Linkage mechanism and four-limb linkage rehabilitation apparatus

Abstract

The linkage mechanism is used for the four-limb linkage rehabilitation apparatus, the four-limb linkage rehabilitation apparatus comprises a bottom frame assembly and two pedals arranged on the bottom frame assembly in a sliding mode, two swing frames are correspondingly arranged on the opposite sides, away from each other, of the two pedals respectively, and the swing frames are connected with the pedals through the linkage mechanism. The linkage mechanism is used for being in linkage with the swing frame located on one side of the pedal to swing when any pedal moves in a certain direction. The pedal and the corresponding swing frame are connected through the linkage mechanism, so that the stride of the pedal influences the amplitude of the swing frame in a linkage mode, or the amplitude of the swing frame influences the stride of the pedal in a linkage mode, and therefore a user can freely change the stroke of the pedal according to the stride size of the user, and meanwhile the stroke of the swing frame is changed based on the stroke of the pedal. The user can conveniently use the healthy limbs to drive the injured limbs to do rehabilitation training.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of fitness equipment, and particularly relates to a linkage mechanism and a four-limb linkage rehabilitation device. BACKGROUND

[0002] In recent years, with the popularization of people's fitness consciousness, the base number of fitness groups is rising, and the requirements for fitness equipment are continuously improving.

[0003] The existing horizontal treadmill includes a chassis, a gear box, two foot pedals and two swing arms. The gear box is arranged on the chassis, the two swing arms and the two foot pedals are fixed on two output shafts of the gear box, and the mutual coordinated movement of the two swing arms and the two foot pedals on the left and right sides is realized through the rotation of the output shafts of the gear box.

[0004] However, the above-mentioned horizontal treadmill completely depends on the rotation of the output shafts of the gear box to determine the step width of the foot pedal and the swing amplitude of the swing arm. The athlete must adapt to the fixed step width of the gear box during training. For the crowd who needs rehabilitation, it may be impossible to complete the fixed step movement due to injury of a certain limb, that is, the training with free step width cannot be realized. CONTENT OF THE UTILITY MODEL

[0005] In view of the deficiencies in the related art, the present application provides a linkage mechanism and a four-limb linkage rehabilitation device. The foot pedal and the corresponding swing arm are connected through the linkage mechanism, so that the step width of the foot pedal influences the amplitude of the swing arm, or the amplitude of the swing arm influences the step width of the foot pedal, thereby enabling the user to freely change the foot pedal stroke according to the size of the step width, and changing the stroke of the swing arm based on the foot pedal stroke, so as to facilitate the user to use the healthy limb to drive the injured limb for rehabilitation training.

[0006] On the one hand, the present application provides a linkage mechanism for a four-limb linkage rehabilitation device. The four-limb linkage rehabilitation device includes a chassis assembly and two foot pedals sliding on the chassis assembly. Two swing arms are respectively arranged on the opposite sides of the foot pedals. The swing arm and the foot pedal are connected through the linkage mechanism. When any foot pedal moves in a certain direction, the swing arm on the side of the foot pedal is swung.

[0007] In some embodiments, the chassis assembly includes two ends, and the foot pedal slides between the two ends. After the foot pedal and the swing arm arranged on the side thereof are connected through the linkage mechanism, the movement directions of the two relative to any of the two ends are opposite.

[0008] In some embodiments, the linkage mechanism includes:

[0009] A first rod, one end of the first rod being hinged to the foot pedal;

[0010] a second rod rotatably arranged on the base frame assembly between two ends thereof, one end of the second rod being hingedly connected to the other end of the first rod;

[0011] a third rod, one end of the third rod being hingedly connected to the other end of the second rod;

[0012] a fourth rod, one end of the fourth rod being rotatably arranged on the base frame assembly and fixedly connected to the swing frame, the other end of the fourth rod being hingedly connected to the other end of the third rod.

[0013] In some embodiments, when the footrest slides, the second rod is driven by the first rod, the connecting end of the second rod and the first rod rotates around the rotatable connection between the second rod and the base frame assembly in a first direction, so that the connecting end of the second rod and the third rod rotates in the first direction; the third rod in turn drives the fourth rod to rotate around the rotatable connection between the fourth rod and the base frame assembly in a direction opposite to the first direction, so that the swing frame rotates around the rotatable connection between the fourth rod and the base frame assembly in a direction opposite to the first direction.

[0014] In some embodiments, the rotatable connection between the second rod and the base frame assembly is located between the two ends of the second rod, and the rotatable connection between the second rod and the base frame assembly is close to the rotatable connection between the second rod and the third rod, so as to reduce the rotation range of the connecting end of the second rod and the third rod and save installation space.

[0015] In some embodiments, one end of the swing frame is fixedly arranged at the rotatable connection between the fourth rod and the base frame assembly, and the other end of the swing frame is bent towards the rotatable connection between the fourth rod and the base frame assembly.

[0016] In another aspect, a four-limb linkage rehabilitation device is also provided, which comprises the linkage mechanism as described in any one of the above aspects.

[0017] In some embodiments, the four-limb linkage rehabilitation device further comprises:

[0018] a transmission assembly rotatably arranged on the base frame assembly and connected to the two footrests, the transmission assembly being configured to drive one of the footrests to move in a certain direction, and in turn drive the other footrest to move in the opposite direction, and the transmission assembly being configured to drive the other footrest to change direction at any stroke of the footrest.

