Linkage mechanism and four-limb linkage rehabilitation apparatus

Abstract

The utility model relates to a linkage mechanism and a four-limb linkage rehabilitation apparatus, the four-limb linkage rehabilitation apparatus comprises an underframe assembly, two pedals and a resistance device, the linkage mechanism is used for the four-limb linkage rehabilitation apparatus, and the linkage mechanism comprises a rotating shaft piece, a transmission assembly and a first rotating wheel. The rotating shaft piece is rotationally arranged on the underframe assembly and connected with the two pedals through the transmission assembly, a first rotating wheel is fixedly arranged on the rotating shaft piece, the first rotating wheel is in transmission connection with the resistance output end, and the rotating shaft piece is used for transmitting output resistance of the resistance equipment to the two pedals; the transmission assembly is used for enabling only one pedal to load resistance through the rotating shaft piece when the two pedals move oppositely. According to the linkage mechanism, when the two pedals move oppositely through the transmission assembly, only one pedal loads resistance through the rotating shaft piece, so that a user can easily change the pedal stroke through any pedal, and the user can conveniently use healthy limbs to drive injured limbs to conduct 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 people is rising, and the requirements for fitness equipment are continuously improved.

[0003] The existing horizontal treadmill includes a base frame, a gear box, two foot pedals and two swing arms. The gear box is arranged on the base frame. The two swing arms and the two foot pedals are arranged on two output shafts fixed on the gear box. The two swing arms and the two foot pedals on the left and right sides are moved in coordination through the rotation of the output shafts of the gear box.

[0004] However, when using the above-mentioned horizontal treadmill for training, the user must continuously resist the resistance on the two output shafts of the gear box through the two foot pedals. For people who need rehabilitation, there may be a limb injury that cannot adapt to the resistance of the gear box to complete the fixed step movement. 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 two foot pedals only load resistance through the rotating shaft when moving in opposite directions through the transmission assembly, so that the user can easily change the foot pedal stroke through any foot pedal, and the user can use the healthy limb to drive the injured limb for rehabilitation training.

[0006] In a first aspect, the present application provides a linkage mechanism for a four-limb linkage rehabilitation device. The four-limb linkage rehabilitation device includes a base frame assembly, two foot pedals arranged on the base frame assembly, and a resistance device. The linkage mechanism includes:

[0007] a rotating shaft arranged on the base frame assembly;

[0008] a transmission assembly connected to the rotating shaft and the foot pedals;

[0009] a first rotating wheel fixedly arranged on the rotating shaft, the first rotating wheel being in transmission connection with a resistance output end of the resistance device, the rotating shaft being configured to transmit the output resistance of the resistance device to the two foot pedals, and the transmission assembly being configured to make only one foot pedal load resistance through the rotating shaft when the two foot pedals move in opposite directions.

[0010] In some embodiments, the transmission assembly includes:

[0011] a second rotating wheel arranged through the rotating shaft;

[0012] A third rotating wheel is arranged in the rotating shaft, and one-way force transmission members are arranged between the second rotating wheel and the rotating shaft and between the third rotating wheel and the rotating shaft.

[0013] A direction changing member is arranged in the chassis assembly.

[0014] A first synchronization member is connected to one of the pedals at one end, and is sequentially arranged around the second rotating wheel, the direction changing member and the third rotating wheel, and is connected to the other pedal at the other end.

[0015] In some embodiments, the direction changing member is connected to the chassis assembly by an elastic member, and the first synchronization member further comprises:

[0016] A first transmission part is arranged around the direction changing member.

[0017] A second transmission part is connected to one of the pedals at one end, and is connected to one end of the first transmission part after passing around the second rotating wheel at the other end.

[0018] A third transmission part is connected to the other pedal at one end, and is connected to the other end of the first transmission part after passing around the third rotating wheel at the other end.

[0019] The elastic member is used to tension the first transmission part through the direction changing member, so that the second transmission part and the third transmission part are respectively in tension connection with the second rotating wheel and the third rotating wheel.

[0020] In some embodiments, the transmission assembly comprises:

[0021] A second rotating wheel is arranged in the rotating shaft.

[0022] A third rotating wheel is arranged in the rotating shaft, and one-way force transmission members are arranged between the second rotating wheel and the rotating shaft and between the third rotating wheel and the rotating shaft.

[0023] Rotating wheel members are arranged on one side of each of the pedals and opposite the rotating shaft in the chassis assembly.

[0024] Second synchronization members are used to connect the second rotating wheel or the third rotating wheel to each of the pedals through the second synchronization members, and the second synchronization members are respectively connected to the pedals on the adjacent side.

[0025] In some embodiments, the second rotating wheel or the third rotating wheel is locked in relative rotation with the rotating shaft in a single direction by the one-way force transmission members, and the locking directions of the two one-way force transmission members are the same.

[0026] In some embodiments, the one-way force transmission is a one-way bearing.

[0027] In some embodiments, the resistance source of the resistance device is magnetic resistance.

