Stepping rehabilitation training device

Abstract

The utility model relates to the technical field of medical instruments, in particular to a stepping rehabilitation training device. The stepping rehabilitation training device comprises a rack, two pedal plates and a distance adjusting assembly, wherein the two pedal plates are arranged on the rack side by side; the distance adjusting assembly is connected between the rack and at least one pedal and used for driving the two pedals to get close to each other or get away from each other. By the adoption of the stepping rehabilitation training device, when the stepping rehabilitation training device faces patients of different body types, the two pedal plates can be driven to be close to each other or away from each other through the distance adjusting assembly, so that the distance between the two pedal plates is adjusted to adapt to the patients of different body types, and then the comfort level and the training effect of the patients are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical equipment technical field especially is involved in a kind of step rehabilitation training device. BACKGROUND

[0002] Lower limb rehabilitation training is the important way that lower limb function injury patient restores lower limb movement perception function, and ultimately rehabilitation.Step rehabilitation training is one of the most common training methods, because it is similar to human lower limb walking action, with high bionics, so this training method has important clinical rehabilitation significance.Traditional lower limb rehabilitation training basically relies on therapist manual auxiliary patient lower limb to carry out joint training, this process is time-consuming and laborious, needs multiple therapists to assist operation to complete, training cost is higher, and skill and force are determined by the level of therapist and physical strength change, so that the treatment effect is not stable.Therefore, lower limb rehabilitation training equipment is increasingly used in patient care and rehabilitation training.

[0003] However, the step training structure part of lower limb rehabilitation training device on the market at present has single function, lacks the adaptive adjustment mode of patient of different body shape (mainly reflected in the distance between two footboards cannot be adjusted), and then affects the training effect of patient. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of step rehabilitation training device to solve the technical problems, such as single function of step rehabilitation training device on the market, lack the adaptive adjustment mode of patient of different body shape, and then affect the training effect of patient.

[0005] In order to realize the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A kind of step rehabilitation training device, including rack, footboard and interval adjustment component, wherein:

[0007] The number of the footboard is two and is installed side by side on the rack;

[0008] The interval adjustment component is connected between the rack and at least one footboard, for driving two footboards to approach or move away from each other.

[0009] Further, the number of the interval adjustment component is two groups and corresponds to two footboards one by one;

[0010] Each interval adjustment component includes a sliding member and a locking structure, wherein: the sliding member is slidingly connected between the rack and the corresponding footboard, and the sliding member can drive the corresponding footboard to move horizontally relative to the rack;The locking structure is used to lock or release the horizontal position of the sliding member relative to the rack.

[0011] Further, the locking structure comprises a plunger mounting and a knob plunger, wherein:

[0012] The plunger mounting is connected to the frame;

[0013] The knob plunger is fixed to the plunger mounting, and the sliding member is provided with a plurality of limiting holes for inserting or removing the knob plunger.

[0014] Further, two sets of rotation compensation assemblies are further included, and the two sets of rotation compensation assemblies correspond to the two foot pedals one by one;

[0015] Each set of the rotation compensation assemblies comprises a pedal support, which is hinged to the corresponding foot pedal and connected to the corresponding sliding member.

[0016] Further, each set of the rotation compensation assemblies further comprises a rotation shaft, which penetrates the pedal support and the corresponding foot pedal;

[0017] And / or, each set of the rotation compensation assemblies further comprises a step cushion pad, which is located between the pedal support and the corresponding foot pedal and is fixed to the pedal support or the corresponding foot pedal.

[0018] Further, two sets of clamping lock assemblies are further included, and the two sets of clamping lock assemblies correspond to the two foot pedals one by one;

[0019] Each set of the clamping lock assemblies comprises a spherical head, a clamping plate, and a clamping handle, wherein: the clamping plate is connected to the sliding member, and the opposite sides of the clamping plate and the sliding member are both provided with a hemispherical socket structure; one end of the spherical head is fixed to the pedal support, and the spherical surface part of the spherical head is arranged in the spherical socket structure formed by the corresponding sliding member and the clamping plate; one end of the clamping handle penetrates the clamping plate and is threadedly connected to the corresponding sliding member.

[0020] Further, two sets of connection assemblies are further included, and the two sets of connection assemblies correspond to the two foot pedals one by one;

[0021] Each set of the connection assemblies comprises a tension spring and a sliding support, wherein: the tension spring is connected between the frame and the sliding support; the sliding support is connected to the corresponding sliding member and can slide relative to the corresponding sliding member in the horizontal direction.

