withstand the body weight of the patient and various forces generated during rehabilitation training. In addition, the layout and size of frame 100 should also be optimized according to the specific needs of rehabilitation training to provide sufficient operating space and comfort.

[0050] Further, swivel axle 102 is the rotation center of crank part 10, which is installed on frame 100 and drives the movement of the whole crank slider mechanism. The precision and carrying capacity of swivel axle 102 directly affect the movement characteristics of crank part 10, and thus affect the effect of rehabilitation training. Therefore, it is necessary to ensure that swivel axle 102 rotates smoothly and has sufficient strength to withstand wear and load during long-term use. In some high-precision rehabilitation devices, swivel axle 102 may also be equipped with precision bearings and lubrication systems to further improve its performance and service life.

[0051] Further, crank part 10 is installed on swivel axle 102, and its shape and size can be optimized according to the specific needs of rehabilitation training to ensure that it can generate a movement trajectory that conforms to the movement rules of human lower limbs. The kinematic characteristics of crank part 10 pulling connecting rod part 30 correspond to the effect of rehabilitation training, so the physiological structure and movement characteristics of human lower limbs should be fully considered in the design to make the movement of crank part 10 pulling connecting rod part 30 effectively simulate the action of patient lower limb gait.

[0052] More specifically, the length and shape of the connecting rod part 30 directly affect the movement trajectory of the slider part or roller 20, and in turn affect the effect of rehabilitation training. In the traditional crank slider mechanism, the movement trajectory of the connecting rod part 30 is fixed, but in the lower limb rehabilitation device in the embodiment of the utility model, through the introduction of the degree of freedom adjusting part 40, the movement trajectory of the connecting rod part 30 can be flexibly adjusted. The lower limb rehabilitation device can be personalized according to the individual differences of patients, and the adaptability of rehabilitation training is improved. The arrangement of the slider part or roller 20 needs to consider the cooperation accuracy with the guide rail part 50 to reduce friction and wear and improve the smoothness of movement. At the same time, the slider part or roller 20 also needs to have sufficient strength and stability to withstand the force exerted by the patient during rehabilitation training.

[0053] The footrest part 60 is installed on the connecting rod part 30 to provide stable support for the patient and ensure the safety of rehabilitation training. Its position and shape need to be adjusted according to the physical characteristics of the patient to ensure that the patient can maintain the correct posture during rehabilitation training. The design of the footrest part 60 also needs to consider its comfort and stability to improve the patient's use experience. For example, the footrest part 60 is equipped with adjustable straps or fixing devices to further improve the stability and safety of the patient's lower limbs. In some other lower limb rehabilitation devices, the footrest part can also be equipped with sensors to monitor the movement state of the patient's lower limbs in real time and provide data support for rehabilitation training.

[0054] It should be noted that the degree of freedom adjusting part 40 can be selected to be installed at the hinge in the crank slider mechanism. To make the movement trajectory of the connecting rod part 30 not unique, so as to match the bias movement characteristics of the crank slider mechanism and realize personalized adjustment of rehabilitation training. By changing the movement trajectory of the connecting rod part 30 through the degree of freedom adjusting part 40, the rehabilitation device is closer to the natural movement mode of the human body, and the effect of rehabilitation training is improved. And according to the adjustment accuracy of the degree of freedom adjusting part 40, precise adjustment according to the individual differences of patients can be ensured. At the same time, compared with some products that realize error adjustment through gap cooperation, the embodiment of the utility model realizes connection through high-precision hinge structure, which not only ensures the local degree of freedom, but also avoids the additional noise caused by the collision between the gaps of the mechanism.

[0055] In this way, the lower limb rehabilitation device optimizes the crank slider mechanism by introducing the degree of freedom adjusting part 40, realizes personalized adjustment of lower limb rehabilitation training, not only improves the effect and safety of rehabilitation training, but also provides patients with more comfortable and efficient rehabilitation experience.

[0056] Please refer to Figure 1 and Figure 2In an embodiment, the freedom adjusting part 40 installed at the hinge between the crank part 10 and the connecting rod part 30 comprises a crank-connecting rod deflection assembly 41 and a bearing seat 411; the bearing seat 411 is connected with the crank part 10 through a bearing installed in the inner ring, and is rotationally connected with the connecting rod part 30 through the crank-connecting rod deflection assembly 41 installed on the outer ring, and the axial direction of the bearing seat 411 is parallel to the axial direction of the crank part 10 and perpendicular to the axial direction of the crank-connecting rod deflection assembly 41, and there is a gap between the end surface of the bearing seat 411 and the connecting rod part 30.

