Crank slider mechanism and limb rehabilitation training device

Abstract

The utility model provides a kind of crank slider mechanism and limb rehabilitation training device, crank slider mechanism includes: rack;Crank or eccentric wheel, one end of crank or eccentric wheel is rotatably connected on rack by pivot, crank can do circular motion in first plane, and first plane is perpendicular to the axis of pivot;Connecting rod, the other end of crank or eccentric wheel is hinged with the one end of connecting rod;Slider or roller, slider or roller is rotatably connected in the other end of connecting rod;Guide rail, guide rail is connected on rack by connecting piece, and guide rail is provided with guide surface, and slider or roller can be driven by connecting rod along guide surface and do linear reciprocating movement;When first plane and the movement plane that slider or roller linear reciprocating moves are not parallel, connecting rod and / or connecting piece are configured to be elastically deformed under the action of force perpendicular to first plane, to make slider or roller freely along guide surface and do linear reciprocating movement, keep the smoothness of slider or wheel rolling movement.

Description

Technical Field

[0001] This utility model relates to rehabilitation medical fitness equipment, and more particularly to a crank-slider mechanism and a limb rehabilitation training device. Background Technology

[0002] Motor dysfunction of the limbs is a common sequela of neurological diseases and musculoskeletal injuries. Approximately 70%-85% of stroke patients experience lower and upper limb motor dysfunction, with 30% developing permanent disability; the rate of lower limb paralysis in spinal cord injury patients is as high as 90%. This type of dysfunction not only leads to loss of walking ability but also triggers secondary complications such as muscle atrophy, osteoporosis, and deep vein thrombosis, creating a vicious cycle of "disability-complications-further disability." Traditional rehabilitation medicine employs a therapist-led, one-on-one manual training model, which suffers from numerous limitations, including efficiency bottlenecks, lack of standardization, and a human resource crisis.

[0003] Crank-slider mechanisms, due to their kinematic characteristics similar to the flexion and extension movements of human limbs, are widely used in limb rehabilitation robots. Early research confirmed that when the crank radius and connecting rod length meet a certain ratio, hip, knee, and ankle joint movements of the lower limbs can be performed, promoting the clinical application of related rehabilitation equipment. However, traditional designs, in order to simplify the structure and control logic, usually employ rigid guiding constraints, i.e., setting high-rigidity linear guides in the slider's direction of motion, while restricting lateral degrees of freedom on the guide surface through tight tolerance fits. This design has the following drawbacks when facing crank rotation axis offset:

[0004] Slider trajectory mismatch: Because the rotary shaft deviates from its original position, the motion plane of the connecting rod and the slider will naturally deflect, which will cause the original motion trajectory that was in contact with the guide surface to change, deviate from the guide surface, or cause serious interference or jamming, resulting in severe wear and loud noise.

[0005] Slider posture mismatch: Due to the deflection of the motion plane of the connecting rod and the slider, the slider's motion direction will change when it is in contact with the guide rail, resulting in collision and friction with the guide surface.

[0006] The existing crank-slider mechanism suffers from a lack of local degrees of freedom, leading to safety hazards, noise, and reduced therapeutic effects during rehabilitation training, and urgently needs improvement. Utility Model Content

[0007] In view of the shortcomings of the prior art described above, the purpose of this utility model is to provide a crank-slider mechanism that can undergo elastic deformation when the movement plane of the crank and the guide surface are not parallel, so that the movement trajectory of the slider always follows the guide surface, and a limb rehabilitation device that includes the above-mentioned crank-slider mechanism to avoid generating impact and friction noise, thereby improving rehabilitation efficiency and experience.

[0008] To achieve the above objectives, this utility model provides a crank-slider mechanism, comprising: a frame; a crank or eccentric wheel, one end of which is rotatably connected to the frame via a rotating shaft, the crank being capable of circular motion in a first plane perpendicular to the axis of the rotating shaft; a connecting rod, the other end of which is hinged to one end of the connecting rod; a slider or roller, rotatably connected to the other end of the connecting rod; a guide rail, connected to the frame via a connecting member, the guide rail having a guide surface, the slider or roller being capable of linear reciprocating movement along the guide surface under the drive of the connecting rod; when the first plane is not parallel to the plane of motion in which the slider or roller reciprocates linearly, the connecting rod and / or the connecting member are configured to elastically deform under the action of a force perpendicular to the first plane, so that the slider or roller can freely reciprocate linearly along the guide surface.