[0022] Further, each set of the connection assemblies further comprises a linear guide rail, which is arranged vertically and fixed to the frame, and the sliding support is slidingly arranged on the linear guide rail; each set of the connection assemblies further comprises a limiting soft pad, which is fixed to the frame and located at the end of the linear guide rail.

[0023] And / or, each group of the connecting assembly further comprises a transmission drag chain, both ends of the transmission drag chain are connected to the rack and the sliding support respectively, and a cable is placed in the transmission drag chain.

[0024] Further, two groups of force sensing assemblies are further included, and the two groups of force sensing assemblies correspond to the two foot pedals one by one.

[0025] Each group of the force sensing assembly comprises a sensing support, a tension and pressure sensor and a load support, wherein: the sensing support is connected to the rack; the fixed end of the tension and pressure sensor is connected to the sensing support, and the load application end of the tension and pressure sensor is connected to the load support; and the load support is connected to the corresponding sliding support, and the two can slide relative to each other in the horizontal direction.

[0026] Further, each group of the force sensing assembly further comprises a sliding block fixed to the load support.

[0027] One of the sliding block and the corresponding sliding support is provided with a groove, and the other is provided with a sliding protrusion, and the sliding protrusion is arranged in the groove in the horizontal direction.

[0028] The beneficial effects of the utility model are as follows:

[0029] The step rehabilitation training device provided by the utility model comprises a rack, foot pedals and a distance adjustment assembly, wherein: the number of the foot pedals is two and the foot pedals are arranged side by side on the rack; the distance adjustment assembly is connected between the rack and at least one foot pedal and is used for driving the two foot pedals to approach or move away from each other. When facing patients with different body types, the distance adjustment assembly is used for driving the two foot pedals to approach or move away from each other, so that the distance between the two foot pedals is adjusted, so as to adapt to patients with different body types, and the comfort and training effect of the patients are improved. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the utility model or the technical solutions in the prior art, the drawings needed in the specific embodiments or the prior art description will be briefly introduced as follows, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to the drawings without creating creative labor.

[0031] Figure 1 The three-dimensional structure schematic diagram of the step rehabilitation training device provided by the embodiments of the utility model is shown in the figure.

[0032] Figure 2The connection structure schematic view of the distance adjustment assembly and the force sensing assembly is provided for the embodiment of the utility model.

[0033] Figure 3 The connection structure schematic view of the footboard and the rotation compensation assembly is provided for the embodiment of the utility model.

[0034] Figure 4 The explosion view of the clamping lock assembly, the pedal support and the sliding piece is provided for the embodiment of the utility model.

[0035] Figure 5 The connection structure schematic view of the rack and the connecting assembly is provided for the embodiment of the utility model.

[0036] Figure 6 The explosion view of the force sensing assembly is provided for the embodiment of the utility model.

[0037] Icon:

[0038] 100-rack;

[0039] 200-footboard;

[0040] 300-distance adjustment assembly; 301-sliding piece; 3011-limiting hole; 3012-semi-spherical socket structure; 302-plunger mounting piece; 303-knob plunger;

[0041] 400-rotation compensation assembly; 401-pedal support; 402-rotation shaft; 403-step buffer pad;

[0042] 500-clamping lock assembly; 501-spherical head; 502-clamping plate; 503-clamping lock handle;

[0043] 600-connecting assembly; 601-tension spring; 602-sliding support; 603-linear guide rail; 604-limiting soft pad; 605-transmission drag chain;

[0044] 700-force sensing assembly; 701-sensing support; 702-tension and pressure sensor; 703-load support; 704-sliding block. DETAILED DESCRIPTION

[0045] The technical solutions of the utility model will be described clearly and completely in combination with embodiments. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor belong to the protection scope of the utility model.

