Walking and balance rehabilitation device based on a six degrees of freedom platform

Abstract

The utility model relates to walking and balance rehabilitation equipment based on six degrees of freedom platform, including six degrees of freedom platform and treadmill, six degrees of freedom platform is push rod type six degrees of freedom platform, six degrees of freedom platform is in low prone structure, and the inside forms the cavity, be equipped with the installation platform on six degrees of freedom platform, and the installation platform is equipped with sunken type mounting base, and sunken type mounting base is in the cavity of six degrees of freedom platform, and the treadmill is installed on sunken type mounting base, and the top of treadmill is flush with the installation platform, the utility model discloses embedding the treadmill on the six degrees of freedom platform of extremely low, has realized the lower initial height than traditional system, the utility model discloses more advanced, more effective, more comfortable rehabilitation experience is provided for the patient of walking disorder and balance disorder, through the key aspects of traditional rehabilitation equipment improvement, such as initial height, increase force sensor, handrail height and spacing adjustable, can significantly improve the limiting condition of rehabilitation equipment, thereby being more widely adopted by the mechanism.

Description

Technical Field

[0001] This utility model belongs to the field of rehabilitation equipment, specifically relating to a walking and balance rehabilitation device based on a six-degree-of-freedom platform. Background Technology

[0002] In the past, patient rehabilitation primarily relied on traditional physical therapy methods, such as manual massage and simple exercise. However, with technological advancements, rehabilitation methods using assistive mechanical structures have gradually become mainstream, and six-degrees-of-freedom (6DOF) platforms are widely used in rehabilitation equipment. Six degrees of freedom (6DOF) describes an object's ability to move in three-dimensional space. Specifically, six degrees of freedom include the object's movement (forward, backward, left, right, up, down) along three perpendicular axes (typically the x, y, and z axes) and its rotation (pitch, yaw, roll) around these axes. In rehabilitation equipment, six degrees of freedom allows the device to simulate more complex and diverse human movements, thus providing patients with more comprehensive rehabilitation training. Combining a treadmill with a six-DOF platform in rehabilitation equipment typically refers to a mechanical design capable of providing complex and varied motion paths and patterns. This design not only simulates basic reciprocating motion but also precisely controls the device's position and orientation in three-dimensional Cartesian space, thereby better adapting to and supporting the specific rehabilitation needs of patients.

[0003] Currently, rehabilitation equipment for patients with walking and balance disorders mainly relies on traditional crank systems or electric push rod mechanisms. While these systems perform well in some aspects, they have significant limitations in terms of height. For example, traditional six-degree-of-freedom platform plus treadmill systems typically have a relatively high initial height. Combined with the height of the treadmill, this makes the overall height of the six-degree-of-freedom platform treadmill very high, limiting its application scenarios. For instance, it cannot be used on floors with a ceiling height of less than 3 meters. Training equipment with excessive ground clearance gives patients a sense of danger during training, resulting in a poor training experience. This means they cannot provide sufficient assistance to patients who require greater support. Finally, the inadequacy of traditional systems in measuring ground reaction forces may lead to insufficient assessment, poor treatment outcomes, and hinder the patient's rehabilitation process. Utility Model Content

[0004] To address the aforementioned problems in the existing technology, this utility model provides a walking and balance rehabilitation device based on a six-degree-of-freedom platform. The design aims to reduce the height of the device and increase the overall structural rigidity through advanced structural design. Furthermore, by adding force sensors, it enables accurate measurement of ground reaction forces, providing reliable data for rehabilitation assessment.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A walking and balance rehabilitation device based on a six-degree-of-freedom platform, comprising a six-degree-of-freedom platform and a treadmill, wherein the six-degree-of-freedom platform is a push-rod type six-degree-of-freedom platform, the six-degree-of-freedom platform has a low-profile structure and forms an internal cavity; the six-degree-of-freedom platform is provided with an installation platform, the installation platform is provided with a sunken installation base, the sunken installation base is located in the cavity of the six-degree-of-freedom platform, the treadmill is installed on the sunken installation base, and the top of the treadmill is flush with the installation platform.