[0009] Preferably, the connecting rod and / or the connecting member can undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane.

[0010] Preferably, the connecting rod is an elastic rod, and the section modulus of the connecting rod in the direction parallel to the first plane is greater than the section modulus of the connecting rod in the direction perpendicular to the first plane.

[0011] Preferably, the cross-section of the connecting rod in the direction perpendicular to the first plane is rectangular or circular, and the length of the connecting rod in the direction parallel to the first plane is much greater than the width of the rectangular cross-section or the diameter of the circular cross-section in the direction perpendicular to the first plane.

[0012] Preferably, the connecting rod is composed of multiple rods that are hinged together in sequence.

[0013] Preferably, the connector is an elastic element that can deform to cause the guide rail to swing and / or deflect to conform to the first plane.

[0014] Preferably, the connector is an integral piece that connects the middle part of the guide rail and the frame along the length direction of the guide rail, or at least two separate pieces that are evenly spaced and connected between the guide rail and the frame along the length direction of the guide rail.

[0015] This utility model also provides a limb rehabilitation training device that includes the crank-slider mechanism in any of the above technical solutions.

[0016] Preferably, the device further includes a foot pedal or handle, the other end of the crank or eccentric wheel away from the rotating shaft is hinged to one end of the connecting rod or the foot pedal or handle, and the other end of the connecting rod is rotatably connected to the slider or roller. When the other end of the crank or eccentric wheel is hinged to one end of the connecting rod, the foot pedal or handle is fixedly mounted on the connecting rod or the slider or roller; when the other end of the crank or eccentric wheel is hinged to the foot pedal or handle, the foot pedal or handle is fixedly mounted on the connecting rod.

[0017] Preferably, the frame is connected to two sets of crank-slider mechanisms located on both sides of the vertical symmetry plane of the frame, and the projections of the cranks or eccentric wheels of the two sets of crank-slider mechanisms on the vertical symmetry plane of the frame form a 180° angle.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects:

[0019] By configuring the connecting rod and / or connector to elastically deform under the force of a force perpendicular to the first plane in which the crank makes circular motion, the deviation caused by the non-parallelism between the first plane and the motion plane in which the slider or roller moves linearly back and forth is automatically compensated. This allows the slider or roller to move freely and smoothly along the guide surface in a linear back and forth motion while maintaining the correct posture. This avoids the collisions and friction between the slider or roller and the guide surface caused by the use of rigid components in the prior art, which leads to the slider's motion trajectory and posture deviating from the guide surface. When the mechanism is applied in a limb rehabilitation training device, it not only eliminates the sliding jamming or deviation caused in rehabilitation training, ensuring that the patient's limb movement path is closer to the physiological flexion and extension trajectory, improving the accuracy and reliability of rehabilitation training, but also effectively extends the service life of the mechanism. Attached Figure Description

[0020] Figure 1 A schematic diagram of the overall structure of a crank-slider mechanism including a slider provided for utility model in one embodiment;

[0021] Figure 2 for Figure 1 An enlarged view of Part A;

[0022] Figure 3 A schematic diagram of the overall structure of a crank-slider mechanism including rollers provided for utility model in one embodiment;

[0023] Figure 4 A schematic diagram of the frame, guide rail, and connecting parts of the crank-slider mechanism provided by this utility model in one embodiment;

[0024] Figure 5 A schematic diagram showing the unfolded parts of the guide rail, the first connecting member, and the second connecting member in one embodiment of the crank-slider mechanism provided by this utility model;

[0025] Figure 6 A schematic diagram of the overall structure of the limb rehabilitation training device provided by this utility model in one embodiment;

[0026] Figure 7 A schematic diagram of the guide groove, rollers, and mounting frame of the limb rehabilitation training device provided by this utility model in one embodiment;