[0046] It should be noted that in the description of the utility model, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0047] It should be noted that in the description of the utility model, the terms "connection" and "installation" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral connection, it can be directly connected, or connected through an intermediate medium, it can be mechanical connection, or electrical connection. For ordinary skilled persons in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0048] In view of the technical problem that the lower limb rehabilitation training device on the market lacks adaptive adjustment mode for patients of different body types (mainly reflected in that the distance between the two foot pedals cannot be adjusted), the utility model embodiment provides a stepping rehabilitation training device, referring to Figure 1 The device comprises a rack 100, a foot pedal 200 and a distance adjustment assembly 300, wherein:

[0049] The number of foot pedals 200 is two and they are arranged side by side on the rack 100;

[0050] The distance adjustment assembly 300 is connected between the rack 100 and at least one foot pedal 200, and is used to drive the two foot pedals 200 to approach or move away from each other.

[0051] By using the above stepping rehabilitation training device, when facing patients of different body types, the distance adjustment assembly 300 can be used to drive the two foot pedals 200 to approach or move away from each other, so as to adjust the distance between the two foot pedals 200, so as to adapt to patients of different body types, and then improve the comfort and training effect of the patients.

[0052] It should be noted that the spacing adjustment assembly 300 can be arranged between only one of the foot pedals 200 and the frame 100, and in this case, the position of the foot pedal 200 is adjusted to move the foot pedal 200 away from or close to the other foot pedal 200, so as to adjust the spacing between the two foot pedals 200. Alternatively, the spacing adjustment assembly 300 is arranged between each of the foot pedals 200 and the frame 100, and in this case, the position of each of the foot pedals 200 can be independently adjusted, so as to not only adjust the spacing between the two foot pedals 200, but also to center the two foot pedals 200 relative to the frame 100, and the adjustment is more flexible and convenient.

[0053] In this embodiment, the number of spacing adjustment assemblies 300 is two groups and corresponds to the two foot pedals 200 one by one, and each spacing adjustment assembly 300 is used to drive the corresponding foot pedal 200 to move away from or close to the other foot pedal 200, so that the positions of the two foot pedals 200 can be independently adjusted.

[0054] Referring to Figure 1 and Figure 2 , each group of spacing adjustment assemblies 300 includes a sliding member 301 and a locking structure, wherein: the sliding member 301 is connected between the frame 100 and the corresponding foot pedal 200, and the sliding member 301 can drive the corresponding foot pedal 200 to move horizontally relative to the frame 100; and the locking structure is used to lock or release the horizontal position of the sliding member 301 relative to the frame 100.

[0055] Specifically, the two sliding members 301 can move towards each other or away from each other; or, one of the sliding members 301 is stationary, and the other sliding member 301 moves away from or close to the stationary sliding member 301. When the spacing between the two sliding members 301 is adjusted to an appropriate degree, the horizontal position of the sliding member 301 relative to the frame 100 is locked by the locking structure, so as to fix the spacing between the two foot pedals 200.

[0056] Referring to Figure 2 , the locking structure includes a plunger mounting member 302 and a knob plunger 303, wherein:

[0057] The plunger mounting member 302 is connected to the frame 100;

[0058] The knob plunger 303 is fixedly connected to the plunger mounting member 302, and the sliding member 301 is provided with a plurality of limiting holes 3011 for the knob plunger 303 to insert or move out.

[0059] Specifically, the number of the limiting holes 3011 is multiple, and the multiple limiting holes 3011 are arranged in the horizontal direction at intervals; the plunger mounting member 302 is indirectly connected to the frame 100 through other components of the device; the knob plunger 303 is screwed to the plunger mounting member 302, and one end of the knob plunger 303 protrudes from the plunger mounting member 302 and is inserted into one of the limiting holes 3011. When it is necessary to adjust the distance between the two foot pedals 200, the knob plunger 303 is rotated to make one end of the knob plunger 303 move out of the limiting hole 3011, and then the sliding member 301 is pushed to drive the foot pedal 200 to move in the horizontal direction; when the distance between the two foot pedals 200 is adjusted to an appropriate degree, the knob plunger 303 is rotated to make one end of the knob plunger 303 inserted into another limiting hole 3011, so as to lock the horizontal position of the foot pedal 200 relative to the frame 100.

[0060] With reference to Figure 1 In the embodiment, the plunger mounting member 302 and the knob plunger 303 are located at the bottom of the sliding member 301 (i.e. the side away from the foot pedal 200), so that the knob plunger 303 can be conveniently operated.

[0061] With reference to Figure 1 and Figure 3 The step rehabilitation training device further comprises two sets of rotation compensation assemblies 400, and each set of rotation compensation assemblies 400 corresponds to one of the two foot pedals 200.

