A lower limb rehabilitation training device waist module connecting rod structure and waist module
By introducing first and second parallel four-bar linkages and a tilt axis and damping assembly into the lower limb rehabilitation training equipment, the problem of unstable tilting motion in patients is solved, achieving a more natural and stable rehabilitation training effect.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- JIECHUANGRUI (SHANGHAI) ROBOT TECHNOLOGY CO LTD
- Filing Date
- 2025-05-30
- Publication Date
- 2026-06-05
AI Technical Summary
In existing lower limb rehabilitation training equipment, patients are not stable and natural enough during lateral tilting movements, making it difficult to achieve good training results.
The design employs a combination of first and second parallel four-bar linkages, a tilt axis, and a damping assembly. The two ends of the tilt axis are rotatably connected to the connecting rods, the damping assembly provides damping, the locking assembly is used to lock the tilt axis, and the damping adjustment mechanism adjusts the damping force to simulate the movement characteristics of the human waist.
It improves the stability and naturalness of patients' lateral tilting movements, enhances the effectiveness and safety of rehabilitation training, and meets the needs of different rehabilitation stages and training.
Smart Images
Figure CN224320979U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of medical device technology, and more specifically, to a connecting rod structure for the lumbar module and the lumbar module in a lower limb rehabilitation training device. Background Technology
[0002] Population aging has become a global trend, and cerebrovascular and neurological diseases can cause motor dysfunction in patients. This makes the field of rehabilitation medicine increasingly important, especially lower limb rehabilitation equipment. This equipment provides solutions for lower limb treatment, reshaping motor nerve function through repeated movements. It plays a crucial role in rehabilitation medicine, greatly promoting the development of rehabilitation therapy and bringing hope of recovery to many patients.
[0003] In lower limb rehabilitation equipment, the structure connected to the weight-reducing strap worn by the patient is the lumbar module, which mainly serves to support the lower back. In existing technologies, patients are prone to losing control of lateral tilting movements during exercise, resulting in unstable and unnatural lateral tilting movements during rehabilitation training, making it difficult to achieve good training results.
[0004] In conclusion, improving the stability of patients during lateral tilting movements is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content
[0005] In view of this, the purpose of this utility model is to provide a connecting rod structure and a lumbar module for a lower limb rehabilitation training device, which effectively improves the stability of patients during lateral tilting movements.
[0006] To achieve the above objectives, this utility model provides the following technical solution:
[0007] A linkage structure for a lumbar module in a lower limb rehabilitation training device and a lumbar module, comprising a first parallel four-bar linkage composed of a first front linkage, a second front linkage, a third front linkage and a fourth front linkage, and a second parallel four-bar linkage composed of a first rear linkage, a second rear linkage, a third rear linkage and a fourth rear linkage;
[0008] The fourth front link is rotatably provided with a roll shaft, and the two ends of the roll shaft are rotatably connected to the first rear link and the fourth rear link, respectively. A damping assembly is provided between the fourth front link and the roll shaft to provide damping for the rotation of the roll shaft.
[0009] Preferably, a front axle and a rear axle are fixedly provided at both ends of the roll shaft, the end of the front axle away from the roll shaft is rotatably connected to the first rear link, and the end of the rear axle away from the roll shaft is rotatably connected to the fourth rear link.
[0010] Preferably, a first T-block is provided between the front axle and the first rear connecting rod, and the first T-block is rotatably connected to the front axle;
[0011] A second T-block is provided between the rear axle and the fourth rear connecting rod, and the second T-block is rotatably connected to the rear axle.
[0012] Preferably, a locking assembly is provided between the roll shaft and the fourth front link, the locking assembly being used to lock the roll shaft so that the roll shaft and the fourth front link are relatively stationary.
[0013] Preferably, the locking assembly includes a mounting plate disposed on the upper part of the fourth front link, a locking screw threadedly connected to the mounting plate, and a locking hole opened on the tilt shaft, wherein the locking screw is configured to cooperate with the locking hole.
[0014] Preferably, the damping assembly includes a pressure plate fixedly sleeved on the roll shaft, and damping modules are provided on both sides of the roll shaft inside the fourth front link. Contact plates extend horizontally on both sides of the pressure plate and cooperate with the damping modules.