[0019] In some embodiments, the linkage mechanism and the transmission assembly are configured to drive the other swing frame to change direction at any stroke of the swing frame.

[0020] In some embodiments, the transmission assembly comprises a steering member, a first transmission member and a second transmission member, the steering member is rotatably arranged on the chassis assembly, the steering member is arranged between the two foot pedals, the first transmission member and the second transmission member are respectively rotatably arranged at the two ends of the steering member and are respectively hingedly connected to the two foot pedals away from the steering member;

[0021] When any of the foot pedals moves in a certain direction, the steering member is driven to rotate by the first transmission member or the second transmission member, the steering member drives the other foot pedal to move in the opposite direction by the second transmission member or the first transmission member at the other end, and the two foot pedals are respectively connected to the two swing frames by the two linkage mechanisms to realize four limbs linkage.

[0022] In summary, the linkage mechanism and the four limbs linkage rehabilitation device provided by the present application connect the foot pedals and the corresponding swing frames by the linkage mechanism, so that the step length of the foot pedals influences the swing range of the swing frames or the swing range of the swing frames influences the step length of the foot pedals, thereby the user can freely change the foot pedal stroke according to the size of the step length, and the swing stroke of the swing frame is changed based on the foot pedal stroke, which facilitates the user to use the healthy limbs to drive the injured limbs for rehabilitation training; the linkage mechanism is used to coordinate the movement directions of the foot pedals and the corresponding swing frames, so that they are more suitable for the movement mode of the user, thereby enhancing the use experience; the movement direction of the swing frame is converted into the sliding direction of the foot pedal by the first rod, the second rod, the third rod and the fourth rod, so as to realize the linkage of the swing frame and the foot pedal; the rotation connection position of the second rod and the chassis assembly is designed to reduce the rotation range of the connection end of the second rod and the third rod, save the installation space, and increase the swing stroke of the end of the second rod close to the first rod, thereby increasing the sliding stroke of the foot pedal; the swing frame is curved to facilitate the user to hold and swing the swing frame, and the direction of the swing frame is more in line with ergonomics; the transmission assembly and the linkage mechanism are used to link the two foot pedals and the two swing frames, and any component in the two foot pedals and the two swing frames is driven to perform movement with any step length, so that the remaining three components make linkage reaction with the same step length.

[0023] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and attained by the structure particularly pointed out in the written description and claims hereof. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the present application and are incorporated in and constitute a part of this application, illustrate embodiments of the present application and serve to explain the present application. In the drawings:

[0025] Figure 1Fig. 1 is a schematic diagram of the overall structure of the four-limb linkage rehabilitation device of the present application;

[0026] Figure 2 Fig. 2 is a first partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0027] Figure 3 Fig. 3 is a second partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0028] Figure 4 Fig. 4 is a third partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0029] Figure 5 Fig. 5 is an enlarged schematic diagram of the rotating shaft of the four-limb linkage rehabilitation device of the present application.

[0030] In the drawings:

[0031] 100, transmission assembly; 101, rotating member; 102, first transmission member; 103, second transmission member; 200, linkage mechanism; 201, first rod; 202, second rod; 203, third rod; 204, fourth rod; 300, linkage assembly; 301, resistance device; 302, rotating shaft; 303, direction-changing member; 304, synchronizing member; 305, first rotating wheel; 306, second rotating wheel; 307, third rotating wheel; 400, base assembly; 401, base; 402, carriage; 403, seat cushion; 404, control interaction device; 500, footrest; 600, swing bracket. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0033] In the description of the present application, it should be understood that the terms "center", "transverse", "longitudinal", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0034] The terms "first", "second", "third", "etc." are only used for descriptive purpose and should not be construed as indicating or implying relative importance or implying a specific number of the technical features indicated. Therefore, the features defined with "first", "second", "third", etc. can explicitly or implicitly include one or more of the features.

[0035] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, it can be fixed connection, detachable connection, or integral connection; it can be direct connection or indirect connection through intermediate medium; it can be internal communication of two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0036] Reference is made to the accompanying drawings Figure 1 to the accompanying drawings Figure 5 , Figure 1 is a schematic diagram of the overall structure of the four-limb linkage rehabilitation device of the present application;

[0037] Figure 2 is a first partial schematic diagram of the four-limb linkage rehabilitation device of the present application; Figure 3 is a second partial schematic diagram of the four-limb linkage rehabilitation device of the present application; Figure 4 is a third partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0038] Figure 5 is an enlarged schematic diagram of the rotating shaft of the four-limb linkage rehabilitation device of the present application; the following will be described in detail with reference to the accompanying drawings Figure 1 to the accompanying drawings Figure 5 The specific embodiments will be described. Specific embodiment one

[0040] Reference is made to the accompanying drawings Figures 1 to 5 The present application provides a linkage mechanism 200 for a four-limb linkage rehabilitation device, which comprises a chassis assembly 400 and two foot pedals 500 slidingly arranged on the chassis assembly 400, and two swing frames 600 respectively arranged on the opposite sides of each foot pedal 500. The swing frame 600 is connected to the foot pedal 500 through the linkage mechanism 200. When any foot pedal 500 moves in a certain direction, the swing frame 600 located on the side of the foot pedal 500 swings, so that the user can freely change the stroke of the foot pedal 500 according to his own step size, and at the same time, the stroke of the swing frame 600 is changed based on the stroke of the foot pedal 500, which is convenient for the user to use the healthy limb to drive the injured limb for rehabilitation training.