[0062] Each set of rotation compensation assemblies 400 comprises a pedal support 401, and the pedal support 401 is hinged to the corresponding foot pedal 200 and connected to the corresponding sliding member 301.

[0063] As an optional embodiment, each set of rotation compensation assemblies 400 further comprises a rotation shaft 402, and the rotation shaft 402 penetrates the pedal support 401 and the corresponding foot pedal 200, so as to realize the mutual hinging of the pedal support 401 and the corresponding foot pedal 200.

[0064] As an optional embodiment, each set of rotation compensation assemblies 400 further comprises a step buffer pad 403, and the step buffer pad 403 is located between the pedal support 401 and the corresponding foot pedal 200 and is fixed to the pedal support 401 or the corresponding foot pedal 200. The number of the step buffer pad 403 can be one or multiple, which can be adjusted according to actual needs.

[0065] In the embodiment, the rotation shaft 402 penetrates the rear end of the pedal support 401 and the rear end of the corresponding foot pedal 200 (the rear end is the end close to the heel). The number of the step buffer pad 403 is two, and the step buffer pad 403 is fixedly installed on the front side of the pedal support 401.

[0066] In use, the patient's foot can be fixed on the foot plate 200 by the elastic fixing bandage, and in the course of the stepping training, the foot plate 200 and the stepping plate support 401 can be relatively rotated to compensate the flexion and extension angle of the ankle joint; the stepping buffer pad 403 is made of elastic material and is used to buffer the impact of the stepping movement and absorb energy. Due to the setting of the rotation compensation assembly 400, the flexion and extension angle of the ankle joint of the patient can be compensated, thereby being more beneficial to the rehabilitation of the patient.

[0067] With reference to Figure 4 The stepping rehabilitation training device further comprises two sets of clamping and locking assemblies 500, and the two sets of clamping and locking assemblies 500 correspond to the two foot plates 200 one by one; the clamping and locking assembly 500 is connected between the corresponding sliding member 301 and the stepping plate support 401 and is used to lock or release the relative position of the corresponding sliding member 301 and the stepping plate support 401.

[0068] Further, each set of clamping and locking assemblies 500 comprises a spherical head 501, a clamping plate 502 and a clamping and locking handle 503, wherein: the clamping plate 502 is connected to the sliding member 301, and the opposite sides of the clamping plate 502 and the sliding member 301 are both provided with a hemispherical socket-shaped structure 3012; one end of the spherical head 501 is fixedly connected to the stepping plate support 401, and the spherical surface part of the spherical head 501 is arranged in the spherical socket-shaped structure surrounded by the corresponding sliding member 301 and the clamping plate 502; one end of the clamping and locking handle 503 penetrates through the clamping plate 502 and is threadedly connected with the corresponding sliding member 301.

[0069] Specifically, one side of the clamping plate 502 is a fixed end, and the other side is a cantilever end, the fixed end of the clamping plate 502 is connected to the sliding member 301 through a screw, and one end of the clamping and locking handle 503 penetrates through the cantilever end of the clamping plate 502 and is threadedly connected with the sliding member 301. The upper part of the sliding member 301 and the lower part of the clamping plate 502 are both designed with a hemispherical socket-shaped structure 3012, and the two hemispherical socket-shaped structures 3012 surround a relatively complete spherical socket-shaped structure. The spherical surface part of the spherical head 501 is arranged in the inside of the spherical socket-shaped structure, and the end of the spherical head 501 away from the spherical surface part is fixed on the side of the stepping plate support 401 away from the foot plate 200 through a screw.

[0070] When the clamping handle 503 is rotated to make the end of the clamping handle 503 rotate into the sliding member 301, the cantilever end of the clamping plate 502 is clamped with the sliding member 301, and the relative positions of the sliding member 301 and the pedal support 401 can be locked by the friction force of the spherical contact surface. When the clamping handle 503 is rotated to make the end of the clamping handle 503 rotate out of the sliding member 301, the clamping force of the spherical head 501 between the cantilever end of the clamping plate 502 and the sliding member 301 is reduced, and at this time, three degrees of freedom rotation adjustment of the pedal support 401 relative to the spherical center position can be achieved. When the angle of the pedal support 401 is adjusted to an appropriate degree, the clamping handle 503 is rotated to make the end of the clamping handle 503 rotate into the sliding member 301, so as to re-lock the relative positions of the sliding member 301 and the pedal support 401.