[0028] In some embodiments, the resistance device comprises:

[0029] a mounting seat, which is arranged on the chassis assembly;

[0030] a flywheel, which is arranged on the mounting seat and connected with the resistance output end;

[0031] a magnet, which is arranged on one side of the flywheel, and the magnet increases or decreases the output resistance of the resistance output end by moving close to or away from the flywheel.

[0032] In a second aspect, a four-limb linkage rehabilitation device is provided, which is equipped with the linkage mechanism according to any one of the first to third and fifth to eighth aspects.

[0033] In a third aspect, a four-limb linkage rehabilitation device is provided, which is equipped with the linkage mechanism according to any one of the first and fourth to eighth aspects.

[0034] In summary, the present application provides a linkage mechanism and a four-limb linkage rehabilitation device. The transmission assembly is used to enable only one pedal to load resistance through the rotating shaft when the two pedals move in opposite directions, so that the user can easily change the pedal stroke through any pedal, and the user can use the healthy limb to drive the injured limb for rehabilitation training. The change direction piece and the first synchronization piece are used to connect the two pedals for linkage. The second synchronization pieces are used to respectively connect the two pedals and the rotating shaft, so that the two pedals are respectively connected to the rotating shaft to resist the resistance. The one-way force transmission is used to eliminate the influence of any pedal on the other pedal when moving through the rotating shaft. The resistance source of the resistance device is magnetic resistance, which is convenient for adjusting the size of the resistance on the rotating shaft. The mounting seat, the flywheel and the magnet are used to precisely adjust the size of the resistance on the rotating shaft.

[0035] 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 as well as the appended drawings. BRIEF DESCRIPTION OF DRAWINGS

[0036] 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:

[0037] Figure 1 Fig. 1 is a schematic diagram of the overall structure of the four-limb linkage rehabilitation device of the present application;

[0038] Figure 2 Fig. 2 is a first partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0039] Figure 3 Fig. 3 is a second partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0040] Figure 4 Fig. 4 is a third partial schematic diagram of the four-limb linkage rehabilitation device of the present application;

[0041] Figure 5 Fig. 5 is an enlarged schematic diagram of the rotating shaft of the four-limb linkage rehabilitation device of the present application;

[0042] Figure 6 Fig. 6 is a fourth partial schematic diagram of the four-limb linkage rehabilitation device of the present application.

[0043] In the drawings:

[0044] 100, first linkage assembly; 101, turning piece; 102, first transmission piece; 103, second transmission piece; 200, second linkage assembly; 201, first rod; 202, second rod; 203, third rod; 204, fourth rod; 300, linkage mechanism; 301, resistance device; 302, rotating shaft; 303, direction-changing piece; 304, first synchronization piece; 305, first rotating wheel; 306, second rotating wheel; 307, third rotating wheel; 308, second synchronization piece; 309, rotating wheel piece; 400, base assembly; 401, base; 402, carriage; 403, seat cushion; 404, control interaction device; 500, footrest; 600, swing bracket; 700, electronic watch. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] The terms "first", "second", "third", "etc." are used only for descriptive purposes and should not be construed as implying or suggesting relative importance or an indicated number of the technical features indicated. Thus, the features defined with "first", "second", "third", etc. can explicitly or implicitly include one or more of the features.

[0048] In the description of the present application, it should be noted that unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, can be fixed connection, can also be detachable connection, or integral connection; can be direct connection, or indirect connection through intermediate medium; 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.

[0049] Reference is made to the accompanying drawings Figure 1 to the accompanying drawings Figure 6 , Figure 1 is a schematic diagram of the overall structure of the four-limb linkage rehabilitation device of the present application;

[0050] 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;

[0051] Figure 5 is an enlarged schematic diagram of the pivot piece of the four-limb linkage rehabilitation device of the present application; Figure 6 is a fourth partial schematic diagram of the four-limb linkage rehabilitation device of the present application; the following will be described in combination with the accompanying drawings Figure 1 to the accompanying drawings Figure 6 The specific embodiments are described. Specific embodiment one

[0053] Reference is made to the accompanying drawings Figures 1 to 5 The present application provides a linkage mechanism for a four-limb linkage rehabilitation device, which includes a chassis assembly 400, two pedals 500 and a resistance device 301 provided on the chassis assembly 400, the chassis assembly 400 includes a chassis 401 and a control interaction device 404, the control interaction device 404 is provided at one end of the chassis 401, and the control interaction device 404 is used to display and adjust motion parameters.

[0054] The resistance device 301 has a resistance source including but not limited to magnetic resistance, water resistance, wind resistance, and motor resistance. The resistance device 301 further includes a resistance output end, which is one end of a resistance output shaft and is used to output resistance. Based on the different resistance sources of the resistance device 301, a person 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.