[0041] Reference is made to the accompanying drawings Figure 1 and Figure 2In some embodiments, the base assembly 400 comprises a base 401, a slide 402, a seat cushion 403, and a control interactive device 404, the base 401 is provided with two slide rails, the foot pedal 500 is slidingly arranged on the slide rails, the slide 402 is arranged at one end of the base 401, the slide 402 is located between the two slide rails, the seat cushion 403 is slidingly arranged on the slide 402, and the control interactive device 404 is arranged at the other end of the base 401 relative to the slide 402, and the control interactive device 404 is used to display and adjust the motion parameters.

[0042] Specifically, the base 401 is made of high-strength steel or aluminum alloy to ensure its stability and durability, the base 401 is hollow inside and provided with two parallel slide rails on the top; optionally, the bottom of the base 401 is provided with anti-skid pads to prevent the device from sliding during use; optionally, the base 401 is sleeved with an outer shell; optionally, the bottom of the base 401 is provided with a suspended pulley, the other end of the base 401 is lifted to make the pulley contact the ground, thereby facilitating the movement of the base 401.

[0043] The slide 402 is made of lightweight alloy or engineering plastic to reduce weight and improve durability, the slide 402 is arranged at one end of the base 401 and extends obliquely upward away from the base 401, thereby facilitating the athletes of different heights to sit on the slide 402 and stretch their legs to step on the foot pedal 500 on the base 401, and reducing the floor space; optionally, the slide 402 is arranged as a beam structure with a H-shaped cross section to improve its stability; optionally, the slide 402 is provided with a scale to facilitate the athletes to adjust the position of the seat cushion 403 on the slide 402.

[0044] The seat cushion 403 is slidingly arranged on the slide 402; optionally, the surface of the seat cushion 403 is provided with anti-skid texture to prevent the athletes from sliding during exercise; optionally, the seat cushion 403 is further provided with a driving assembly to push the seat cushion 403 to slide relative to the slide 402.

[0045] The control interactive device 404 comprises a display screen and a control component, the display screen comprises but is not limited to a touch screen or an LCD display screen, for displaying exercise parameters, training progress and health data, wherein the exercise parameters comprise but are not limited to speed, distance, calories, heart rate and time; the control component is used for supporting touch operation, voice control or Bluetooth connection with external devices, so that the user can operate more conveniently; optionally, the control interactive device 404 is electrically connected with the driving component on the seat cushion 403, so as to control the seat cushion 403 to slide relative to the slide rail 402 through the control interactive device 404, and display the position of the seat cushion 403 on the slide rail 402 through the control interactive device 404; optionally, the control interactive device 404 is electrically connected with the resistance device 301, so as to control the resistance size or the resistance gear through the control resistance device 301, and display the output resistance size or the resistance gear of the resistance device 301 through the control interactive device 404.

[0046] Reference Figure 3 In some embodiments, the linkage mechanism 200 comprises a first rod 201, a second rod 202, a third rod 203 and a fourth rod 204, one end of the first rod 201 is hingedly connected with the foot pedal 500, the second rod 202 is rotatably arranged between two ends thereof on the base frame assembly 400, one end of the second rod 202 is hingedly connected with the other end of the first rod 201, one end of the third rod 203 is hingedly connected with the other end of the second rod 202, one end of the fourth rod 204 is rotatably arranged on the base frame assembly 400 and fixedly connected with the swing frame 600, and the other end of the fourth rod 204 is hingedly connected with the other end of the third rod 203.

[0047] Specifically, the first rod 201, the second rod 202, the third rod 203 and the fourth rod 204 are made of high-strength steel or engineering plastic, two ends of the first rod 201 are hingedly connected with the foot pedal 500 and the second rod 202 respectively, two ends of the second rod 202 are hingedly connected with the first rod 201 and the third rod 203 respectively, the second rod 202 is rotatably arranged between two ends thereof on the base frame 401, two ends of the third rod 203 are hingedly connected with the second rod 202 and the fourth rod 204 respectively, one end of the fourth rod 204 is hingedly connected with the third rod 203, and the other end of the fourth rod 204 is fixedly connected with the swing frame 600 and rotatably arranged on the base frame 401 together with the swing frame 600.

[0048] In some embodiments, when the foot pedal 500 slides, the second rod 202 is driven by the first rod 201, the connecting end of the second rod 202 and the first rod 201 rotates around the rotating joint of the second rod 202 and the chassis assembly 400 in the first direction, so that the connecting end of the second rod 202 and the third rod 203 rotates in the first direction; the third rod 203 drives the fourth rod 204 to rotate in the direction opposite to the first direction relative to the connecting end of the fourth rod 204 and the chassis assembly 400, so that the swing frame 600 rotates in the direction opposite to the first direction relative to the connecting end of the fourth rod 204 and the chassis assembly 400.

[0049] Specifically, the first direction is counterclockwise or clockwise.

[0050] When the foot pedal 500 slides towards the control interactive device 404, the second rod 202 is driven by pulling the first rod 201, the connecting end of the second rod 202 and the first rod 201 rotates around the rotating joint of the second rod 202 and the chassis 401 in the clockwise direction, so that the connecting end of the second rod 202 and the third rod 203 rotates in the clockwise direction, the third rod 203 pulls the fourth rod 204 to rotate in the counterclockwise direction relative to the connecting end of the fourth rod 204 and the chassis 401, and then the swing frame 600 fixedly connected to the fourth rod 204 rotates in the counterclockwise direction relative to the connecting end of the fourth rod 204 and the chassis 401.