[0071] Since the foot pedal 200 is hinged to the pedal support 401, the clamping assembly 500 is provided to achieve three degrees of freedom rotation adjustment of the foot pedal 200, which corresponds to three degrees of freedom of the human ankle joint, i.e., toe flexion and extension, adduction and abduction, and internal rotation and external rotation, and is suitable for adjusting the needs of patients with different ankle joint postures, hemiplegia or foot arch deformity.

[0072] It should be noted that in other embodiments without the rotation compensation assembly 400, one end of the spherical head 501 can be directly fixed to the bottom of the corresponding foot pedal 200.

[0073] Referring to Figure 5 , the gait rehabilitation training device further comprises two sets of connecting assemblies 600, which are in one-to-one correspondence with the two foot pedals 200.

[0074] Each set of connecting assemblies 600 comprises a tension spring 601 and a sliding support 602, wherein the tension spring 601 is connected between the rack 100 and the sliding support 602; and the sliding support 602 is connected to the corresponding sliding member 301 and can slide relative to the sliding member 301 in the horizontal direction.

[0075] Specifically, in combination with Figure 1 and Figure 5The sliding support 602 is indirectly connected to the corresponding sliding member 301 through other components of the device, the sliding member 301 is connected to the pedal support 401 through the clamping assembly 500, and the pedal support 401 is connected to the foot pedal 200 through the rotating shaft 402, so as to realize the connection between the foot pedal 200 and the rack 100. The rack 100 comprises a quadrangular frame structure, a hook is arranged on the top connecting rod of the quadrangular frame structure, the upper end of the tension spring 601 is hooked on the hook of the top connecting rod, and the lower end of the tension spring 601 is hooked on the sliding support 602. The tension spring 601 can exert an elastic force on the upward movement of the sliding support 602, so as to realize the up-down movement of the foot pedal 200 after being stepped on. The sliding support 602 and the corresponding sliding member 301 can slide relative to each other in the horizontal direction, so that the distance between the two foot pedals 200 can be adjusted.

[0076] With reference to the foregoing Figure 5 Each set of connecting assembly 600 further comprises a linear guide rail 603, which is vertically arranged and fixedly connected to the rack 100, and the sliding support 602 is slidingly arranged on the linear guide rail 603; each set of connecting assembly 600 further comprises a limiting soft pad 604, which is fixedly connected to the rack 100 and located at the end of the linear guide rail 603.

[0077] In addition, each set of connecting assembly 600 further comprises a transmission drag chain 605, both ends of which are connected to the rack 100 and the sliding support 602 respectively, and a cable is placed inside the transmission drag chain 605.

[0078] In the embodiment, the linear guide rail 603 is vertically fixedly installed on the rack 100, and the sliding support 602 is installed on the linear guide rail 603 through a sliding block, so that the sliding support 602 can slide linearly in the vertical direction relative to the rack 100. Both ends of the tension spring 601 are connected to the rack 100 and the sliding support 602 respectively, so that the sliding support 602 is kept on the upper side of the linear guide rail 603 in the idle state and can move up and down according to the force change of the patient stepping on. The limiting soft pad 604 is made of flexible cushioning material, is fixedly installed on the rack 100, and is located at the limit position of both ends of the linear guide rail 603. When the sliding support 602 slides to the limit position, the limiting soft pad 604 is collided, has the effect of buffering and absorbing energy, and at the same time provides safety protection for the movement. The transmission drag chain 605 is a flexible body, both ends of which are connected to the rack 100 and the sliding support 602 respectively. One end of the transmission drag chain 605 can move with the sliding support 602, so as to protect the sensor power supply and signal cable placed inside the device and provide physical protection for the data transmission cable.

[0079] With reference to the foregoing Figure 1 , Figure 2 and Figure 6The step rehabilitation training device further comprises two sets of force sensing assemblies 700 corresponding to the two foot pedals 200 respectively.

[0080] Each set of force sensing assembly 700 comprises a sensing support 701, a tension and compression force sensor 702, and a load support 703, wherein the sensing support 701 is connected to the frame 100, the fixed end of the tension and compression force sensor 702 is connected to the sensing support 701, the load applying end of the tension and compression force sensor 702 is connected to the load support 703, and the load support 703 is connected to the corresponding sliding member 301 and can slide relative to the load support 703 in the horizontal direction.