[0055] The linkage mechanism includes the rotating shaft 302, a transmission assembly, and the first rotating wheel 305. The rotating shaft 302 is rotatably arranged on the chassis assembly 400 and is connected with the two pedals 500 through the transmission assembly. The first rotating wheel 305 is fixedly arranged on the rotating shaft 302 and is in transmission connection with the resistance output end. The rotating shaft 302 is used to transmit the output resistance of the resistance device 301 to the two pedals 500. The transmission assembly is used to make only one pedal 500 pass through the rotating shaft 302 to load resistance when the two pedals 500 move in opposite directions.

[0056] In some embodiments, the transmission assembly includes the second rotating wheel 306, the third rotating wheel 307, the direction changing piece 303, and the first synchronous piece 304. The second rotating wheel 306 is arranged through the rotating shaft 302. The third rotating wheel 307 is arranged through the rotating shaft 302. The second rotating wheel 306 and the rotating shaft 302, and the third rotating wheel 307 and the rotating shaft 302 are both provided with one-way force transmission pieces. The direction changing piece 303 is rotatably arranged in the chassis assembly 400. One end of the first synchronous piece 304 is connected with one pedal 500. The other end of the first synchronous piece 304 is sequentially arranged around the second rotating wheel 306, the direction changing piece 303, and the third rotating wheel 307 and is connected with the other pedal 500.

[0057] Specifically, 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 second rotating wheel 306 and the rotating shaft 302, and the third rotating wheel 307 and the rotating shaft 302 are both provided with one-way force transmission pieces. The rotating shaft 302 is connected with the two pedals 500 through the first synchronous piece 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 to make the rotating shaft 302 and the resistance output shaft have rotational resistance in the same direction, so as to transmit the resistance on the rotating shaft 302 to the two pedals 500 through the first synchronous piece 304. 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 pieces, so as to resist or not resist the resistance on the rotating shaft 302 when the two pedals 500 slide.

[0058] The variable direction member 303 is a pulley, and the variable direction member 303 is rotatably arranged in the chassis assembly 400 and is rotatably arranged on the chassis 401 away from the rotating shaft member 302. The variable direction member 303 is used to change the direction of the force, and assists the first synchronous member 304 to connect the two pedals 500, thereby assisting the two pedals 500 to be linked.

[0059] The first synchronous member 304 includes but is not limited to a belt, a cable, and a chain. The first synchronous member 304 is arranged around the variable direction member 303, and two ends of the first synchronous member 304 are arranged around the second rotating wheel 306 and the third rotating wheel 307 and connected with the two pedals 500. When any pedal 500 moves in a certain direction, the first synchronous member 304 cooperates with the variable direction member 303 to make the other pedal 500 move in the opposite direction.

[0060] In some embodiments, the variable direction member 303 is connected with the chassis assembly 400 through an elastic member, and the first synchronous member further includes a first transmission part, a second transmission part, a third transmission part, and an elastic member.

[0061] The first transmission part is arranged around the variable direction member 303. One end of the second transmission part is connected with one pedal 500, and the other end is arranged around the second rotating wheel 306 and connected with one end of the first transmission part. One end of the third transmission part is connected with the other pedal 500, and the other end is arranged around the third rotating wheel 307 and connected with the other end of the first transmission part. The elastic member is used to pull the first transmission part through the variable direction member 303, so that the second transmission part and the third transmission part are respectively and tightly connected with the second rotating wheel 306 and the third rotating wheel 307.

[0062] Specifically, the first synchronous member 304 further includes 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 respectively connected with two ends of the first transmission part through the connecting part. The first transmission part is arranged around the variable direction member 303. The second transmission part and the third transmission part are respectively arranged around the second rotating wheel 306 and the third rotating wheel 307 and connected with the two 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 with the variable direction member 303 to avoid sliding out of the variable direction member 303.

[0063] An elastic member is arranged between the variable direction member 303 and the chassis 401. The elastic member includes but is not limited to a spring, rubber, and a spring piece. The elastic member is used to push the variable direction member 303 to pull the first transmission part, so that the second transmission part and the third transmission part connected with the first transmission part are kept tight, thereby stabilizing the transmission to the second rotating wheel 306 and the third rotating wheel 307 and preventing slipping.

[0064] It should be noted that the tension 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 respective connecting variable direction piece 303, the second runner 306 and the third runner 307, avoiding falling off when sliding relative to the variable direction piece 303, the second runner 306 and the third runner 307.

[0065] In some embodiments, the relative rotation of the second runner 306 or the third runner 307 and the rotating shaft 302 in a single direction is locked by a one-way force transmission piece, and the locking directions of the two one-way force transmission pieces are the same; the one-way force transmission piece is a one-way bearing.

[0066] Referring to the accompanying drawings Figure 5 Specifically, if the resistance output shaft gives resistance to the counterclockwise rotation (A direction) of the rotating shaft 302, and the locking directions of the second runner 306 and the third runner 307 on the rotating shaft 302 through the two one-way force transmission pieces are both clockwise, then the two pedals 500 are not subject to resistance during sliding in either direction.