[0027] Label Explanation:

[0028] 100, Frame; 200, Shaft; 300, Crank; 310, Adjustment Hole; 311, Keyway; 400, Connecting Rod; 500, Slider; 600, Guide Rail; 611, Guide Surface; 610, Guide Groove; 611, Through Hole; 620, Mounting Bracket; 621, Long Slot; 700, Connector; 710, Separate Part; 800, Foot Pedal; 900, Roller. Detailed Implementation

[0029] The following specific examples illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. This utility model can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this utility model. It should be noted that, unless otherwise specified, the following embodiments and features described therein can be combined with each other.

[0030] It should be noted that the illustrations provided in the following embodiments are only schematic representations of the basic concept of the present invention. Therefore, the illustrations only show the components related to the present invention and are not drawn according to the number, shape and size of the components in actual implementation. In actual implementation, the form, quantity and proportion of each component can be arbitrarily changed, and the layout of the components may also be more complex.

[0031] This utility model provides a crank-slider mechanism, including a frame, a crank or eccentric wheel, a connecting rod, and a slider or roller. The crank-slider mechanism is a mechanism that can convert between circular motion and linear reciprocating motion. Because its kinematic characteristics are similar to the flexion and extension movements of human limbs, it is widely used in limb rehabilitation robots. However, due to manufacturing and installation errors, the pivot position is often offset, causing the circular motion plane of the crank connected to the pivot and the linear reciprocating motion plane of the slider or roller to form a non-parallel plane. This leads to friction and collision between the slider or roller and the guide surface, affecting the experience and effectiveness of rehabilitation training. The crank-slider mechanism provided by this utility model can cause the connecting rod and / or the connecting piece between the guide rail and the frame to elastically deform under the action of a force perpendicular to the crank's motion plane, so that the slider or roller can always freely reciprocate linearly along the guide surface, thereby preventing friction and collision between the slider and the guide surface and ensuring smooth reciprocating linear movement of the slider along the guide surface. The technical solution of this utility model is described in detail below with reference to specific embodiments:

[0032] Please see Figures 1-7As shown, the crank-slider mechanism provided by this utility model includes: a frame 100, a crank 300 or an eccentric wheel, a connecting rod 400, a slider 500 or a roller 900, and a guide rail 600. One end of the crank 300 or the eccentric wheel is rotatably connected to the frame 100 via a rotating shaft 200. The crank 300 can perform circular motion in a first plane, which is perpendicular to the axis of the rotating shaft 200. In a specific embodiment, the frame 100, which provides a supporting mounting base for the mechanism, should be made of a high-rigidity and high-strength material such as stainless steel or ductile iron. Mounting holes for mounting the rotating shaft 200 are provided on the frame 100. Furthermore, to allow the rotating shaft 200 to rotate smoothly within the mounting holes, [further details are needed]. A bearing adapted to the rotating shaft 200 is installed internally. A mounting hole adapted to the rotating shaft 200 is opened at one end of the crank 300 or eccentric wheel. To ensure a reliable fixed connection between one end of the crank 300 or eccentric wheel and the rotating shaft 200, the mounting holes on the rotating shaft 200 and one end of the crank 300 or eccentric wheel should be connected by an interference fit, bolt fastening, or key connection. The other end of the crank 300 or eccentric wheel is hinged to one end of the connecting rod 400. The slider 500 or roller 900 is hinged to the other end of the connecting rod 400. In a specific embodiment, to ensure smooth rotation at the hinge, a pin and bearing connection can be used at the hinge. The guide rail 600 is connected via a connector 700. On the frame 100, a guide surface 611 is provided on the guide rail 600. The slider 500 can reciprocate linearly along the guide surface 611 under the drive of the connecting rod 400. In a specific embodiment, the guide rail 600 can be a structure with a guide groove 610, in which case the guide surface 611 is the inner wall surface on both sides of the guide groove 610. The guide rail 600 can also be a structure with an I-shaped or similar cross-section that engages with the slider 500, in which case the guide surface 611 is the web surface of the guide rail 600. In actual production and assembly, due to manufacturing errors and assembly errors, it is often impossible to guarantee that the axis of the rotating shaft 200 is perpendicular to each other. Therefore, it is impossible to guarantee that the first plane where the crank 300 performs circular motion is perpendicular to the guide surface. Surface 611 is a parallel plane. When the first plane is not parallel to the motion plane in which the slider 500 or the roller 900 reciprocates linearly, the connecting rod 400 and / or the connecting member 700 are configured to elastically deform under the action of a force perpendicular to the first plane, so that the slider 500 always moves freely in a straight line along the guide surface 611. In a specific embodiment, the connecting rod 400 and / or the connecting member 700 can be made of a custom-laid composite material of anisotropic carbon fiber, so that the connecting rod 400 and / or the connecting member 700 have high stiffness in the direction parallel to the first plane and low stiffness in the direction perpendicular to the first plane, while also having high fatigue strength.This allows the connecting rod 400 and / or the connecting member 700 to ensure the accuracy of the sliding block 500's motion trajectory while also compensating for elastic deformation when the first plane and the guide surface 611 are not parallel planes. Furthermore, due to its high fatigue strength, the connecting rod 400 and / or the connecting member 700 can have a long service life.