[0081] Specifically, the sensing support 701 is fixedly installed on the sliding support 602 by screws. The tension and compression force sensor 702 is installed in the space surrounded by the sensing support 701 and the load support 703 by screws, the fixed end of the tension and compression force sensor 702 is connected to the sensing support 701, and the load applying end of the tension and compression force sensor 702 is connected to the load support 703, so that the sensing support 701 and the load support 703 are connected through the tension and compression force sensor 702. The plunger mounting member 302 is fixedly installed on the load support 703 by screws, and the sliding member 301 is connected to the corresponding load support 703 through the plunger mounting member 302 and the knob plunger 303, so as to realize the connection between the sliding member 301 and the frame 100.

[0082] When the load support 703 is subjected to tension or compression, the force is transmitted to the load applying end of the tension and compression force sensor 702, while the fixed end of the tension and compression force sensor 702 remains fixed. There is a small amount of deformation between the two, which changes the resistance value of the internal bridge circuit of the tension and compression force sensor 702 and outputs an analog signal. The piezoelectric analog signal is transmitted to the control circuit board fixed on the frame 100 through the internal signal line of the transmission drag chain 605, and the analog signal is converted into a digital signal through the control program, and the change of the tension and compression force suffered by the foot pedal 200 is accurately collected.

[0083] As an optional embodiment, each set of force sensing assembly 700 further comprises a sliding block 704 fixed to the load support 703; one of the sliding block 704 and the corresponding sliding member 301 is provided with a groove, and the other is provided with a sliding protrusion, and the sliding protrusion is arranged in the groove in the extension direction of the groove.

[0084] Figure 6 In the illustrated embodiment, the sliding block 704 is provided with a groove, and the sliding member 301 is provided with a sliding protrusion. Through the cooperation of the groove and the sliding protrusion, the horizontal movement track of the sliding member 301 can be limited, thereby providing the function of adjusting the transverse spacing sliding of the foot pedal 200.

[0085] In summary, the step rehabilitation training device provided by the embodiment has the following advantages:

[0086] 1. The frame 100 integrates all components into one unit, which can be used as a whole as a training and data acquisition module and installed on lower limb rehabilitation training equipment, including but not limited to standing bed equipment, suspended lower limb rehabilitation equipment, lower limb exoskeleton, lower limb rehabilitation robot and other equipment, which has the advantage of wide applicability.

[0087] 2. The lateral position of the foot pedals 200 can be adjusted by the spacing adjustment component 300, thereby adjusting the spacing between the two foot pedals 200 to accommodate patients with different foot spacings, making it more convenient and efficient.

[0088] 3. The rotational compensation component 400 effectively compensates for changes in the dorsiflexion angle of the patient's ankle joint during exercise, better simulating the movement characteristics of the human lower limb during training; in addition, a special flexible material is used to absorb the impact force that may be generated during exercise, preventing secondary injuries caused by impact and other factors.

[0089] 4. The clamping and locking assembly 500 enables three-degree-of-freedom rotation adjustment and locking of the foot pedal 200 relative to the center of the ball, making the device biomimetic and adaptable to the adjustment needs of different ankle joint postures, hemiplegic patients, or patients with foot arch deformities.

[0090] 5. By using structural mechanical limits, the range of motion is ensured to not exceed the normal range of human activity, thus avoiding excessive joint mobility;

[0091] 6. The tension and compression sensor 702 is placed at the connection of the rigid structure, and the signal is transmitted through the flexible transmission drag chain 605 to carry the signal line, so as to collect the force of the foot pedal 200 during the training process more accurately and avoid data abnormalities caused by guide rail friction or spring stiffness changes.

[0092] 7. It uses easy-to-manufacture materials and methods to meet the needs of patients' lower limb pedaling rehabilitation training at low cost and high efficiency. At the same time, it has a high space utilization rate, small overall size, and is convenient for transportation and assembly.

[0093] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model.