[0051] Based on the action of the transmission assembly 100 between the two foot pedals 500, the transmission process of the other linkage mechanism 200 connected to the other foot pedal 500 is opposite to the above process, which will not be repeated here, and finally the other swing frame 600 rotates in the clockwise direction relative to the connecting end of the other fourth rod 204 and the chassis 401, so as to achieve the technical effect of four limbs linkage.

[0052] Based on the transmission of the first rod 201, the second rod 202, the third rod 203 and the fourth rod 204, the swing frame 600 and the foot pedal 500 are given greater freedom to perform linkage operations, the swing frame 600 and the foot pedal 500 can change the movement direction at any time based on the training plan of the athlete, and the linkage mechanism 200 cooperates with the transmission assembly 100 to coordinate the linkage of the two swing frames 600 and the two foot pedals 500, so as to drive the limbs that need rehabilitation to move through healthy limbs, or the healthy limbs to move by accommodating the limbs that need rehabilitation, to meet the different rehabilitation needs of different rehabilitation groups and improve the rehabilitation comfort experience.

[0053] Reference is made to the accompanying drawings Figure 3In some embodiments, the rotation connection between the second rod 202 and the chassis assembly 400 is located between the two ends of the second rod 202, and is close to the rotation connection between the second rod 202 and the third rod 203.

[0054] Specifically, the rotation connection between the second rod 202 and the chassis 401 is a rotation point around which the two ends of the second rod 202 rotate, and the rotation point is close to the connection end of the second rod 202 and the third rod 203, so that the distance from the connection end of the second rod 202 and the third rod 203 to the rotation point is reduced, the length of the rotating arm is reduced, the rotating range of the connection end of the second rod 202 and the third rod 203 is reduced, and the installation space is saved; on the contrary, the distance from the connection end of the second rod 202 and the first rod 201 to the rotation point is increased, the length of the rotating arm is increased, the rotating range of the connection end of the second rod 202 and the first rod 201 is increased, and the rotating freedom is increased, so that the stroke of the foot pedal 500 can be set longer, and the training needs of athletes to use larger strides for exercise can be met.

[0055] Reference is made to the accompanying drawings Figure 1 With Figure 3 In some embodiments, one end of the swing bracket 600 is fixed to the rotation connection between the fourth rod 204 and the chassis assembly 400, and the other end of the swing bracket 600 is bent towards the rotation connection.

[0056] Specifically, one end of the swing bracket 600 is fixed to the rotation connection between the fourth rod 204 and the chassis 401, and when the fourth rod 204 rotates relative to the chassis 401, the swing bracket 600 also rotates relative to the chassis 401; the other end of the swing bracket 600 is bent towards the rotation connection between the fourth rod 204 and the chassis 401, and is used for athletes to grasp the swing bracket 600 for training. Based on the rotation of the swing bracket 600 relative to the chassis 401 under the driving of the fourth rod 204, the curved shape of the swing bracket 600 better conforms to the swing trajectory of the human body during movement, helps athletes to maintain a more natural posture during exercise, reduces the pressure on joints and muscles, and thus reduces the risk of injury.

[0057] At the same time, the swing bracket 600 and the foot pedal 500 are connected through the linkage mechanism 200 of the multi-link structure, and under the condition that the stroke length of the foot pedal 500 is constant, the amplitude of the swing bracket 600 can be reduced, and the comfort of the trainer can be increased.

[0058] In some embodiments, the chassis assembly 400 further comprises two end portions, and the foot pedal 500 slides between the two end portions. After the foot pedal 500 is connected to the swing bracket 600 arranged on one side thereof through the linkage mechanism 200, the two are opposite in the movement direction relative to any end portion during linkage.

[0059] Specifically, the chassis assembly 400 comprises a chassis 401, two ends of the chassis 401 are two end portions of the chassis assembly 400, and two slide rails are arranged on the chassis 401, and the foot pedal 500 is arranged on the slide rails, i.e., the foot pedal 500 is arranged between the two end portions of the chassis 401.

[0060] Reference Figure 3 When the foot pedal 500 slides towards the control interactive device 404, the swing frame 600 arranged on one side of the foot pedal 500 rotates in the counterclockwise direction relative to the connection position of the fourth rod 204 and the chassis 401.

[0061] That is, when the foot pedal 500 slides towards one end of the chassis 401 close to the control interactive device 404, the swing frame 600 moves towards the other end of the chassis 401 away from the control interactive device 404; conversely, when the foot pedal 500 slides towards the other end of the chassis 401 away from the control interactive device 404, the swing frame 600 moves towards the one end of the chassis 401 close to the control interactive device 404. The movement directions of the foot pedal 500 and the swing frame 600 arranged on one side of the foot pedal 500 are opposite relative to any end portion.