[0057] Specifically, in the embodiment of the utility model, the crank-connecting rod deflection assembly 41 connects the crank part 10 and the connecting rod part 30 through a hinge, so that the connecting rod part 30 deflects in a plane perpendicular to the rotation plane of the crank part 10, thereby providing an additional degree of freedom for the movement track of the connecting rod part 30, so that it can be flexibly adjusted according to the specific needs of rehabilitation training. The bearing seat 411 is connected with the crank part 10 and the connecting rod part 30 through the bearing installed in the inner ring and the crank-connecting rod deflection assembly 41 installed on the outer ring respectively, and cooperates with the restrictor to limit the axial posture, so that the bearing seat 411 can ensure the stability of the structure while allowing the connecting rod part 30 to deflect in a specific plane, further enhancing its flexibility and adaptability.

[0058] More specifically, the crank-connecting rod deflection assembly 41 further comprises a deflection fixing part 412, which can be a deflection assembly hinged on the bearing seat 411, and the side surface thereof is fixed to the side surface of the connecting rod part 30 at a certain distance from the end surface of the bearing seat 411, so as to realize the limiting function. That is, the surface of the deflection fixing part 412 connected with the connecting rod part 30 protrudes from the end surface of the bearing seat 411 towards the connecting rod part 30, so that the deflection fixing part 412 can provide a limited deflection space through the end surface of the bearing seat 411 when the connecting rod part 30 deflects. The deflection fixing part 412 is hinged on the outer ring of the bearing seat 411, and the outer side surface thereof is fixedly connected with the connecting rod part 30, and the side surface of the connecting rod part 30 is at a certain distance from the end surface of the bearing seat 411, thereby realizing the deflection of the connecting rod part 30 in a plane perpendicular to the rotation plane of the bearing, and the distance between the side surface of the connecting rod part 30 and the end surface of the bearing seat 411 is relatively small, thereby realizing the limiting function.

[0059] Please refer to Figure 1 and Figure 3, in an embodiment, the degree-of-freedom adjusting part 40 installed at the hinge of the connecting rod part 30 includes a connecting rod-connecting rod deflection assembly 42 and a baffle plate 421 and a protrusion 422, the connecting rod-connecting rod deflection assembly 42 is connected with the crank part 10 and the slider part or the roller 20 respectively through the two connecting rods hinged with each other; the baffle plate 421 and the protrusion 422 are arranged on the two connecting rods hinged with each other respectively to limit the deflection angle of the two connecting rods; wherein the two connecting rods of the connecting rod-connecting rod deflection assembly 42 include the pedal part 60 and the connecting rod part 30 hinged with each other.

[0060] Specifically, in the embodiment of the utility model, in the double connecting rod structure of the connecting rod-connecting rod deflection assembly 42, the pedal part hinged with each other is connected with the bearing seat 411 of the crank part 10 as a connecting rod and can rotate around the shaft, and the connecting rod part 30 hinged with each other is connected with the slider part or the roller 20 such as a fixed pulley. The pedal part 60 as a part of the double connecting rod can deflect relatively on the plane perpendicular to the bearing seat 411 rotation plane. Not only the structure of the pedal part is integrated into the function of the degree-of-freedom adjusting part 40 of the connecting rod part 30, but also the flexibility of movement is increased, and the natural movement of the lower limbs of the human body can be better simulated.

[0061] More specifically, in order to limit the deflection angle of the double connecting rod, the baffle plate 421 and the protrusion 422 are arranged on the two connecting rods hinged with each other respectively, please refer to the drawings Figure 3 , the baffle plate 421 can be a flange structure of the connecting rod part 30, and the limiting is realized by the abutment of the baffle plate 421 and the arranged protrusion 422. In the deflection process, the protrusion 422 is limited to move when touching the baffle plate 421, thereby realizing the deflection limiting function. This limiting mechanism can effectively prevent the over-deflection of the connecting rod part 30, and ensure the movement safety and stability of the structure.