[0015] Preferably, a base plate is fixedly installed inside the fourth front connecting rod, and the ends of the two damping modules away from the contact plate are fixedly connected to the base plate.
[0016] Preferably, a damping adjustment mechanism is provided between any pair of adjacent links in the second parallel four-bar linkage so that the damping between the links in the second parallel four-bar linkage is adjustable.
[0017] Preferably, the damping adjustment mechanism includes a fixed block disposed on the side of one of the connecting rods and an adjustment plate slidably disposed on the side of an adjacent connecting rod, and a damping spring is disposed between the fixed block and the adjustment plate.
[0018] A waist module, the waist module including a linkage structure, the linkage structure being any of the linkage structures described above.
[0019] The lower limb rehabilitation training device provided by this utility model uses a linkage structure for the lumbar module. The first parallel four-bar linkage and the second parallel four-bar linkage can meet the movement required for rehabilitation training. The lateral tilting shaft is rotatably set in the fourth front linkage and its two ends are rotatably connected to the first rear linkage and the fourth rear linkage, respectively, which can increase the range of motion of the lumbar region. The damping component provides damping for the rotation of the lateral tilting shaft, which can make the lumbar movement more stable, improve the rehabilitation training effect, and ensure the safety of the patient. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.
[0021] Figure 1 This is an overall schematic diagram of the linkage structure in this embodiment;
[0022] Figure 2 This is an exploded view of the linkage structure in this embodiment;
[0023] Figure 3 This is a bottom view of the linkage structure in this embodiment.
[0024] Figures 1-3 In the accompanying drawings, the reference numerals include:
[0025] 1. First front link; 2. Second front link; 3. Third front link; 4. Fourth front link; 5. First rear link; 6. Second rear link; 7. Third rear link; 8. Fourth rear link; 9. Tilt shaft; 91. Front axle; 92. Rear axle; 10. First T-block; 11. Second T-block; 12. Damping spring; 13. Mounting plate; 14. Locking screw; 15. Locking hole; 16. Pressure plate; 17. Damping module; 18. Base plate; 19. Fixing block; 20. Adjusting plate. Detailed Implementation
[0026] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.
[0027] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this utility model pertains. The terms "first," "second," and similar words used in this utility model do not indicate any order, quantity, or importance. Terms such as "connection" or "linked" are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly. This application discloses a linkage structure for the lumbar module and the lumbar module itself in a lower limb rehabilitation training device.
[0028] The core of this utility model is to provide a connecting rod structure and a lumbar module for a lower limb rehabilitation training device.
[0029] Please refer to Figures 1 to 3 .
[0030] The lower limb rehabilitation training device provided by this utility model includes a first parallel four-bar linkage consisting of a first front link 1, a second front link 2, a third front link 3 and a fourth front link 4, and a second parallel four-bar linkage consisting of a first rear link 5, a second rear link 6, a third rear link 7 and a fourth rear link 8.
[0031] A roll shaft 9 is rotatably mounted inside the fourth front link 4. The two ends of the roll shaft 9 are rotatably connected to the first rear link 5 and the fourth rear link 8, respectively. A damping assembly is provided between the fourth front link 4 and the roll shaft 9 to provide damping for the rotation of the roll shaft 9.
[0032] Specifically, a first parallel four-bar linkage is formed by the first front link 1, the second front link 2, the third front link 3, and the fourth front link 4; a second parallel four-bar linkage is formed by the first rear link 5, the second rear link 6, the third rear link 7, and the fourth rear link 8. The roll shaft 9 is rotatably mounted within the fourth front link 4, with its two ends rotatably connected to the first rear link 5 and the fourth rear link 8, respectively. A damping assembly is installed between the fourth front link 4 and the roll shaft 9. When the roll shaft 9 rotates, the damping assembly provides damping for its rotation, which helps to better simulate the real mechanical characteristics of human lumbar movement and improves the effectiveness of lumbar rehabilitation training for patients.
[0033] The aforementioned lower limb rehabilitation training equipment utilizes a linkage structure for the lumbar module. By incorporating a first parallel four-bar linkage, a second parallel four-bar linkage, a tilt axis 9, and a damping assembly, the lumbar module effectively addresses the instability and unnaturalness of patient tilting movements in existing technologies. The dual parallel four-bar linkage design provides the entire structure with good stability and flexibility, enabling the simulation of various human movement patterns. The tilt axis 9 ensures that patients can perform natural tilting movements during rehabilitation training, while the damping assembly provides appropriate damping for the rotation of the tilt axis 9, limiting excessive rotation and improving the stability and naturalness of the tilting movements.