[0033] This invention configures the connecting rod 400 and / or the connecting piece 700 to elastically deform in a first plane perpendicular to the crank 300's circular motion. This automatically compensates for deviations caused when the first plane is not parallel to the motion plane of the slider 500 or the roller 900's linear reciprocating movement. This allows the slider 500 or the roller 900 to move freely along the guide surface 611 in a reciprocating linear motion while maintaining the correct posture. This avoids the collisions and friction between the slider 500 and the guide surface 611 caused by the use of rigid components in existing technologies. This not only effectively extends the service life of the mechanism and reduces noise, but also eliminates sliding jamming or offset during rehabilitation training when the mechanism is used in limb rehabilitation training devices. This ensures that the patient's limb movement path is closer to the physiological flexion and extension trajectory, improving the accuracy and reliability of rehabilitation training.

[0034] In an optional embodiment of the crank-slider mechanism provided by this utility model, the connecting rod 400 can be configured to undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane, or the connecting member 700 can be configured to undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane, or both can be configured to undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane. In specific applications, a suitable design structure can be selected according to actual needs. For example, when the installation position deviation of the shaft 200 is small, only the connecting rod 400 or only... The connector 700 is designed to bend and / or twist under a force perpendicular to the first plane. When the installation position deviation of the shaft 200 is large, the connecting rod 400 and the connector 700 can be designed to bend and / or twist under a force perpendicular to the first plane. This ensures that even if there is a spatial compound offset between the shaft 200 and the guide surface 611, the connecting rod 400 and / or the connector 700 can undergo compensating deformation, thereby ensuring that the slider 500 or the roller 900 can move freely in a straight line along the guide surface 611.

[0035] In an optional embodiment of the crank-slider mechanism provided by this utility model, the connecting rod 400 is an elastic rod. The bending section modulus of the connecting rod 400 in the direction parallel to the first plane is greater than that in the direction perpendicular to the first plane. This allows the connecting rod 400 to withstand a larger bending moment in the direction parallel to the first plane and prevents bending deformation. This ensures that the connecting rod 400 has sufficient rigidity to drive the slider 500 or roller 900 to move linearly back and forth along the guide surface 611 within the guide rail 600, and also to maintain contact with the slider 500 or roller 900 in the first plane. When the plane of motion of block 500 or roller 900 in linear reciprocating movement is not parallel, adaptive bending deformation is more likely to occur. In specific embodiments, the elastic rod can be made of rubber material or metal with a high elastic modulus. The cross-section of the elastic rod can be an ellipse or an I-shape that meets the above-mentioned bending section modulus requirements, or a simple rectangle can be used. Taking a rectangle as an example, since the bending section modulus of a rectangular cross-section is one-sixth of the product of the square of the height parallel to the direction of the external force and the width perpendicular to the direction of the external force, the connecting rod... The ratio of the bending section modulus of link 400 in the direction parallel to the first plane to the bending section modulus of link 400 in the direction perpendicular to the first plane is the ratio of the projected length of link 400 in the direction parallel to the first plane to the projected length of link 400 in the direction perpendicular to the first plane. Therefore, by designing a suitable aspect ratio, the bending section modulus ratio of link 400 in the direction parallel to the first plane and the direction perpendicular to the first plane can be appropriately proportioned. For example, the rectangular section can be designed with a width of 3mm in the direction perpendicular to the first plane and a height of 30mm in the direction parallel to the first plane. In this dimensional structure, the section modulus of the connecting rod 400 in the direction parallel to the first plane is 10 times that in the direction perpendicular to the first plane. That is, the ratio of height to width is the ratio of the section modulus of the connecting rod 400 in the direction parallel to the first plane to the section modulus of the connecting rod 400 in the direction perpendicular to the first plane. The above is just an example. In specific applications, other rectangular sections with suitable aspect ratios can be selected according to the usage requirements. In practical applications, attention should be paid to the installation and processing position of the connecting rod 400 to avoid reversing the height and width directions.