[0062] The application provides a linkage mechanism 200, which connects the foot pedal 500 and the corresponding swing frame 600, so that the stride of the foot pedal 500 influences the amplitude of the swing frame 600, or the amplitude of the swing frame 600 influences the stride of the foot pedal 500, thereby enabling the user to freely change the stroke of the foot pedal 500 according to the size of the stride, and simultaneously change the stroke of the swing frame 600 based on the stroke of the foot pedal 500, so as to facilitate the user to use the healthy limb to drive the injured limb for rehabilitation training; the linkage mechanism 200 is used to coordinate the movement directions of the foot pedal 500 and the corresponding swing frame 600, so that they are more suitable for the movement mode of the user and enhance the use experience; the first rod 201, the second rod 202, the third rod 203 and the fourth rod 204 are used to convert the movement direction of the swing frame 600 into the sliding direction of the foot pedal 500, so as to realize the linkage of the swing frame 600 and the foot pedal 500; the rotation connection position of the second rod 202 and the chassis assembly 400 is designed, so as to reduce the rotation range of the connection end of the second rod 202 and the third rod 203, save the installation space, and increase the swing stroke of the end of the second rod 202 close to the first rod 201, thereby increasing the sliding stroke of the foot pedal 500; the swing frame 600 is curved, which facilitates the user to grasp the swing frame 600 and makes the direction of the swing frame 600 more in line with ergonomics. Specific embodiment two

[0064] Reference Figures 1 to 5The application provides a four-limb linkage rehabilitation device, which comprises a chassis assembly 400, a transmission assembly 100 and two linkage mechanisms 200, wherein the two foot pedals 500 are slidably arranged on the chassis assembly 400, and two swing frames 600 are arranged on the two sides of the two foot pedals 500; the transmission assembly 100 is arranged on the chassis assembly 400 and located between the two foot pedals 500, and the transmission assembly 100 is connected with the two foot pedals 500 respectively; when any foot pedal 500 moves in a certain direction, the transmission assembly 100 links the other foot pedal 500 to move in the opposite direction, and the other foot pedal 500 can change direction at any stroke of the foot pedal 500; the linkage mechanism 200 is connected with the foot pedal 500 and the swing frame 600 located on one side of the foot pedal 500 respectively, and when any foot pedal 500 moves in a certain direction, the linkage mechanism 200 links the swing frame 600 located on one side of the foot pedal 500 to swing.

[0065] In some embodiments, the chassis assembly 400 further comprises a limiting piece, which is arranged through the cushion 403 and the sliding frame 402, and is used to connect or disconnect the cushion 403 and the sliding frame 402, so as to limit or release the relative sliding of the cushion 403 and the sliding frame 402.

[0066] Specifically, the limiting piece includes but is not limited to a pin and a bolt, and is used to relatively lock or release the positions of the cushion 403 and the sliding frame 402; a plurality of limiting holes are arranged on the cushion 403 and the sliding frame 402, and the limiting piece is arranged through the limiting hole on the cushion 403 and extends into the limiting hole on the sliding frame 402, so as to fix the relative positions of the two; the relative fixing of the two is released by making the limiting piece disengage from the limiting hole on the sliding frame 402.

[0067] Reference is made to the accompanying drawings Figure 2 With Figure 4 In some embodiments, the transmission assembly 100 comprises a turning piece 101, a first transmission piece 102 and a second transmission piece 103, the turning piece 101 is rotatably arranged on the chassis assembly 400, the turning piece 101 is located between the two foot pedals 500, one end of the first transmission piece 102 is hingedly connected with one end of the turning piece 101, and the other end of the first transmission piece 102 is hingedly connected with the foot pedal 500; one end of the second transmission piece 103 is hingedly connected with the other end of the turning piece 101, and the other end of the second transmission piece 103 is hingedly connected with the other foot pedal 500.

[0068] Specifically, the first transmission piece 102 and the second transmission piece 103 are respectively arranged at the two ends of the turning piece 101 in opposite directions, and the two ends of the first transmission piece 102 and the second transmission piece 103 are respectively hingedly connected with the two foot pedals 500.

[0069] When any pedal 500 moves in a certain direction, the steering member 101 is driven to rotate by the first transmission member 102 or the second transmission member 103, and the steering member 101 drives the other pedal 500 to move in the opposite direction by the second transmission member 103 or the first transmission member 102 at the other end, and the two pedals 500 are respectively connected to the two swing frames 600 by the two linkage mechanisms 200, so as to realize the linkage of the four limbs.

[0070] Optionally, one end of the connecting member is fixed to the two ends of the steering member 101 respectively, and the other end of the connecting member is hingedly connected to the pedals 500 by the first transmission member 102 and the second transmission member 103, and the cooperation of the first transmission member 102, the second transmission member 103 and the connecting member increases the freedom and stroke of the pedals 500.

[0071] The steering member 101 is arranged on the chassis 401 and located between the two pedals 500, and the steering member 101 includes, but is not limited to, a rotating shaft, a rotating disc or other rotating mechanisms with bearings, so as to rotate smoothly, and the steering member 101 is made of high-strength steel, aluminum alloy or engineering plastic, so as to ensure its durability and light weight.

[0072] The first transmission member 102 and the second transmission member 103 are rod members with hinged ends, one end of which is rotatably connected to the pedal 500, and the other end of which is hingedly connected to the connecting member, and the first transmission member 102 and the second transmission member 103 are made of light alloy or reinforced plastic, so as to reduce the weight and increase the strength; when the steering member 101 rotates, the first transmission member 102 and the second transmission member 103 are driven to push the two pedals 500 to slide, and the sliding directions of the two pedals 500 are opposite, and at any stroke of one pedal 500, the other pedal 500 can be driven to change direction.