[0034] The following description, in conjunction with the accompanying drawings and specific embodiments, provides a more detailed account of the connecting rod structure for the lumbar module and the lumbar module in the lower limb rehabilitation training equipment provided by this utility model.
[0035] In one specific implementation, reference is made to... Figure 2The two ends of the tilt shaft 9 are respectively fixedly provided with a front shaft 91 and a rear shaft 92. The end of the front shaft 91 away from the tilt shaft 9 is rotatably connected to the first rear link 5, and the end of the rear shaft 92 away from the tilt shaft 9 is rotatably connected to the fourth rear link 8.
[0036] Specifically, in the linkage structure of the lumbar module, the two ends of the tilt shaft 9 are fixed with a front axle 91 and a rear axle 92, respectively. The end of the front axle 91 away from the tilt shaft 9 is rotatably connected to the first rear link 5, and the end of the rear axle 92 away from the tilt shaft 9 is rotatably connected to the fourth rear link 8. This structure allows the tilt shaft 9 to drive the first rear link 5 and the fourth rear link 8 to rotate accordingly through the front axle 91 and the rear axle 92, achieving good linkage and making the rotation of the tilt shaft 9 within the fourth front link 4 smoother and more stable. This better meets the needs of human movement and ensures that patients can fully utilize the flexibility provided by this structure during rehabilitation training, making rehabilitation training more in line with natural human movement and improving rehabilitation effects.
[0037] Based on any of the above embodiments, refer to Figure 2 A first T-block 10 is provided between the front axle 91 and the first rear connecting rod 5, and the first T-block 10 is rotatably connected to the front axle 91. A second T-block 11 is provided between the rear axle 92 and the fourth rear connecting rod 8, and the second T-block 11 is rotatably connected to the rear axle 92.
[0038] Specifically, the front axle 91 is located at the end of the tilt shaft 9, with its end furthest from the tilt shaft 9 rotatably connected to the first T-block, which in turn is connected to the first rear link 5. Similarly, the rear axle 92 is located at the end of the tilt shaft 9, with its end furthest from the tilt shaft 9 rotatably connected to the second T-block, which is connected to the fourth rear link 8. When the front axle 91 and rear axle 92 rotate with the tilt shaft 9, the front axle 91 can rotate flexibly relative to the first rear link 5 via the first T-block, and the rear axle 92 can rotate flexibly relative to the fourth rear link 8 via the second T-block. This connection structure enhances the coordination and smoothness of movement between the various components in the entire linkage structure, ensuring the flexible operation of the lumbar module when the tilt shaft 9 rotates to drive the front and rear axles 92 in tandem, thus improving the performance of the lower limb rehabilitation training equipment.
[0039] Based on any of the above embodiments, refer to Figure 1 and Figure 2 A locking assembly is provided between the roll shaft 9 and the fourth front link 4. The locking assembly is used to lock the roll shaft 9 so that the roll shaft 9 and the fourth front link 4 are relatively stationary.
[0040] Specifically, a locking component is positioned between the tilt axis 9 and the fourth front link 4. This component restricts the tilt axis 9, keeping the two components relatively stationary. This locking mechanism allows for flexible control over whether the tilt axis 9 rotates, facilitating precise adjustment of the lumbar module's movement during rehabilitation training. This enhances the controllability and targeted nature of the training, ensuring that rehabilitation training better meets the patient's actual needs.
[0041] Based on any of the above embodiments, refer to Figure 1 and Figure 2 The locking assembly includes a mounting plate 13 disposed on the upper part of the fourth front link 4, a locking screw 14 threadedly connected to the mounting plate 13, and a locking hole 15 opened on the tilt shaft 9. The locking screw 14 is configured to cooperate with the locking hole 15.