[0036] In an optional embodiment of the crank-slider mechanism provided by this utility model, the cross-section of the connecting rod 400 in the direction perpendicular to the first plane is rectangular or circular, and the length of the connecting rod 400 in the direction parallel to the first plane is much greater than the width of the rectangular cross-section or the diameter of the circular cross-section of the connecting rod 400 in the direction perpendicular to the first plane. That is, the connecting rod 400 adopts the following... Figure 1 , Figure 3 , Figure 6The elongated, thin-walled structure shown allows the connecting rod 400 to have sufficient deflection to undergo elastic deformation perpendicular to the first plane.

[0037] In an optional embodiment of the crank-slider mechanism provided by this utility model, the connecting rod 400 is composed of multiple segments of rods that are hinged sequentially. Compared with the connecting rod 400 with an integral structure, the connecting rod 400 composed of multiple segments of rods has higher flexibility similar to a joint structure, thus making it easier to undergo adaptive torsional deformation locally and having a shorter deformation response time, as shown in the specific embodiment.

[0038] In an optional embodiment of this utility model, the connector 700 is an elastic element that can deform to allow the guide rail 600 to swing and / or deflect to conform to the first plane. In a specific embodiment, the connector 700 can be designed to allow the guide rail 600 to undergo a certain displacement and deflection in the lateral direction perpendicular to the first plane, taking into account the force range when the limb flexes.

[0039] In an optional embodiment of this utility model, please refer to Figure 3 , Figure 4 , Figure 5 The connector 700 is an integral piece connecting the middle of the guide rail 600 and the frame 100 along the length direction of the guide rail 600, or at least two separate pieces 710 evenly spaced and connected between the guide rail 600 and the frame 100 along the length direction of the guide rail 600. This allows the connector 700 to not only securely connect the guide rail 600 to the guide rail 600, but also to allow the guide rail 600 to easily move and / or deflect in a direction perpendicular to the first plane, conforming to the first plane. In specific applications, the connector 700 can be an I-beam with appropriate dimensions and proportions in terms of total height, flange width, flange thickness, web height, and web width.

[0040] In an optional embodiment of the limb rehabilitation training device provided by this utility model, please refer to... Figure 1 , Figure 6As shown, the device also includes a foot pedal 800 or a handle. The other end of the crank 300 or eccentric wheel away from the rotating shaft 200 is hinged to one end of the connecting rod 400 or the foot pedal 800 or the handle. The other end of the connecting rod 400 is rotatably connected to the slider 500 or the roller 900. When the other end of the crank 300 or eccentric wheel is hinged to one end of the connecting rod 400, the foot pedal 800 or the handle is fixedly installed on the connecting rod 400 or the slider 500 or the roller 900. When the other end of the crank 300 or eccentric wheel is hinged to the foot pedal 800 or the handle, the foot pedal 800 or the handle is fixedly installed on the connecting rod 400, so that rehabilitation personnel can perform upper limb training through the handle or lower limb training through the foot pedal 800.