[0067] If the resistance output shaft gives resistance to the counterclockwise rotation of the rotating shaft 302, and the locking directions of the second runner 306 and the third runner 307 on the rotating shaft 302 through the two one-way force transmission pieces are both counterclockwise, then any pedal 500 is subject to resistance during sliding away from the control interactive device 404, but not during sliding towards the control interactive device 404.

[0068] Based on the above working principle, if the resistance output shaft gives resistance to the clockwise rotation of the rotating shaft 302, then the locking directions of the second runner 306 and the third runner 307 on the rotating shaft 302 through the two one-way force transmission pieces are both clockwise, in order to achieve the purpose of applying sliding resistance to the two pedals 500.

[0069] Referring to the accompanying drawings Figure 4 With the accompanying drawings Figure 5 One end of the first synchronization piece 304 is connected to one of the pedals 500, and the other end passes over the second runner 306 on the rotating shaft 302 from top to bottom, then passes over the variable direction piece 303 away from the rotating shaft 302 and approaches the rotating shaft 302, and finally passes over the third runner 307 on the rotating shaft 302 from bottom to top and is connected to the other pedal 500.

[0070] Based on the above winding mode, and the length of the first synchronization member 304 is fixed and both ends are connected to the two pedals 500 respectively, when one of the pedals 500 slides away from the control interactive device 404, the other pedal 500 will be pulled by the first synchronization member 304 to slide towards the control interactive device 404, one of the two pedals 500 passes through 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 through 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.

[0071] Based on the direction of the rotating resistance on the rotating shaft member 302, the locking direction of the two one-way force transmission members is set accordingly, 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, which simulates the resistance encountered by the user when walking naturally, and assists the first linkage assembly 100 to apply resistance linkage on the two pedals 500.

[0072] In some embodiments, the resistance source of the resistance device is magnetic resistance; the resistance device 301 further comprises a mounting seat, a flywheel, a magnet and a control member, the mounting seat is arranged on the chassis assembly, the flywheel is arranged on the mounting seat and connected with the resistance output end, the magnet is arranged on one side of the flywheel, and the magnet increases or reduces the output resistance of the resistance output end by approaching or moving away from the flywheel.

[0073] Specifically, the flywheel rotating is arranged on the mounting seat and connected with the resistance output shaft, the magnet is arranged on one side of the flywheel, the control member is electrically connected with the control interactive device 404, and the control interactive 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.

[0074] The application provides a linkage mechanism, through the transmission assembly, only one of the two pedals 500 passes through the rotating shaft member 302 to load resistance when the two pedals 500 move in opposite directions, so that the user can easily change the pedal stroke through any pedal 500, and it is convenient for the user to use healthy limbs to drive the injured limbs for rehabilitation training; the two pedals 500 are connected and linked through the cooperation of the direction changing member 303 and the first synchronization member 304; the influence of any pedal 500 on the other pedal 500 through the rotating shaft member 302 is eliminated through the one-way force transmission member; the resistance source of the resistance device is set as magnetic resistance, which is convenient for adjusting the size of the resistance on the rotating shaft member 302; through the cooperation of the mounting seat, the flywheel and the magnet, the purpose of accurately adjusting the size of the resistance on the rotating shaft member 302 is achieved. Specific embodiment two

[0076] The application also provides a four-limb linkage rehabilitation device, which is equipped with the linkage mechanism in the first embodiment.

[0077] Referring to the drawings Figures 1 to 5 The four-limb linkage rehabilitation device comprises a chassis assembly 400, a first linkage assembly 100 and a second linkage assembly 200. 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 first linkage assembly 100 is arranged on the chassis assembly 400 and located between the two foot pedals 500. The first linkage assembly 100 is connected with the two foot pedals 500 respectively. When any foot pedal 500 moves in a certain direction, the first linkage assembly 100 links the other foot pedal 500 to move in the opposite direction. The first linkage assembly 100 can link the other foot pedal 500 to change the direction of movement at any stroke of the foot pedal 500. The second linkage assembly 200 is connected with the foot pedal 500 and the swing frame 600 located on the side of the foot pedal 500 respectively. When any foot pedal 500 moves in a certain direction, the second linkage assembly 200 links the swing frame 600 located on the side of the foot pedal 500 to swing.

[0078] Referring to the drawings Figure 1 With Figure 2 In some embodiments, the chassis assembly 400 comprises a chassis 401, a sliding frame 402, a seat cushion 403 and a control interaction device 404. The two sliding rails are arranged on the chassis 401, and the foot pedals 500 are slidably arranged on the sliding rails. The sliding frame 402 is arranged at one end of the chassis 401 and located between the two sliding rails. The seat cushion 403 is slidably arranged on the sliding frame 402. The control interaction device 404 is arranged at the other end of the chassis 401 relative to the sliding frame 402. The control interaction device 404 is used to display and adjust the movement parameters.