[0042] Specifically, mounting plate 13 is located on the upper part of the fourth front connecting rod 4, and locking screw 14 is threadedly connected to mounting plate 13. Locking hole 15 is formed on the tilt shaft 9, and locking screw 14 engages with locking hole 15. When it is necessary to lock the tilt shaft 9, rotating locking screw 14 to engage with locking hole 15 achieves relative stillness between tilt shaft 9 and the fourth front connecting rod 4; when locking is not required, rotating locking screw 14 in the opposite direction disengages it from locking hole 15, and tilt shaft 9 resumes rotation. This structure allows for convenient locking or unlocking of tilt shaft 9, effectively limiting the rotation of tilt shaft 9 under specific conditions and improving the stability and controllability of the waist module connecting rod structure.
[0043] It should be noted that both the first and second parallel four-bar linkages are equipped with similar locking components to lock the lateral motion 92 and the torsional motion 94.
[0044] Based on any of the above embodiments, refer to Figure 2 The damping assembly includes a pressure plate 16 fixedly sleeved on the roll shaft 9. Damping modules 17 are provided on both sides of the roll shaft 9 inside the fourth front link 4. Contact plates extend horizontally on both sides of the pressure plate 16 and cooperate with the damping modules 17.
[0045] Specifically, damping modules 17 are installed on both sides of the fourth front link 4 and the roll shaft 9. Contact plates extend horizontally from both sides of the pressure plate 16, which is fixedly sleeved on the roll shaft 9, and cooperate with the damping modules 17. When the roll shaft 9 rotates, the pressure plate 16 rotates accordingly, and its contact plates contact the damping modules 17, thus providing damping for the rotation of the roll shaft 9. This design allows the lumbar module to better simulate the resistance characteristics of human joints during movement, making the patient's rehabilitation training closer to a natural movement state and improving the effectiveness and realism of the rehabilitation training.
[0046] Based on any of the above embodiments, a base plate 18 is fixedly installed inside the fourth front link 4, and the ends of the two damping modules 17 away from the contact plate are fixedly connected to the base plate 18.
[0047] Specifically, a base plate 18 is fixedly installed inside the fourth front link 4, and the ends of the two damping modules 17 furthest from the contact plate are fixedly connected to the base plate 18. Thus, the base plate 18 provides a stable mounting foundation for the damping modules 17, ensuring their fixed position and enabling them to stably provide damping when the tilt shaft 9 rotates. This helps maintain the stability and reliability of the lumbar module linkage structure, thereby ensuring the smooth operation of the lumbar module in the lower limb rehabilitation training equipment.
[0048] Based on any of the above embodiments, a damping adjustment mechanism is provided between any group of adjacent links in the second parallel four-bar linkage so that the damping between the links in the second parallel four-bar linkage is adjustable.
[0049] Specifically, the damping adjustment mechanism is set between any pair of adjacent links in the second parallel four-bar linkage, which can flexibly adjust the motion damping of the lumbar module according to the patient's rehabilitation status and actual needs, so as to meet diverse rehabilitation training needs.
[0050] Furthermore, the damping adjustment mechanism includes a fixed block 19 disposed on the side of one of the connecting rods and an adjustment plate 20 slidably disposed on the side of an adjacent connecting rod, with a damping spring 12 disposed between the fixed block 19 and the adjustment plate 20.
[0051] Specifically, by utilizing the damping adjustment mechanism composed of a fixed block 19, an adjusting plate 20, and a damping spring 12, the damping between the links in the second parallel four-bar linkage of the lumbar module in the lower limb rehabilitation training equipment can be adjusted, making the equipment more adaptable and improving the rehabilitation training effect. Prior to this, the first and second parallel four-bar linkages provide basic motion support structures for the lumbar module. The design containing damping components provides damping for the rotation of the tilt axis 9. The tilt axis 9 is connected to the rear link through the front axle 91, the rear axle 92, and the T-block, ensuring connection stability and motion coordination. The locking component can lock the tilt axis 9, keeping the tilt axis 9 and the fourth front link 4 relatively stationary to ensure specific needs. The combined effect of other structures ensures the flexibility and safety of rehabilitation training.