[0073] Reference is made to the accompanying drawings Figure 4 With Figure 5 In some embodiments, the four-limb linkage rehabilitation device further comprises a linkage assembly 300 arranged in the chassis assembly 400, the linkage assembly 300 comprises a resistance device 301, a rotating shaft member 302, a first rotating wheel 305 and a transmission mechanism, the transmission mechanism further comprises a direction-changing member 303, a synchronization member 304, a second rotating wheel 306 and a third rotating wheel 307, the linkage assembly 300 is connected to the two pedals 500 respectively, and the linkage assembly 300 is used to assist the transmission assembly 100, so that when any pedal 500 moves in a certain direction, the other pedal 500 is driven to move in the opposite direction, and the linkage assembly 300 is used to provide resistance for the sliding of the two pedals 500 on the chassis assembly 400.

[0074] The resistance device 301 comprises a resistance output end for outputting resistance, the rotating shaft 302 is rotatably arranged on the chassis assembly 400 and connected with the two pedals 500 through a transmission mechanism, the rotating shaft 302 is fixedly provided with the first rotating wheel 305, the first rotating wheel 305 is in transmission connection with the resistance output end, the rotating shaft 302 is used for transmitting the output resistance of the resistance device 301 to the two pedals 500, the second rotating wheel 306 is arranged through the rotating shaft 302, the third rotating wheel 307 is arranged through the rotating shaft 302, and the one-way force transmission members are arranged between the second rotating wheel 306 and the rotating shaft 302 and between the third rotating wheel 307 and the rotating shaft 302, one end of the synchronization member 304 is connected with one pedal 500, and the other end of the synchronization member 304 is sequentially arranged around the second rotating wheel 306, the direction changing member 303 and the third rotating wheel 307 and connected with the other pedal 500.

[0075] Specifically, the resistance sources of the resistance device 301 include but are not limited to magnetic resistance, water resistance, wind resistance and motor resistance, the resistance device 301 further comprises a resistance output end, which is one end of a resistance output shaft and is used for outputting resistance; in some embodiments, the resistance source of the resistance device 301 is magnetic resistance, the resistance device 301 further comprises a mounting seat, a flywheel, a magnet and a control member, wherein the flywheel is rotatably arranged on the mounting seat and connected with the resistance output shaft, the magnet is arranged on one side of the flywheel, and the control member is electrically connected with the control interaction device 404, the control interaction device 404 adjusts the distance between the magnet and the flywheel through the control member, so as to adjust the rotating resistance of the flywheel, and further adjust the output resistance of the resistance output end; based on different resistance sources of the resistance device 301, those skilled in the art should set the specific structure of the resistance device 301 according to the actual situation, so that the resistance output end of the resistance device 301 can output resistance to the rotating shaft 302 for training.

[0076] The rotating shaft 302 is provided with the second rotating wheel 306, the third rotating wheel 307 and the first rotating wheel 305, the rotating shaft 302 is rotatably arranged on the chassis 401, the one-way force transmission members are arranged between the second rotating wheel 306 and the rotating shaft 302 and between the third rotating wheel 307 and the rotating shaft 302, the rotating shaft 302 is connected with the two pedals 500 through the synchronization member 304 and the second rotating wheel 306 and the third rotating wheel 307, the first rotating wheel 305 on the rotating shaft 302 is connected with the resistance output shaft through a belt or a chain, the first rotating wheel 305 is used for making the rotating shaft 302 and the resistance output shaft have rotating resistance in the same direction, so as to transmit the resistance on the rotating shaft 302 to the two pedals 500 through the synchronization member 304, and the two pedals 500 are locked in one direction and released in the other direction based on the function of the two one-way force transmission members, so as to resist or not resist the resistance on the rotating shaft 302 when the two pedals 500 slide.

[0077] In some embodiments, the one-way force transmission is a one-way bearing, and the second rotating wheel 306 and the third rotating wheel 307 are locked in one direction and released in the opposite direction when rotating relative to the rotating shaft 302.

[0078] Referring to the drawings Figure 5 Specifically, if the resistance output shaft gives resistance to the rotating shaft 302 when rotating counterclockwise (A direction), and the second rotating wheel 306 and the third rotating wheel 307 are locked in the clockwise direction on the rotating shaft 302 through the two one-way force transmissions, the two pedals 500 are not subject to resistance when sliding in either direction.

[0079] If the resistance output shaft gives resistance to the rotating shaft 302 when rotating counterclockwise, and the second rotating wheel 306 and the third rotating wheel 307 are locked in the counterclockwise direction on the rotating shaft 302 through the two one-way force transmissions, any pedal 500 is subject to resistance when sliding away from the control interactive device 404, but not when sliding towards the control interactive device 404.

[0080] Based on the above working principle, if the resistance output shaft gives resistance to the rotating shaft 302 when rotating clockwise, the second rotating wheel 306 and the third rotating wheel 307 are locked in the clockwise direction on the rotating shaft 302 through the two one-way force transmissions, and the purpose of applying sliding resistance to the two pedals 500 is achieved.

[0081] The direction-changing member 303 is a pulley, and the direction-changing member 303 is arranged to rotate within the chassis assembly 400. The direction-changing member 303 is arranged to rotate away from the rotating shaft 302 and is arranged on the chassis 401. The direction-changing member 303 is used to change the direction of the force, and the auxiliary synchronization member 304 connects the two pedals 500, thereby assisting the linkage of the two pedals 500.