[0062] In this way, the degree-of-freedom adjusting part 40 arranged in the connecting rod part 30 has remarkable application effect in the lower limb rehabilitation device. Not only the individualization and adaptability of rehabilitation training are improved, but also the safety and reliability of the device are enhanced. By allowing the connecting rod part 30 to deflect within a certain range, the rehabilitation needs of different patients can be better met, thereby improving the effect of rehabilitation training. At the same time, the limiting function of the baffle plate 421 and the protrusion 422 provides additional safety guarantee for rehabilitation training.

[0063] Please refer to Figure 1 and Figure 5 , in an embodiment, the degree-of-freedom adjusting part 40 installed at the hinge of the guide rail part 50 includes a guide rail deflection assembly 43 and a stopper 431, the guide rail deflection assembly 43 hingedly connects one end of the guide rail part 50 to the base 101, and / or a roller is arranged at the other end of the guide rail part 50; the stopper 431 is arranged on the guide rail part 50 or the base 101 and is located on the deflection movement path of the guide rail part 50.

[0064] Specifically, in the embodiment of the utility model, the guide rail part 50 can deflect around the hinge point on the base 101, thereby providing additional degrees of freedom for the movement trajectory of the slider part or the roller 20. Please refer to the drawings Figure 5 As shown, the stopper 431 can be a flange structure connected to the end of the guide rail part 50 on the base 101, which is limited by the flange structure and the outer contour of the hinged base 101, or it can be a stopper 431 formed by the matching of the rod and the groove on the contact surface between the guide rail part 50 and the base 101. During the deflection process, the roller interacts with the stopper 431 to limit the maximum deflection angle of the guide rail part 50, thereby achieving the limiting function. That is, one end of the guide rail part 50 is rotationally connected to the base 101, and the other end is provided with a roller. Two side plates 421 are provided at the corresponding base 101, and the roller can rotate the guide rail part 50 with the hinge point of the base 101 as the center, and the side plates 421 limit the maximum deflection angle of the guide rail part 50. It is similar to the stopper in the linear guide rail, which is used to prevent overtravel or deviation during the movement of the slider.

[0065] Please refer to Figure 1 and Figure 4 In an embodiment, the degree of freedom adjusting part 40 installed at the hinge point between the connecting rod part 30 and the slider part or the roller 20 includes a universal wheel assembly 44 and a protrusion 441 and an arc groove 442; the universal wheel assembly 44 is installed at the hinge end of the connecting rod part 30 and the slider part or the roller 20, and replaces the slider part or the roller 20; the protrusion 441 and the arc groove 442 are respectively arranged on the rotating pair of the universal wheel assembly 44, and the protrusion 441 moves in the arc groove 442, limiting the deflection angle of the universal wheel assembly 44 and the connecting rod part 30.

[0066] Specifically, in the embodiment of the utility model, the universal wheel assembly 44 is used to realize flexible adjustment and limiting of the movement trajectory. The universal wheel assembly 44 is installed at the hinge end of the connecting rod part 30 and the slider part or the roller 20, and replaces the traditional slider part or roller 20 structure, so that when the connecting rod part 30 connected to the hinge end of the slider part or the roller 20 moves in the direction of the deflection angle, the wheel set in the universal wheel assembly 44 can be directly pulled to deflect. At the same time, the rotating pair of the universal wheel assembly 44 is provided with a matching protrusion 441 and an arc groove. During the movement, the protrusion 441 is limited to move freely within the range of the arc groove 442, thereby realizing the limiting function of the rotation of the wheel set.

[0067] Please refer to Figure 1 , Figure 2 and Figure 4, in one embodiment, the crank-rod deflection assembly 41 is combined with the universal wheel assembly 44. First, the hinge structure of the crank-rod deflection assembly 41 between the crank 10 and the rod 30 is assembled, the crank 10 is installed on the motor output shaft of the lower limb rehabilitation device, and the crank is ensured to rotate freely in a plane perpendicular to the ground. Then the outer ring of the bearing seat 411 installed on the crank is installed with a deflection fixing piece 412, which is fixedly connected with the rod 30 through a hinge, and the hinge axis is perpendicular to the rotation plane of the crank 10. The deflection of the rod 30 around the hinge axis by ±5° is allowed by setting. At the same time, a gap of 4mm is reserved between the rod 30 and the bearing seat 411 to ensure that there is no interference during deflection, and to limit the deflection angle of the rod 30 to prevent excessive displacement.