[0052] The implementation principle of the linkage structure for the lumbar module in the lower limb rehabilitation training device of this application is as follows: The linkage structure for the lumbar module in the lower limb rehabilitation training device provided in this application effectively solves the problems of unstable and unnatural lateral tilting movements of patients in the prior art by setting up a first parallel four-bar mechanism, a second parallel four-bar mechanism, a tilting shaft 9, and a damping component. The design of the double parallel four-bar mechanism gives the entire structure good stability and flexibility, and can simulate various human movement patterns. The setting of the tilting shaft 9 ensures that patients can perform natural lateral tilting movements during rehabilitation training, while the damping component provides appropriate damping for the rotation of the tilting shaft 9, limiting excessive rotation of the tilting shaft 9 and improving the stability and naturalness of the lateral tilting movement. In addition, the design of the locking component and the damping adjustment mechanism further enhances the functionality and adaptability of the entire mechanism, and can meet the use of patients at different rehabilitation stages and with different training needs.
[0053] The lumbar module of the lower limb rehabilitation training device provided by this utility model includes the aforementioned linkage structure. For the structures of other parts of this lumbar module, please refer to existing technologies; they will not be described in detail here.
[0054] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.
[0055] The foregoing has provided a detailed description of the linkage structure for the lumbar module and the lumbar module itself in a lower limb rehabilitation training device provided by this utility model. Specific examples have been used to illustrate the principles and implementation methods of this utility model. The descriptions of the embodiments above are merely for the purpose of helping to understand the method and core ideas of this utility model. It should be noted that those skilled in the art can make various improvements and modifications to this utility model without departing from its principles, and these improvements and modifications also fall within the protection scope of this utility model.
Claims
1. A linkage structure for the lumbar module in a lower limb rehabilitation training device, characterized in that, The first parallel four-bar linkage consists of a first front link (1), a second front link (2), a third front link (3) and a fourth front link (4), and the second parallel four-bar linkage consists of a first rear link (5), a second rear link (6), a third rear link (7) and a fourth rear link (8); The fourth front link (4) is rotatably provided with a roll shaft (9). The two ends of the roll shaft (9) are rotatably connected to the first rear link (5) and the fourth rear link (8) respectively. A damping assembly is provided between the fourth front link (4) and the roll shaft (9) to provide damping for the rotation of the roll shaft (9).
2. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 1, characterized in that, The two ends of the tilt shaft (9) are respectively fixedly provided with a front axle (91) and a rear axle (92). The end of the front axle (91) away from the tilt shaft (9) is rotatably connected to the first rear link (5), and the end of the rear axle (92) away from the tilt shaft (9) is rotatably connected to the fourth rear link (8).
3. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 2, characterized in that, A first T-block (10) is provided between the front axle (91) and the first rear connecting rod (5), and the first T-block (10) is rotatably connected to the front axle (91); A second T-block (11) is provided between the rear axle (92) and the fourth rear connecting rod (8), and the second T-block (11) is rotatably connected to the rear axle (92).
4. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 1, characterized in that, A locking assembly is provided between the roll shaft (9) and the fourth front link (4), the locking assembly being used to lock the roll shaft (9) so that the roll shaft (9) and the fourth front link (4) are relatively stationary.
5. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 4, characterized in that, The locking assembly includes a mounting plate (13) disposed on the upper part of the fourth front link (4), a locking screw (14) threadedly connected to the mounting plate (13), and a locking hole (15) opened on the tilt shaft (9), wherein the locking screw (14) is configured to cooperate with the locking hole (15).
6. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to any one of claims 1-5, characterized in that, The damping assembly includes a pressure plate (16) fixedly sleeved on the tilt shaft (9), and damping modules (17) are provided on both sides of the tilt shaft (9) in the fourth front link (4). Contact plates extend horizontally on both sides of the pressure plate (16) and cooperate with the damping modules (17).
7. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 6, characterized in that, The fourth front link (4) is fixedly provided with a base plate (18), and the ends of the two damping modules (17) away from the contact plate are fixedly connected to the base plate (18).
8. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 6, characterized in that, A damping adjustment mechanism is provided between any pair of adjacent links in the second parallel four-bar linkage so that the damping between the links in the second parallel four-bar linkage is adjustable.
9. The linkage structure for the lumbar module in a lower limb rehabilitation training device according to claim 8, characterized in that, The damping adjustment mechanism includes a fixed block (19) disposed on the side of one of the connecting rods and an adjustment plate (20) slidably disposed on the side of an adjacent connecting rod. A damping spring (12) is disposed between the fixed block (19) and the adjustment plate (20).
10. A waist module, the waist module comprising a linkage structure, characterized in that, The linkage structure is the linkage structure as described in any one of claims 1-9.