Claims

1. A step rehabilitation training device, characterized in that, The utility model relates to a kind of treadles, including rack (100), footboard (200), spacing adjustment component (300) and rotation compensation component (400), wherein: The number of the footboard (200) is two and is installed side by side on the rack (100); The spacing adjustment component (300) is connected between the rack (100) and at least one footboard (200), for driving two footboards (200) to approach each other or move away from each other; The number of the spacing adjustment component (300) is two groups and corresponds to two footboards (200) one by one; Each spacing adjustment component (300) includes a sliding member (301) and a locking structure, wherein: the sliding member (301) is connected between the rack (100) and the corresponding footboard (200), and the sliding member (301) can drive the corresponding footboard (200) to move horizontally relative to the rack (100);The locking structure is used to lock or release the horizontal position of the sliding member (301) relative to the rack (100); The number of the rotation compensation component (400) is two groups and corresponds to two footboards (200) one by one;Each rotation compensation component (400) includes a pedal support (401), and the pedal support (401) is hinged to the corresponding footboard (200) and connected to the corresponding sliding member (301).

2. The step rehabilitation device of claim 1, wherein, The locking structure includes a plunger mounting member (302) and a knob plunger (303), wherein: The plunger mounting member (302) is connected to the rack (100); The knob plunger (303) is fixed to the plunger mounting member (302), and the sliding member (301) is provided with a plurality of limiting holes (3011) for inserting or removing the knob plunger (303).

3. The step rehabilitation device of claim 1, wherein, Each rotation compensation component (400) further includes a rotating shaft (402), and the rotating shaft (402) penetrates the pedal support (401) and the corresponding footboard (200); And / or, each rotation compensation component (400) further includes a step cushion (403), and the step cushion (403) is located between the pedal support (401) and the corresponding footboard (200) and is fixed to the pedal support (401) or the corresponding footboard (200).

4. The stair rehabilitation device of claim 3, wherein, It further includes two groups of clamping lock components (500), and two groups of clamping lock components (500) correspond to two footboards (200) one by one. Each of the clamping assemblies (500) comprises a spherical head (501), a clamping plate (502), and a clamping handle (503), wherein: the clamping plate (502) is connected to the sliding member (301), and the opposite sides of the clamping plate (502) and the sliding member (301) are both provided with a semispherical recess structure (3012); one end of the spherical head (501) is fixed to the pedal support (401), and the spherical surface of the spherical head (501) is arranged in the spherical recess structure formed by the corresponding sliding member (301) and the clamping plate (502); one end of the clamping handle (503) penetrates through the clamping plate (502) and is threadedly connected to the corresponding sliding member (301).

5. The stair rehabilitation device of claim 1, wherein, Two sets of connecting assemblies (600) are further included, and each of the two sets of connecting assemblies (600) corresponds to one of the two foot pedals (200); Each of the connecting assemblies (600) comprises a tension spring (601) and a sliding support (602), wherein: the tension spring (601) is connected between the rack (100) and the sliding support (602); and the sliding support (602) is connected to the corresponding sliding member (301) and can slide relative to the sliding member (301) in the horizontal direction.

6. The stair rehabilitation device of claim 5, wherein, Each of the connecting assemblies (600) further comprises a linear guide rail (603) and a limiting soft pad (604), wherein: the linear guide rail (603) is vertically arranged and fixed to the rack (100); the sliding support (602) is slidingly arranged on the linear guide rail (603); and the limiting soft pad (604) is fixed to the rack (100) and located at the end of the linear guide rail (603). In addition, each of the connecting assemblies (600) further comprises a transmission drag chain (605), wherein: the two ends of the transmission drag chain (605) are respectively connected to the rack (100) and the sliding support (602); and a cable is arranged in the transmission drag chain (605).

7. The step rehabilitation device according to any one of claims 1 to 6, wherein, Two sets of force sensing assemblies (700) are further included, and each of the two sets of force sensing assemblies (700) corresponds to one of the two foot pedals (200); Each of the force sensing assemblies (700) comprises a sensing support (701), a tension and compression force sensor (702), and a load support (703), wherein: the sensing support (701) is connected to the rack (100); the fixed end of the tension and compression force sensor (702) is connected to the sensing support (701), and the load applying end of the tension and compression force sensor (702) is connected to the load support (703); and the load support (703) is connected to the corresponding sliding member (301) and can slide relative to the sliding member (301) in the horizontal direction.

8. The stair rehabilitation device of claim 7, wherein, Each of the force sensing assemblies (700) further comprises a sliding block (704) fixed to the load support (703). One of the sliding block (704) and the corresponding sliding member (301) is provided with a recess, and the other is provided with a sliding protrusion, and the sliding protrusion is slidingly arranged in the recess in the horizontal direction.

Images