[0082] The synchronization member 304 includes but is not limited to a belt, a cable, and a chain. The synchronization member 304 is arranged around the direction-changing member 303, and the two ends of the synchronization member 304 are connected to the second rotating wheel 306 and the third rotating wheel 307, respectively, and are connected to the two pedals 500. The synchronization member 304 cooperates with the direction-changing member 303 to make any pedal 500 move in a certain direction, thereby linking the other pedal 500 to move in the opposite direction.

[0083] Referring to the drawings Figure 4 and the drawings Figure 5, one end of the synchronization member 304 is connected with one pedal 500, the other end passes the second rotating wheel 306 on the rotating shaft member 302 from top to bottom, then passes the direction changing member 303 away from the rotating shaft member 302, approaches the rotating shaft member 302, and finally passes the third rotating wheel 307 on the rotating shaft member 302 from bottom to top and is connected with the other pedal 500.

[0084] Based on the winding mode described above, and the length of the synchronization member 304 is fixed and the two ends are connected with two pedals 500 respectively, when one pedal 500 slides away from the control interactive device 404, the other pedal 500 will be pulled to slide towards the control interactive device 404 through the synchronization member 304, one of the two pedals 500 passes the one-way force transmission member between the second rotating wheel 306 and the rotating shaft member 302 to resist the rotating resistance on the rotating shaft member 302, and the other pedal 500 passes the one-way force transmission member between the third rotating wheel 307 and the rotating shaft member 302 to rotate relative to the rotating shaft member 302 without bearing the rotating resistance on the rotating shaft member 302.

[0085] Based on the direction of the rotating resistance on the rotating shaft member 302, the locking directions of the two one-way force transmission members are set correspondingly, so that when the pedal 500 slides away from the control interactive device 404, resistance needs to be resisted, and when the other pedal 500 slides towards the control interactive device 404, resistance does not need to be resisted, the resistance encountered by the athlete when walking naturally is simulated, and the auxiliary transmission assembly 100 is used to apply the resistance linkage on the two pedals 500.

[0086] In some embodiments, the direction changing member 303 is connected with the chassis assembly 400 through an elastic member, the synchronization member 304 further includes a first transmission part, a second transmission part and a third transmission part, the first transmission part is wound on the direction changing member 303, one end of the second transmission part is connected with one pedal 500, and the other end is connected with one end of the first transmission part after passing the second rotating wheel 306, one end of the third transmission part is connected with the other pedal 500, and the other end is connected with the other end of the first transmission part after passing the third rotating wheel 307, and the elastic member is used to tension the first transmission part through the direction changing member 303, so that the second transmission part and the third transmission part are connected with the second rotating wheel 306 and the third rotating wheel 307 respectively.

[0087] Specifically, the synchronizer 304 further comprises a first transmission part, a second transmission part, a third transmission part, and a connecting part. The second transmission part and the third transmission part are connected to the two ends of the first transmission part through the connecting part. The first transmission part is arranged around the direction-changing part 303. The second transmission part and the third transmission part are arranged around the second rotating wheel 306 and the third rotating wheel 307 respectively and are connected to the pedals 500. The connecting part is used to connect the first transmission part, the second transmission part, and the third transmission part. The second transmission part and the third transmission part are belts, which are used to increase the contact area with the second rotating wheel 306 and the third rotating wheel 307, thereby increasing the friction to stabilize the transmission. The first transmission part is a steel cable, which is used to be embedded in the direction-changing part 303 to avoid sliding out of the direction-changing part 303.

[0088] The direction-changing part 303 and the base frame 401 are provided with an elastic part, which includes but is not limited to a spring, rubber, and a spring sheet. The elastic part is used to push the direction-changing part 303 to tighten the first transmission part, so that the second transmission part and the third transmission part connected to the first transmission part are kept in tension, thereby stabilizing the transmission to the second rotating wheel 306 and the third rotating wheel 307 and preventing slipping.

[0089] It should be noted that the tensioned connection means that the first transmission part, the second transmission part, and the third transmission part are completely taut, so that there is no gap between the three and the direction-changing part 303, the second rotating wheel 306, and the third rotating wheel 307 connected respectively, thereby avoiding falling off when sliding relative to the direction-changing part 303, the second rotating wheel 306, and the third rotating wheel 307.

[0090] When the four-limb linkage rehabilitation device is used, the athlete sits on the cushion 403 and pedals the pedals 500. The position of the cushion 403 on the sliding frame 402 is adjusted by controlling the interactive device 404 until the leg distance is appropriate. Then, the athlete holds the swing frames 600 with both hands, slides by pedaling any pedal 500 or swings by pushing any swing frame 600, and starts the training.