[0006] Furthermore, the treadmill head is designed to fold downwards, the length of the recessed mounting base is less than the opening of the mounting platform, and the treadmill head is positioned downwards into the cavity of the six-degree-of-freedom platform from the gap between the recessed mounting base and the opening of the mounting platform.

[0007] Furthermore, force sensors are installed at both the front and rear ends of the bottom of the treadmill.

[0008] Furthermore, the treadmill is a single-track treadmill or a double-track treadmill.

[0009] Furthermore, the treadmill is equipped with handrails on both sides, which are mounted on the mounting platform via uprights.

[0010] Furthermore, the column is a liftable structure, including a telescopic rod that moves up and down along the column.

[0011] Furthermore, it also includes an adjusting rod, one end of which is rotatably connected to the top of the telescopic rod, and the other end is connected to the handrail.

[0012] Furthermore, the drive unit of the six-degree-of-freedom platform includes a lead screw and a single-stage reduction mechanism.

[0013] Compared with the prior art, the beneficial effects of this utility model are: The main innovation of this invention in the field of rehabilitation equipment lies in its extremely low six-degree-of-freedom platform incorporating a treadmill, a mechanism that is significantly superior to traditional electric push rod or crank systems in several aspects. This invention achieves a lower initial height than conventional systems. This improvement makes the equipment more readily accepted by the market, especially for rehabilitation facilities where ceiling height is insufficient. Furthermore, the handrails feature height and spacing adjustment mechanisms, allowing for adjustment not only of the handrail height but also the spacing between the left and right handrails, catering to different patients. Simultaneously, force sensors are added beneath the treadmill, enabling precise measurement of the ground reaction force on the feet, thus providing reliable data support for rehabilitation assessments. Attached Figure Description

[0014] The specific embodiments of this utility model will be further explained below with reference to the accompanying drawings.

[0015] Figure 1 This is a schematic diagram of the walking and balance rehabilitation device based on a six-degree-of-freedom platform according to this utility model.

[0016] Figure 2 This is a front view of the walking and balance rehabilitation device based on a six-degree-of-freedom platform according to this utility model.

[0017] Figure 3 for Figure 2 A cross-sectional view along the AA direction.

[0018] Figure 4 This is a schematic diagram of the six-degree-of-freedom platform in this utility model.

[0019] Figure 5 This is a schematic diagram of the installation structure of the six-degree-of-freedom platform and the installation platform in this utility model.

[0020] Figure 6 This is a schematic diagram of the treadmill in this utility model.

[0021] Figure 7 This is a structural schematic diagram of the treadmill from another perspective in this utility model.

[0022] Figure 8 This is a schematic diagram of the installation structure of the handrail in this utility model.

[0023] Figure 9 This is a schematic diagram showing the minimum distance between the handrails on both sides in this utility model.

[0024] Figure 10 This is a schematic diagram of the handrails on both sides of the present invention when the distance between them is adjusted to the maximum.

[0025] In the diagram: 10—Six-DOF platform; 101—Support base; 20—Treadmill; 201—Head unit; 202—Force sensor; 203—Handrail; 204—Telescopic rod; 205—Adjusting linkage; 206—Connecting base; 30—Mounting platform; 301—Recessed mounting base. Detailed Implementation

[0026] Combination Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the walking and balance rehabilitation device based on a six-degree-of-freedom platform in this embodiment includes a six-degree-of-freedom platform 10 and a treadmill 20. The six-degree-of-freedom platform 10 is a push-rod type six-degree-of-freedom platform with a low-profile structure and an internal cavity. A mounting platform 30 is provided on the six-degree-of-freedom platform 10, and multiple support bases 101 are provided on the six-degree-of-freedom platform 10. The mounting platform 30 is fixedly connected to the six-degree-of-freedom platform 10 via the support bases 101. The mounting platform 30 has a recessed mounting base 301 with an opening. The recessed mounting base 301 is located below the opening and is fixedly connected to the mounting platform 30 via a reinforcing structure. The recessed mounting base 301 is located within the cavity of the six-degree-of-freedom platform 10, and the treadmill 20 is mounted on the recessed mounting base 301, with the top of the treadmill 20 flush with the mounting platform 30.