[0079] Specifically, the chassis 401 is made of high-strength steel or aluminum alloy to ensure its stability and durability. The inside of the chassis 401 is hollow, and two parallel sliding rails are arranged on the top of the chassis 401. Optionally, the bottom of the chassis 401 is equipped with anti-skid pads to prevent the device from sliding during use. Optionally, an outer shell is arranged on the chassis 401. Optionally, a suspended pulley is arranged at one end of the bottom of the chassis 401. By lifting the other end of the chassis 401 to make the pulley contact the ground, the chassis 401 is conveniently moved.

[0080] The sliding frame 402 is made of light alloy or engineering plastic to reduce weight and improve durability. The sliding frame 402 is arranged at one end of the chassis 401 and extends obliquely upward away from the chassis 401, so that users of different heights can sit on the sliding frame 402 and stretch their legs to step on the foot pedals 500 on the chassis 401, and the floor space is reduced. Optionally, the sliding frame 402 is arranged as a cross-section I-beam structure to improve its stability. Optionally, a scale is arranged on the sliding frame 402 to facilitate the user to adjust the position of the seat cushion 403 on the sliding frame 402.

[0081] The seat cushion 403 is slidably arranged on the slide frame 402; optionally, the surface of the seat cushion 403 is provided with anti-skid texture to prevent the user from slipping 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 frame 402.

[0082] The control interaction device 404 comprises a display screen and a control assembly, the display screen comprises but is not limited to a touch screen or an LCD display screen, and is used to display 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 assembly is used to support touch operation, voice control or Bluetooth connection with external devices, so that the user can operate more conveniently; optionally, the control interaction device 404 is electrically connected with the driving assembly on the seat cushion 403, so that the seat cushion 403 is controlled to slide relative to the slide frame 402 through the control interaction device 404, and the position of the seat cushion 403 on the slide frame 402 is displayed through the control interaction device 404; optionally, the control interaction device 404 is electrically connected with the resistance device 301, so that the resistance device 301 is controlled to control the resistance size or the resistance gear, and the output resistance size or the resistance gear of the resistance device 301 is displayed through the control interaction device 404.

[0083] In some embodiments, the bottom frame assembly 400 further comprises a limiting piece, the limiting piece is arranged through the seat cushion 403 and the slide frame 402, and the limiting piece is used to connect or disconnect through the seat cushion 403 and the slide frame 402, so as to limit or release the relative sliding of the seat cushion 403 and the slide frame 402.

[0084] Specifically, the limiting piece comprises but is not limited to a pin or a bolt, and the limiting piece is used to relatively lock or release the position of the seat cushion 403 and the slide frame 402; a plurality of limiting holes are arranged on the seat cushion 403 and the slide frame 402, the limiting piece is arranged through the limiting hole on the seat cushion 403 and extends into the limiting hole on the slide frame 402, so as to fix the relative position of the seat cushion 403 and the slide frame 402; the relative position of the seat cushion 403 and the slide frame 402 is released by making the limiting piece disengage from the limiting hole on the slide frame 402.

[0085] Reference is made to the accompanying drawings Figure 2 With Figure 4 In some embodiments, the first linkage assembly 100 comprises a steering piece 101, a first transmission piece 102 and a second transmission piece 103, the steering piece 101 is rotatably arranged on the bottom frame assembly 400, the steering piece 101 is located between the two pedals 500, one end of the first transmission piece 102 is hingedly connected with one end of the steering piece 101, and the other end of the first transmission piece 102 is hingedly connected with one pedal 500, one end of the second transmission piece 103 is hingedly connected with the other end of the steering piece 101, and the other end of the second transmission piece 103 is hingedly connected with the other pedal 500.

[0086] Specifically, the first transmission member 102 and the second transmission member 103 are respectively arranged at two ends of the steering member 101 relative to rotation, and the first transmission member 102 and the second transmission member 103 are respectively hinged to the two pedals 500 relative to the ends away from the steering member 101.

[0087] Optionally, one end of each of the two connecting members is fixed relative to the two ends of the steering member 101, and the other end of each of the two connecting members is hinged to the two pedals 500 through 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 two connecting members increases the degrees of freedom and the stroke of the pedals 500.

[0088] The steering member 101 is arranged on the chassis 401 relative to rotation, and the steering member 101 is located between the two pedals 500. 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 facilitate smooth rotation. The steering member 101 is made of high-strength steel, aluminum alloy, or engineering plastic, so as to ensure its durability and light weight.

[0089] The first transmission member 102 and the second transmission member 103 are rod members with hinged ends, one end of each of which is rotationally connected to the pedal 500, and the other end of each of which is hinged to the connecting member. The first transmission member 102 and the second transmission member 103 are made of lightweight alloy or reinforced plastic, so as to reduce weight and improve strength. When the steering member 101 rotates, it drives the first transmission member 102 and the second transmission member 103 to push the two pedals 500 to slide, and the sliding directions of the two pedals 500 are opposite. At any stroke of one pedal 500, the other pedal 500 can be linked to change direction.