[0041] This utility model also provides a limb rehabilitation training device that includes the crank-slider mechanism in any of the above-mentioned technical solutions. For compatibility with the human hands or feet, please refer to [link / reference needed]. Figure 6 As shown, two sets of crank-slider mechanisms located on both sides of the vertical symmetry plane of the frame 100 are connected to the frame 100. The projections of the cranks 300 or eccentric wheels of the two sets of crank-slider mechanisms onto the vertical symmetry plane of the frame 100 form a 180° angle, in order to better simulate the movement trajectory of the upper or lower limbs during alternating flexion and extension movements. In addition, to accommodate rehabilitation training patients with different limb lengths, the cranks 300 can be made into an adjustable length structure. For a specific embodiment, please refer to [link to specific embodiments]. Figure 2 Multiple mounting and adjusting holes 310 for rotating shafts 200 can be opened along the length direction of crank 300, and keyways 311 adapted to the keys on rotating shafts 200 can be opened on adjusting holes 310. The length of crank 300 can be adjusted by installing rotating shafts 200 in adjusting holes 310 at different lengths.

[0042] In an optional embodiment of the limb rehabilitation training device provided by this utility model, in order to make the movement of the roller 900 smoother, please refer to... Figure 7 As shown, arc-shaped guide grooves 610 adapted to the contour of the roller can be provided at both the upper and lower ends of the roller 900. Mounting brackets 620 connected to the elastic connector 700 are provided on both sides of the guide groove 610 along its length. Adjustment mechanisms are provided on the mounting brackets 620 and the guide grooves 610 to adjust the distance between the upper and lower guide grooves 610, thereby accommodating rollers of different diameters or fine-tuning the upper and lower gaps of the guide grooves 610 to prevent the roller from jamming or sticking due to insufficient vertical space. The adjustment structure can be a long groove 621 opened on the mounting bracket 620 and through holes 611 starting at both ends of the guide groove 610. Fastening bolts pass through the through holes 611 and the long groove 621, and nuts are used to fix the guide groove 610 at different height positions on the mounting bracket 620.

[0043] In a specific embodiment of this utility model, in order to minimize the frictional force of the connecting rod 400 when it undergoes bending and / or torsional deformation, bearings can be used at the hinge joint between the connecting rod 400 and the crank 300 or one end of the eccentric wheel, and at the hinge joint between the connecting rod 400 and the slider 500 or the roller 900.

[0044] In specific embodiments of this utility model, when the offset of the rotating shaft 200 is small, or the installation space of the device is limited, a structural design in which only the connecting rod 400 is an elastic element can be adopted; when the connecting rod 400 needs to maintain high stiffness to withstand large tensile and compressive loads for patients with large body weight or rehabilitation devices that require high-intensity resistance, a structural design in which only the guide rail connector 700 is an elastic element can be adopted; when the offset of the rotating shaft 200 is large, or in order to minimize the resistance felt by the patient during rehabilitation training and improve the patient's comfort, a structural design in which both are elastic elements can be adopted.

[0045] In summary, this utility model, by configuring the connecting rod 400 and / or the connecting member 700 to elastically deform in the first plane perpendicular to the crank 300's circular motion, automatically compensates for deviations caused when the first plane is not parallel to the motion plane where the slider 500 or the roller 900 makes linear reciprocating movements. This allows the slider 500 or the roller 900 to move freely along the guide surface and maintain the correct posture, avoiding collisions and friction between the slider 500 or the roller 900 and the guide surface 611 caused by the use of rigid components, which results in the guide surface 611 not being parallel to the first plane. When the mechanism is applied in a limb rehabilitation training device, it not only eliminates sliding jamming or offset during rehabilitation training, ensuring that the patient's limb movement path is closer to the physiological flexion and extension trajectory, improving the accuracy and reliability of rehabilitation training, but also effectively extends the service life of the mechanism and reduces noise; the connecting rod 400... The connecting rod 400 and / or the connecting member 700 can undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane, so as to ensure that even when there is a spatial compound offset between the rotating shaft 200 and the guide surface 611, the connecting rod 400 and / or the connecting member 700 can undergo compensating deformation, thereby ensuring that the slider 500 can move linearly back and forth along the guide surface 611; by designing the connecting rod 400 such that the bending section modulus in the direction parallel to the first plane is greater than the bending section modulus in the direction perpendicular to the first plane, the connecting rod 400 can withstand a larger bending moment in the direction parallel to the first plane and is not prone to bending deformation, thereby ensuring that the connecting rod 400 has sufficient rigidity to drive the slider 500 to move linearly back and forth along the guide surface 611 within the guide rail 600, and can more easily undergo adaptive bending deformation when the first plane and the guide surface 611 are not parallel planes.