[0027] In this preferred embodiment, the treadmill head 201 of the treadmill 20 is designed to fold downwards, and the length of the recessed mounting base 301 (in the direction of the treadmill belt travel) is less than the opening of the mounting platform 30. The treadmill head 201 is set downwards into the cavity of the six-degree-of-freedom platform 10 from the gap between the recessed mounting base 301 and the opening of the mounting platform 30. Designing the treadmill head 201 of the treadmill 20 to be folded down can shorten the size of the treadmill. In this embodiment, the head 201 is the drive mechanism of the treadmill. The drive unit of the head 201 is located below the drive mechanism of the treadmill. The drive unit of the head 201 drives the drive mechanism of the treadmill, thereby realizing the movement of the treadmill belt. The head 201 being located below (i.e. folded down) can save the size along the length of the treadmill. At the same time, it makes full use of the cavity formed inside the six-degree-of-freedom platform 10, and the treadmill 20 is "completely embedded" in the six-degree-of-freedom platform 10, which can save the space occupied by the equipment and further reduce the floor height requirements of the hospital rehabilitation center, which can meet the minimum floor height requirements of most rehabilitation clinics.

[0028] In this preferred embodiment, force sensors 202 are provided at both the front and rear ends of the bottom of the treadmill 20.

[0029] In this preferred embodiment, the treadmill 20 is either a single-track treadmill or a dual-track treadmill. Compared to a single-track treadmill, a dual-track treadmill can differentiate the ground reaction force of the left and right feet, resulting in a better rehabilitation effect.

[0030] Specifically, in this embodiment, such as Figure 6 and Figure 7As shown, the treadmill 20 is a dual-belt treadmill, with independently driven belts on both sides. Two force sensors 202 are located at the front and rear ends of each side of the bottom of the treadmill 20, with the two force sensors 202 on the same side and end placed side-by-side. The force sensors 202 can accurately measure the ground reaction force on the left and right feet of the patient during walking, providing reliable data support for rehabilitation assessment.

[0031] In this preferred embodiment, combined with Figure 8 As shown, the treadmill 20 has handrails 203 on both sides, and the handrails 203 are mounted on the mounting platform 30 via uprights. Both ends of the handrails 203 are fixedly mounted on the mounting platform 30 via uprights.

[0032] In this preferred embodiment, the column is a height-adjustable structure, including a telescopic rod 204. The telescopic rod 204 moves up and down along the column, and the height of the handrails 203 on both sides can be adjusted by raising and lowering the telescopic rod 204, thereby adapting to the height of different users.

[0033] In a preferred embodiment, the system further includes an adjusting rod 205, one end of which is rotatably connected to the top of the telescopic rod 204, and the other end is connected to the handrail 203. Specifically, a connecting base 206 is provided on the side of the adjusting rod 205 connected to the handrail 203. The handrail 203 is fixedly connected to the adjusting rod 205 via the connecting base 206, and the connection is detachable for easy maintenance and replacement. When it is necessary to adjust the distance between the two handrails 203, this is achieved by rotating the adjusting rod 205. During the rotation of the adjusting rod 205 around the telescopic rod 204, the handrail 203 moves closer to or further away from the opposite handrail 203. After adjusting the distance between the two handrails 203, a locking mechanism can be provided to ensure the handrails 203 remain stable and do not rotate further. The locking mechanism is released when the distance between the two handrails 203 needs further adjustment and locked again after adjustment.