[0090] Reference is made to the accompanying drawings Figure 3 In some embodiments, the second linkage assembly 200 includes 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 hinged to the pedal 500. The second rod 202 is rotationally arranged on the chassis assembly 400 between two ends thereof. One end of the second rod 202 is hinged to the other end of the first rod 201. One end of the third rod 203 is hinged to the other end of the second rod 202. One end of the fourth rod 204 is rotationally arranged on the chassis assembly 400 and fixedly connected to the swing bracket 600. The other end of the fourth rod 204 is hinged to the other end of the third rod 203.

[0091] 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, the two ends of the first rod 201 are respectively hinged with the foot pedal 500 and the second rod 202, the two ends of the second rod 202 are respectively hinged with the first rod 201 and the third rod 203, the second rod 202 is also rotatably arranged between the two ends on the chassis 401, the two ends of the third rod 203 are respectively hinged with the second rod 202 and the fourth rod 204, one end of the fourth rod 204 is hinged 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 chassis 401 together with the swing frame 600.

[0092] When the foot pedal 500 slides towards the control interactive device 404, the first rod 201 is pulled to drive the second rod 202, the connecting end of the second rod 202 and the first rod 201 rotates in the clockwise direction around the rotating connection between the second rod 202 and the chassis 401, 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 around the connecting end of the fourth rod 204 and the chassis 401, and then the swing frame 600 fixedly connected with the fourth rod 204 rotates in the counterclockwise direction around the connecting end of the fourth rod 204 and the chassis 401.

[0093] Based on the action of the first linkage assembly 100 between the two foot pedals 500, the transmission process of the other second linkage assembly 200 connected with the 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 around the connecting end of the fourth rod 204 and the chassis 401, so as to achieve the technical effect of four limbs linkage.

[0094] 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 operation, the swing frame 600 and the foot pedal 500 can change the movement direction at any time based on the user's training plan, and the second linkage assembly 200 cooperates with the first linkage assembly 100 to make the linkage of the two swing frames 600 and the two foot pedals 500 coordinated, the healthy limbs drive the limbs needing rehabilitation to move, or the healthy limbs accommodate the limbs needing rehabilitation to move, so as to meet the different rehabilitation needs of different rehabilitation groups and improve the rehabilitation comfort experience.

[0095] Reference is made to the accompanying drawings Figure 3 In some embodiments, the rotating connection between the second rod 202 and the chassis assembly 400 is located between the two ends of the second rod 202, and the rotating connection between the second rod 202 and the chassis assembly 400 is close to the rotating connection between the second rod 202 and the third rod 203.

[0096] 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 the user for larger strides are met.

[0097] 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.

[0098] 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 the user to hold 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 arm trajectory during human movement, helps the user to maintain a more natural posture during exercise, reduces the pressure on the joints and muscles, and thus reduces the risk of injury.

[0099] At the same time, the swing bracket 600 and the foot pedal 500 are connected through the second linkage assembly 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.

[0100] When the four-limb linkage rehabilitation device is used, the user sits on the cushion 403 and pedals the two foot pedals 500, adjusts the position of the cushion 403 on the slide 402 by controlling the interactive device 404, holds the two swing brackets 600 after the leg distance is appropriate, and starts training by pedaling any foot pedal 500 to slide or by pushing any swing bracket 600 to swing.

[0101] The application provides a four-limb linkage rehabilitation device, through the first linkage assembly 100 to link two pedals 500, and at any stroke of one pedal 500, the other pedal 500 can be linked to change direction, so that the user can freely change the stroke of the pedal 500 according to the user's step size, and the user can use the healthy limb to drive the injured limb to do rehabilitation training; through the second linkage assembly 200 to link the pedal 500 and the swing frame 600 on one side, so that any component of the two pedals 500 and the two swing frames 600 can perform any step size movement, and the remaining three components can make a linkage reaction with the same step size; through the steering part 101 to drive the first transmission part 102 and the second transmission part 103 to rotate relatively, so as to realize the relative sliding of the two pedals 500 in opposite directions; through the first rod 201, the second rod 202, the third rod 203 and the fourth rod 204, the movement direction of the swing frame 600 is converted into the sliding direction of the pedal 500, so as to realize the linkage of the swing frame 600 and the pedal 500; through the curved design of the swing frame 600, it is more convenient for the user to hold and swing, and the swing direction is more in line with ergonomics; through the design of the rotating connection position of the second rod 202 and the bottom frame assembly 400, the swing stroke of the second rod 202 close to the first rod 201 is increased, so that the sliding stroke of the pedal 500 is increased; through the cooperation of the resistance device 301 and the rotating shaft part 302, the pedal 500 can resist the resistance when sliding, and meet the different training needs of the user; through the cooperation of the direction changing part 303 and the first synchronous part 304, the two pedals 500 are linked by the first linkage assembly 100, and the influence of the two pedals 500 on the rotating shaft part 302 is eliminated through the one-way force transmission part; through the cooperation of the sliding frame 402 and the seat cushion 403, the distance between the seat cushion 403 and the pedal 500 is adjusted, so as to adapt to the height of different users; through the limiting part, the relative distance between the seat cushion 403 and the sliding frame 402 is locked or released, which is convenient for the user to adjust; through the elastic part to push the direction changing part 303, so that the first transmission part, the second transmission part and the third transmission part are tightened, and sliding off the direction changing part 303, the second rotating wheel 306 and the third rotating wheel 307 is avoided. Specific embodiment three