[0068] Then, the universal wheel is connected to the end of the rod 30 through a rotating pair, and the rotating pair of the universal wheel is provided with a matched arc groove 442 and a protrusion 441 inside, the protrusion 441 can slide in the arc groove, and the deflection range of the universal wheel in the horizontal plane is limited to ±10°. The universal wheel can be made of rubber material to reduce rolling noise and increase friction.

[0069] Please refer to Figure 1 、 Figure 3 and Figure 4 , in another embodiment, the rod-rod deflection assembly 42 is combined with the universal wheel assembly 44. First, the double-rod structure in the rod-rod deflection assembly 42 is hingedly assembled. The single rod can be replaced by a double-rod structure including a first rod and a second rod, and the two are connected by a hinge, and the hinge axis is perpendicular to the rotation plane of the crank, as shown in the example in Figure 3 , the footrest is taken as the first rod, the first rod is fixed with the bearing seat 411 of the crank 10, the rod 30 is taken as the second rod, and the end of the rod 30 is connected with the universal wheel assembly 44. And the double-rod bottom surface is respectively provided with a baffle 421 and a protrusion 422, the distance between the protrusion 422 and the baffle 421 is set to 2mm, and the maximum deflection of the double-rod is limited to ±6°. Then, the universal wheel assembly 44 can be assembled in the manner of the above embodiment.

[0070] Please refer to Figure 1 、 Figure 4 and Figure 5In yet another embodiment, the guide rail deflection assembly 43 is combined with the universal wheel assembly 44. First, the guide rail deflection assembly 43 is assembled by hingedly connecting one end of the guide rail portion 50 to the base 101 of the lower limb rehabilitation device and installing a roller at the other end. A linear slot is formed in the base 101 corresponding to the position of the roller, and a stopper 431 is arranged on the bottom surface of the guide rail portion 50, so that the stopper 431 is limited to move in the space of the linear slot and can set the maximum deflection angle of the guide rail portion 50 to ±8°. The surface of the roller can be covered with a rubber layer to reduce sliding friction. Then, the universal wheel assembly 44 can be assembled in the manner of the above embodiments.

[0071] In summary, the present application provides a crank slider mechanism with partial degrees of freedom and a lower limb rehabilitation device. By introducing partial degrees of freedom, the movement trajectory of the connecting rod portion in the crank slider mechanism is not unique, allowing lateral deflection adjustment to match the movement trajectory with the user's lower limb posture, reducing abnormal stress and significantly reducing local pressure. The introduced partial degrees of freedom allow the connecting rod portion, the slider portion, or the roller and the guide rail portion to deflect in a specific plane, while the limiting component limits the deflection angle to ensure the safety and stability of the movement. By increasing the degrees of freedom and the limiting function, the flexibility and adaptability of the lower limb rehabilitation device are significantly improved. It can better simulate the natural movement of the human lower limbs, provide personalized and precise rehabilitation training for users, and at the same time enhance the safety and reliability of rehabilitation training, bringing more efficient and safer rehabilitation experience for patients with lower limb motor dysfunction.

[0072] The above embodiments only exemplarily illustrate the principles and effects of the present application, and are not intended to limit the present application. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical ideas disclosed by the present application should be covered by the claims of the present application.

Claims

1. A crank slider mechanism with partial degree of freedom, comprising: a crank portion (10); a slider portion or roller (20) moving or rolling along an installed guide rail portion (50); a connecting rod portion (30) having two ends respectively hinged to the crank portion (10) and the slider portion or roller (20); and a degree of freedom adjusting portion (40) installed at the hinge between the crank portion (10) and the connecting rod portion (30), or installed at the hinge in the connecting rod portion (30), or installed at the hinge of the guide rail portion (50), and / or installed at the hinge between the connecting rod portion (30) and the slider portion or roller (20), so that the connecting rod portion (30) has a partial degree of freedom, realizing a non-planar motion.

2. Crank slider mechanism according to claim 1, characterized in that The degree of freedom adjusting portion (40) makes the degree of freedom of at least one of the hinges of the crank portion (10), the slider portion or roller (20) and the connecting rod portion (30) of the crank slider mechanism not less than 2, and is used to compensate for the position and attitude errors of the slider portion or roller (20) in the crank slider mechanism.

3. The crank-slider mechanism of claim 1, wherein The degree of freedom adjusting portion (40) comprises: a trajectory adjusting portion for adjusting the motion trajectory of the hinged end of the connecting rod portion (30) connecting the slider portion or roller (20) to match the motion trajectory of the slider portion or roller (20); and an attitude adjusting portion for adjusting the motion direction of the slider portion or roller (20) to match the tangent direction of its motion trajectory.