[0034] In this embodiment, specifically, the distance between the two columns is set as follows: The effective adjustment width of the adjusting linkage 205 is When the adjusting rod 205 is perpendicular to the line connecting the two ends of the uprights on that side, the maximum or minimum value of the spacing adjustment is obtained; when the adjusting rod 205 moves closer to the other handrail 203, the minimum value is obtained. like Figure 9 As shown, the maximum value is achieved when the adjusting linkage 205 moves away from the armrest 203 on that side. like Figure 10 As shown. Specifically, in this embodiment, the distance between the two handrails 203 can be adjusted from 60 cm to 140 cm.

[0035] In this preferred embodiment, the drive unit of the six-degree-of-freedom platform 10 includes a lead screw and a single-stage reduction mechanism, which can greatly reduce the requirements for the six-degree-of-freedom platform motor and reducer.

[0036] This invention achieves a lower initial height than traditional systems by embedding a treadmill into an extremely low six-degree-of-freedom platform. This improvement makes the device more accessible and usable, especially for patients with mobility impairments or special physical conditions. This means the device can adapt not only to the rehabilitation needs of different patients but also to different treatment stages and goals. This invention provides a more advanced, effective, and comfortable rehabilitation experience for patients with walking and balance disorders. By improving key aspects of traditional rehabilitation equipment, such as initial height, adding force sensors, and adjustable handrail height and spacing, the limitations of rehabilitation equipment can be significantly reduced, thus enabling wider adoption by institutions.

[0037] Many specific details have been set forth in the above description to provide a full understanding of this utility model. However, the above description is only a preferred embodiment of this utility model, and this utility model can be implemented in many other ways different from those described herein. Therefore, this utility model is not limited to the specific embodiments disclosed above. Furthermore, any person skilled in the art can make many possible variations and modifications to the technical solution of this utility model using the methods and techniques disclosed above, or modify it into equivalent embodiments with equivalent changes, without departing from the scope of the technical solution of this utility model. Any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model, without departing from the content of the technical solution of this utility model, shall still fall within the protection scope of the technical solution of this utility model.

Claims

1. A walking and balance rehabilitation device based on a six-degree-of-freedom platform, comprising a six-degree-of-freedom platform (10) and a treadmill (20), characterized in that: The six-degree-of-freedom platform (10) is a push rod type six-degree-of-freedom platform. The six-degree-of-freedom platform (10) has a low-profile structure and forms a cavity inside. The six-degree-of-freedom platform (10) is provided with an installation platform (30). The installation platform (30) is provided with a sunken installation base (301). The sunken installation base (301) is located in the cavity of the six-degree-of-freedom platform (10). The treadmill (20) is installed on the sunken installation base (301). The top of the treadmill (20) is flush with the installation platform (30).

2. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 1, characterized in that: The treadmill (20) has a folded-down head (201) and the length of the recessed mounting base (301) is less than the opening of the mounting platform (30). The head (201) is positioned downwards into the cavity of the six-degree-of-freedom platform (10) through the gap between the recessed mounting base (301) and the opening of the mounting platform (30).

3. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 1, characterized in that: Force sensors (202) are installed at both the front and rear ends of the bottom of the treadmill (20).

4. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 1, characterized in that: The treadmill (20) is a single-track treadmill or a double-track treadmill.

5. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 1, characterized in that: The treadmill (20) is equipped with handrails (203) on both sides, and the handrails (203) are installed on the mounting platform (30) by columns.

6. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 5, characterized in that: The column is a liftable structure, including a telescopic rod (204), which moves up and down along the column.

7. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 6, characterized in that: It also includes an adjusting link (205), one end of which is rotatably connected to the top of the telescopic rod (204), and the other end is connected to the handrail (203).

8. The walking and balance rehabilitation device based on a six-degree-of-freedom platform according to claim 1, characterized in that: The drive unit of the six-degree-of-freedom platform (10) includes a lead screw and a single-stage reduction mechanism.

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