[0103] The application also provides a linkage mechanism for a four-limb linkage rehabilitation device, which is different from the specific embodiment one in that: two second synchronous parts 308 and two rotating wheel parts 309 are used to replace the first synchronous part 304 and the direction changing part 303 in the specific embodiment one, and the other structures are the same as those in the specific embodiment one, which will not be repeated here.

[0104] Reference is made to the accompanying Figure 5 With Figure 6In some embodiments, the transmission assembly comprises a second rotating wheel 306, a third rotating wheel 307, a rotating wheel member 309, and a second synchronous member 308; the second rotating wheel 306 is arranged through the rotating shaft member 302, the third rotating wheel 307 is arranged through the rotating shaft member 302, and a one-way force transmission member is arranged between the second rotating wheel 306 and the rotating shaft member 302 and between the third rotating wheel 307 and the rotating shaft member 302; the two rotating wheel members 309 are arranged on one side of the two pedals respectively and are arranged relative to the rotating shaft member 302 in the chassis assembly 400; the two rotating wheel members 309 are connected to the second rotating wheel 306 or the third rotating wheel 307 through the second synchronous member 308 respectively, and the two second synchronous members 308 are connected to the pedals on the adjacent side respectively.

[0105] Specifically, the rotating shaft member 302 is provided with the second rotating wheel 306, the third rotating wheel 307, and the first rotating wheel 305, and the rotating shaft member 302 is rotatably arranged on the chassis 401; a one-way force transmission member is arranged between the second rotating wheel 306 and the rotating shaft member 302 and between the third rotating wheel 307 and the rotating shaft member 302.

[0106] The rotating wheel member 309 is a synchronous pulley, the two rotating wheel members 309 are rotatably arranged on one side of the two pedals 500 respectively, the two rotating wheel members 309 are arranged relative to the rotating shaft member 302 in the chassis assembly, the two rotating wheel members 309 are connected to the rotating shaft member 302 through the second synchronous member 308 respectively, and the two second synchronous members 308 are also connected to the two pedals 500 respectively, so that the rotating shaft member 302 is connected to the pedals 500 on the adjacent side through the two second synchronous members 308 respectively.

[0107] The second synchronous member 308 comprises but is not limited to a belt, a cable, and a chain, the second synchronous member 308 is arranged around the two rotating wheel members 309 and the rotating shaft member 302, and the position between the rotating wheel member 309 and the rotating shaft member 302 is also connected to the pedal 500; the second synchronous member 308 cooperates with the rotating wheel member 309 to enable any pedal 500 to independently drive the rotating shaft member 302 to rotate without affecting the movement state of the other pedal 500.

[0108] Reference is made to the accompanying drawings Figure 5 With Figure 6When the left pedal 500 moves forward, it drives the same side rotating wheel member 309 and the second rotating wheel 306 to rotate in the direction opposite to A through the second synchronizer 308. If the one-way force transmission member is locked in the direction opposite to A to transmit the torsional force, the second rotating wheel 306 can drive the rotating shaft member 302 to rotate synchronously in the direction opposite to A. The rotating shaft member 302 drives the resistance device to rotate, generating resistance, which hinders the left second synchronizer 308 to drive, i.e. transmits the movement resistance to the left pedal 500. At the same time, the right pedal moves backward. Since the locking directions of the two one-way force transmission members arranged on the second rotating wheel 306 and the third rotating wheel 307 are the same, the right second synchronizer 308 drives the third rotating wheel 307 to rotate in the direction A during the backward movement of the right pedal 500. Due to the effect of the one-way force transmission member, the rotating shaft member 302 is not affected by the rotation of the third rotating wheel 307. During the backward movement of the right pedal 500, no resistance is generated, and the movement state of the right pedal 500 is not affected.

[0109] Therefore, based on the arrangement that the locking directions of the two one-way force transmission members are the same, when any pedal 500 moves in a certain direction, no resistance is added to the other pedal 500 through the rotating shaft member 302, and the movement state of the other pedal 500 is not affected.

[0110] In some embodiments, the side of the rotating wheel member 309 is also provided with an electronic watch 700, which is electrically connected with the resistance device 301. The electronic watch 700 is used to adjust the resistance output of the resistance device 301.