[0091] The application provides a four-limb linkage rehabilitation device, the application provides a four-limb linkage rehabilitation device, through the transmission assembly 100 to link two pedals 500, and at any stroke of a pedal 500, the other pedal 500 can be linked to change direction, so that the athlete can freely change the stroke of the pedal 500 according to the size of the athlete's stride, and facilitate the athlete to use the healthy limbs to drive the injured limbs to do rehabilitation training; through the linkage mechanism 200 to link the pedal 500 and the swing frame 600 located on one side, so that any component in the two pedals 500 and the two swing frames 600 can perform any stride size movement, so that the remaining three components can make a linkage reaction with the same stride size; the first transmission member 102 and the second transmission member 103 are driven by the steering member 101 to rotate relatively, so as to realize the relative sliding of the two pedals 500 in opposite directions; the first rod 201, the second rod 202, the third rod 203 and the fourth rod 204 convert the movement direction of the swing frame 600 into the sliding direction of the pedal 500, so as to realize the linkage of the swing frame 600 and the pedal 500; the swing frame 600 is designed to be curved to make it more convenient for the athlete to hold and swing, and the swing direction is more in line with ergonomics; the second rod 202 and the bottom frame assembly 400 are designed to be rotationally connected to increase the swing stroke of the second rod 202 close to the first rod 201, so as to increase the sliding stroke of the pedal 500; the resistance device 301 and the rotating shaft member 302 cooperate to resist the sliding of the pedal 500, meeting the different training needs of athletes; the change direction member 303 and the synchronization member 304 cooperate to assist the transmission assembly 100 to link the two pedals 500, and the one-way force transmission member eliminates the influence of the two pedals 500 on the rotating shaft member 302 when linked; the slide 402 and the seat cushion 403 cooperate to adjust the distance between the seat cushion 403 and the pedal 500, so as to adapt to the height of different athletes; the limiting member locks or releases the relative distance between the seat cushion 403 and the slide 402, facilitating the athlete to adjust; the elastic member pushes the change direction member 303, so that the first transmission part, the second transmission part and the third transmission part are taut, avoiding sliding off the change direction member 303, the second rotating wheel 306 and the third rotating wheel 307.

[0092] Finally, it should be explained that: in the specification, each embodiment is described in a progressive manner, and each embodiment focuses on the difference from other embodiments. The same or similar parts of each embodiment can be referred to.

[0093] The above embodiments are only used to illustrate the technical solutions of the application and not to limit them; although the application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the specific embodiments of the application can be modified or some technical features can be replaced by equivalents; without departing from the spirit of the technical solutions of the application, they should be covered in the technical solution range of the application claimed.

Claims

1. A linkage mechanism for a quadriplegic linkage rehabilitation device, characterized by, The four limbs linkage rehabilitation device comprises a chassis assembly and two foot pedals slidingly arranged on the chassis assembly, two swing frames are correspondingly arranged on the opposite sides of the foot pedals, the swing frames are connected with the foot pedals through the linkage mechanism, and the linkage mechanism is used for swinging the swing frame on the side of the foot pedal when any foot pedal moves in a certain direction.

2. The linkage mechanism of claim 1, wherein The chassis assembly comprises two end portions, the foot pedals slide between the two end portions, and the foot pedals and the swing frames correspondingly arranged on the sides of the foot pedals are connected through the linkage mechanism, and the movement directions of the two are opposite to each other relative to any end portion when they are linked.

3. The linkage mechanism of claim 1 or 2, wherein, The linkage mechanism comprises: a first rod, one end of the first rod is hinged to the foot pedal; a second rod, both ends of the second rod are rotatably arranged on the chassis assembly, one end of the second rod is hinged to the other end of the first rod; a third rod, one end of the third rod is hinged to the other end of the second rod; a fourth rod, one end of the fourth rod is rotatably arranged on the chassis assembly and fixedly connected with the swing frame, and the other end of the fourth rod is hinged to the other end of the third rod.

4. The linkage of claim 3, wherein, When the foot pedal slides, the second rod is driven by the first rod, the connection end of the second rod and the first rod rotates around the rotatable connection of the second rod and the chassis assembly in a first direction, so that the connection end of the second rod and the third rod rotates in the first direction, and the third rod pulls the fourth rod relative to the rotatable connection of the fourth rod and the chassis assembly in a direction opposite to the first direction, so that the swing frame rotates relative to the rotatable connection of the fourth rod and the chassis assembly in a direction opposite to the first direction.

5. The linkage of claim 3, wherein, The rotatable connection of the second rod and the chassis assembly is located between the two ends of the second rod, and the rotatable connection of the second rod and the chassis assembly is close to the rotatable connection of the second rod and the third rod, so as to reduce the rotation range of the connection end of the second rod and the third rod and save installation space.

6. The linkage of claim 3, wherein, One end of the swing frame is fixedly arranged at the rotatable connection of the fourth rod and the chassis assembly, and the other end of the swing frame is bent towards the rotatable connection of the fourth rod and the chassis assembly.

7. A quadriplegic linkage rehabilitation device, characterized by The linkage mechanism is provided in any one of claims 1-6.

8. The quad-link rehab exerciser of claim 7, wherein, Further comprising: a transmission assembly, the transmission assembly is rotatably arranged on the chassis assembly and connected with the two foot pedals respectively, the transmission assembly is used for linking the movement of the other foot pedal in the opposite direction when any foot pedal moves in a certain direction, and the other foot pedal can be linked to change direction at any stroke of the foot pedal.

9. The quad-link rehab exerciser of claim 8, wherein, The transmission assembly can link the other swing frame to change direction at any stroke of the swing frame through the linkage mechanism.

10. The quad-link rehab exerciser of claim 9, wherein, The transmission assembly comprises a turning piece, a first transmission piece and a second transmission piece, the turning piece is rotatably arranged on the chassis assembly, the turning piece is arranged between the two foot pedals, the first transmission piece and the second transmission piece are rotatably arranged at the two ends of the turning piece respectively, and one end away from the turning piece is hinged to the two foot pedals respectively. When any one of the pedals moves in a certain direction, the first transmission member or the second transmission member drives the rotating member to rotate, the rotating member drives the second transmission member or the first transmission member at the other end to drive the other pedal to move in the opposite direction, and the two pedals drive the two swing frames through the two linkage mechanisms respectively to realize four limbs linkage.

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