4. Crank slider mechanism according to claim 3, characterized in that The trajectory adjusting portion comprises: a crank-connecting rod deflection assembly (41) installed at the hinge between the crank portion (10) and the connecting rod portion (30) for deflecting the connecting rod portion (30) in a plane perpendicular to the rotation plane of the crank portion (10); a connecting rod-connecting rod deflection assembly (42) installed in the connecting rod portion (30) for separating the connecting rod portion (30) into two hinged parts and deflecting the separated two parts of the connecting rod portion (30) in a plane perpendicular to the rotation plane of the crank portion (10); and a guide rail deflection assembly (43) installed on the base (101) connected to the guide rail portion (50) for deflecting the guide rail portion (50) relative to the mounting surface of the base (101).

5. The crank-slider mechanism according to any one of claims 1-4, wherein, Further comprising a limiting portion corresponding to the degree of freedom adjusting portion (40) installed on the crank-connecting rod mechanism for limiting the deflection range of the connecting rod portion (30) and the guide rail portion (50) in the crank-connecting rod mechanism.

6. A lower extremity rehabilitation device characterized by, Comprising: a rack (100) having a guide rail portion (50) installed on the base (101); a rotation shaft (102) rotatably installed on the rack (100); a crank portion (10) fixedly installed on the rotation shaft (102); a connecting rod portion (30) having one end hinged to the crank portion (10) and the other end hinged to a slider portion or roller (20) moving along the guide rail portion (50); a foot pedal portion (60) installed on the connecting rod portion (30); and A degree-of-freedom adjusting part (40) is arranged at the hinge between the crank part (10) and the connecting rod part (30), or at the hinge in the connecting rod part (30), or at the hinge of the guide rail part (50), and / or at the hinge between the connecting rod part (30) and the slider part or the roller (20), so that the connecting rod part (30) has a local degree of freedom, realizing non-planar motion.

7. The lower limb rehabilitation device according to claim 6, wherein, The degree-of-freedom adjusting part (40) arranged at the hinge between the crank part (10) and the connecting rod part (30) comprises: a crank-connecting rod deflection assembly (41); and a bearing seat (411) rotationally connected with the crank part (10) through an inner ring bearing and rotationally connected with the connecting rod part (30) through the crank-connecting rod deflection assembly (41) arranged on an outer ring, and the axial direction of the bearing seat (411) is parallel to the axial direction of the crank part (10) and perpendicular to the axial direction of the crank-connecting rod deflection assembly (41), and a gap is left between the end face of the bearing seat (411) and the connecting rod part (30).

8. The lower limb rehabilitation device of claim 6, wherein, The degree-of-freedom adjusting part (40) arranged at the hinge in the connecting rod part (30) comprises: a connecting rod-connecting rod deflection assembly (42) connected with the crank part (10) and the slider part or the roller (20) respectively through two connecting rods hinged with each other; and a baffle (421) and a protrusion (422) arranged on the two connecting rods respectively to limit the deflection angle of the two connecting rods; wherein the two connecting rods of the connecting rod-connecting rod deflection assembly (42) comprise the foot pedal part (60) and the connecting rod part (30) hinged with each other.

9. The lower limb rehabilitation device according to claim 6, wherein the degree-of-freedom adjusting part (40) arranged at the hinge of the guide rail part (50) comprises: a guide rail deflection assembly (43) hinging one end of the guide rail part (50) to the base (101) and / or arranging a roller at the other end of the guide rail part (50); and a stopper (431) arranged on the guide rail part (50) or the base (101) and located on the deflection movement path of the guide rail part (50).

10. The lower limb rehabilitation device according to claim 6, wherein the degree-of-freedom adjusting part (40) arranged at the hinge between the connecting rod part (30) and the slider part or the roller (20) comprises: a universal wheel assembly (44) arranged at the hinge end of the slider of the connecting rod part (30) and the slider part or the roller (20) and replacing the roller in the slider part or the roller (20); and a protrusion (441) and an arc groove (442) arranged on the rotation pair of the universal wheel assembly (44) respectively, and the protrusion (441) moves in the arc groove (442) to limit the deflection angle of the universal wheel assembly (44) and the connecting rod part (30).

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