[0111] The application provides a linkage mechanism. The two pedals 500 are connected with the rotating shaft member 302 through the transmission assembly, so that only one pedal 500 is loaded with resistance when the two pedals 500 move in opposite directions. Therefore, the user can easily change the pedal stroke through any pedal 500, which is convenient for the user to use the healthy limb to drive the injured limb for rehabilitation training. The two pedals 500 are respectively connected with the rotating shaft member through the two second synchronizers 308, so that the two pedals 500 are respectively connected with the rotating shaft member to resist the resistance. The influence of any pedal 500 on the other pedal 500 through the rotating shaft member 302 is eliminated through the one-way force transmission member. The resistance source of the resistance device is set as magnetic resistance, which is convenient for adjusting the resistance on the rotating shaft member 302. The seat, the flywheel and the magnet are cooperated to achieve the purpose of accurately adjusting the resistance on the rotating shaft member 302. Specific embodiment four

[0113] The application also provides a four-limb linkage rehabilitation device, which is provided with the linkage mechanism in the specific embodiment three, and other technical features outside the linkage mechanism are the same as those of the four-limb linkage rehabilitation device in the specific embodiment two, which will not be described here.

[0114] It should be noted that the various embodiments described in the specification are intended to be illustrative only and are not in any way limiting of the application. The description of the embodiments is presented solely for the purpose of enabling a person skilled in the art to make and use the application. The embodiments are not intended to limit the scope of the application, which is defined solely by the claims.

[0115] The above embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the specific embodiments of the present application can be modified or equivalent replacements can be made to some technical features; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present 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, two foot pedals and a resistance device arranged on the chassis assembly, and the linkage mechanism comprises: a rotating shaft arranged on the chassis assembly; a transmission assembly connected with the rotating shaft and the foot pedals respectively; a first rotating wheel fixedly arranged on the rotating shaft, the first rotating wheel being in transmission connection with a resistance output end of the resistance device, the rotating shaft being used for transmitting the output resistance of the resistance device to the two foot pedals, and the transmission assembly being used for enabling only one foot pedal to pass through the rotating shaft to load resistance when the two foot pedals move in opposite directions.

2. The linkage mechanism of claim 1, wherein The transmission assembly comprises: a second rotating wheel arranged through the rotating shaft; a third rotating wheel arranged through the rotating shaft, and a one-way force transmission member arranged between the second rotating wheel and the rotating shaft and between the third rotating wheel and the rotating shaft; a direction changing member rotatably arranged in the chassis assembly; a first synchronization member, one end of the first synchronization member being connected with one foot pedal, and the other end of the first synchronization member being sequentially arranged around the second rotating wheel, the direction changing member and the third rotating wheel and connected with the other foot pedal.

3. The linkage mechanism of claim 2, wherein, The direction changing member is connected with the chassis assembly through an elastic member, and the first synchronization member further comprises: a first transmission part arranged around the direction changing member; a second transmission part, one end of the second transmission part being connected with one foot pedal, and the other end of the second transmission part being connected with one end of the first transmission part after passing through the second rotating wheel; a third transmission part, one end of the third transmission part being connected with the other foot pedal, and the other end of the third transmission part being connected with the other end of the first transmission part after passing through the third rotating wheel; The elastic member is used for tensioning the first transmission part through the direction changing member, so that the second transmission part and the third transmission part are in tension connection with the second rotating wheel and the third rotating wheel respectively.

4. The linkage of claim 1, wherein, The transmission assembly comprises: a second rotating wheel arranged through the rotating shaft; a third rotating wheel arranged through the rotating shaft, and a one-way force transmission member arranged between the second rotating wheel and the rotating shaft and between the third rotating wheel and the rotating shaft; rotating wheel members, the two rotating wheel members being arranged on one side of the two foot pedals respectively and being arranged opposite to the rotating shaft in the chassis assembly; second synchronization members, the two rotating wheel members being connected with the second rotating wheel or the third rotating wheel through the second synchronization members respectively, and the two second synchronization members being connected with the foot pedals on the adjacent side respectively.

5. The linkage mechanism of claim 2 or 4, wherein, The second rotating wheel or the third rotating wheel is locked in relative rotation with the rotating shaft in a single direction through the one-way force transmission member, and the locking directions of the two one-way force transmission members are the same.

6. The linkage mechanism of claim 5, wherein, The one-way force transmission member is a one-way bearing.

7. The linkage mechanism of any one of claims 1 to 4, wherein, The resistance source of the resistance device is magnetic resistance.

8. The linkage of claim 7, wherein, The resistance device comprises: a mounting seat arranged on the chassis assembly; a flywheel arranged on the mounting seat and connected with the resistance output end; a magnet arranged on one side of the flywheel, the magnet being used for increasing or decreasing the output resistance of the resistance output end by moving close to or away from the flywheel.

9. A quadriplegic linkage rehabilitation device, characterized by The linkage mechanism of any one of claims 1-3, 5-8 is arranged.

10. A quadriplegic linkage rehabilitation device, characterized by The linkage mechanism of any one of claims 1, 4-8 is installed.

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