[0046] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

[0047] Throughout this description, numerous specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of these specific details or by other devices, systems, components, methods, parts, materials, components, etc. In other instances, well-known structures, materials, or operations have not been specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

Claims

1. A crank-slider mechanism, characterized in that, include: frame; A crank or eccentric wheel, one end of which is rotatably connected to the frame via a rotating shaft, the crank or eccentric wheel being able to perform circular motion in a first plane, the first plane being perpendicular to the axis of the rotating shaft; The connecting rod, wherein the other end of the crank or the eccentric wheel is hinged to one end of the connecting rod; A slider or roller, which is rotatably connected to the other end of the connecting rod; The guide rail is connected to the frame via a connector. The guide rail has a guide surface, and the slider or roller can reciprocate linearly along the guide surface under the drive of the connecting rod. When the first plane is not parallel to the motion plane in which the slider or the roller moves linearly back and forth, the connecting rod and / or the connecting member is configured to elastically deform under the action of a force perpendicular to the first plane, so that the slider or the roller can freely move linearly back and forth along the guide surface.

2. The crank-slider mechanism according to claim 1, characterized in that, The connecting rod and / or the connecting member can undergo bending and / or torsional deformation under the action of a force perpendicular to the first plane.

3. The crank-slider mechanism according to claim 1, characterized in that, The connecting rod is an elastic rod, and the section modulus of the connecting rod in the direction parallel to the first plane is greater than the section modulus of the connecting rod in the direction perpendicular to the first plane.

4. The crank-slider mechanism according to claim 1, characterized in that, The cross-section of the connecting rod in the direction perpendicular to the first plane is rectangular or circular, and the length of the connecting rod in the direction parallel to the first plane is much greater than the width of the rectangular cross-section or the diameter of the circular cross-section of the connecting rod in the direction perpendicular to the first plane.

5. The crank-slider mechanism according to claim 1, characterized in that, The connecting rod consists of multiple rods that are hinged together in sequence.

6. The crank-slider mechanism according to claim 1, characterized in that, The connector is an elastic element that can deform, causing the guide rail to swing and / or deflect to conform to the first plane.

7. The crank-slider mechanism according to claim 6, characterized in that, The connector is either an integral piece that connects the middle of the guide rail and the frame along the length of the guide rail, or at least two separate pieces that are evenly spaced and connected between the guide rail and the frame along the length of the guide rail.

8. A limb rehabilitation training device, characterized in that, The crank-slider mechanism includes any one of claims 1-7.

9. The limb rehabilitation training device according to claim 8, characterized in that, It also includes a foot pedal or handle, wherein the other end of the crank or eccentric wheel away from the pivot is hinged to one end of the connecting rod or the foot pedal or handle, and the other end of the connecting rod is rotatably connected to the slider or roller. When the other end of the crank or eccentric wheel is hinged to one end of the connecting rod, the foot pedal or handle is fixedly mounted on the connecting rod or the slider or roller; when the other end of the crank or eccentric wheel is hinged to the foot pedal or handle, the foot pedal or handle is fixedly mounted on the connecting rod.

10. The limb rehabilitation training device according to claim 8, characterized in that, The frame is connected to two sets of crank-slider mechanisms located on both sides of the vertical symmetry plane of the frame. The projections of the cranks or eccentric wheels of the two sets of crank-slider mechanisms on the vertical symmetry plane of the frame form a 180° angle.

Images