CN111658439A

CN111658439A - Lower limb auxiliary walking rehabilitation device

Info

Publication number: CN111658439A
Application number: CN202010634954.3A
Authority: CN
Inventors: 焦磊
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-07-03
Filing date: 2020-07-03
Publication date: 2020-09-15
Anticipated expiration: 2040-07-03
Also published as: CN111658439B

Abstract

The invention relates to a lower limb auxiliary walking rehabilitation device which comprises a walking table, wherein walking areas which are symmetrically distributed along the width direction of the walking table are arranged in the middle of the walking table, liftable unpowered running equipment is uniformly distributed below the walking areas, walking devices capable of driving sick legs to perform bionic motion are uniformly distributed above the walking areas, opening and closing mechanisms for opening and closing the walking areas are arranged in the walking areas, and a suspension device for preventing a patient from accidentally falling is further mounted on the walking table. The invention can satisfy patients with different diseases and different illness periods, has simple structure and rapid lifting, does not need to adjust the speed of the treadmill, and is completely controlled by the patients; the first hydraulic cylinder and the sealing plate are matched with an open-close walking area, so that the patient without walking ability is prevented from falling down and rising the unpowered treadmill under the condition of not being stabilized, and the patient is prevented from falling down; the height of the pedal plate is adjusted by matching the push rod, the positioning plate and the limiting plate, so that the movement interference is prevented in the sliding process of the mobile platform.

Description

Lower limb auxiliary walking rehabilitation device

Technical Field

The invention relates to the field of medical rehabilitation instruments, in particular to a lower limb auxiliary walking rehabilitation device.

Background

With the improvement of living standard of people, sports entertainment industry is rapidly developed, competitive sports is rapidly developed, the intensity is continuously increased, frequently, the injury accidents of athletes in competition and training seriously affect the career of the athletes, the muscles of the athletes after the injury operation are atrophied, the muscles are gradually restored to the state before injury by rehabilitation therapy, the traditional rehabilitation training is that a rehabilitation teacher guides the athletes to train, but most athletes are too big in body shape and inconvenient to move, and need a plurality of rehabilitation teachers to cooperate, so that the working intensity of the rehabilitation teachers is greatly increased, a large amount of resources are occupied, meanwhile, a large number of medical care personnel are required to be involved in the recovery of a large number of fracture patients in a hospital, so that a large number of medical resources are seriously occupied, and the recovery effect is poor, therefore, a lower limb auxiliary walking rehabilitation device is needed to replace a large amount of artificial auxiliary training, enhance the rehabilitation effect and reasonably utilize rehabilitation resources.

Disclosure of Invention

In order to solve the technical problem, the invention provides a lower limb auxiliary walking rehabilitation device. The technical problem to be solved by the invention is realized by adopting the following technical scheme:

the utility model provides a recovered device of walking is assisted to low limbs, includes the walking platform, walking platform middle part is equipped with the walking region along walking platform width direction symmetric distribution, the regional below of walking all distributes and has the unpowered running gear of liftable, the regional top of walking all distributes and has the running gear that can drive sick leg and carry out bionic motion, all be equipped with the mechanism that opens and shuts that walks regional in the walking region, still install the suspension device who prevents that the patient accident from falling down on the walking platform.

The unpowered running device comprises a mounting seat, the unpowered running machine is mounted on the mounting seat, and a lifting mechanism for driving the mounting seat to lift is connected to the lower portion of the mounting seat.

The walking device comprises lower limb exoskeleton mechanisms which are distributed above corresponding walking areas and can drive sick legs to perform bionic motion, the lower limb exoskeleton mechanisms are all connected with adjusting mechanisms capable of adjusting the height of the lower limb exoskeleton mechanisms, and the walking device further comprises a power mechanism capable of driving the lower limb exoskeleton mechanisms to slide along the width direction of the walking table.

The opening and closing mechanism comprises sealing plates which are distributed in corresponding walking areas and symmetrically distributed along the length direction of the walking table, and the sealing plates are connected with hydraulic cylinders which can drive the sealing plates to slide to open and close and are installed on the walking table.

The hanging device comprises a fixing frame arranged on the walking table, weight reducing hanging strips are hung on the fixing frame and connected with rolling wheels arranged on the fixing frame, the rolling wheels are connected with motors, and the hanging device further comprises handrails which are arranged on the walking table to assist a patient to stabilize the body and are symmetrically distributed along the width direction of the walking table.

Elevating system installs on the mount pad and along mount pad width direction symmetric distribution's pendulum rod including articulated, still articulated install on the mount pad along mount pad length direction parallel distribution's two sets of pendulum rods No. two, the one end that the mount pad was kept away from to pendulum rod and No. two pendulum rods is all articulated to link to each other has No. three pendulum rods, all install the spliced pole between pendulum rod and No. two pendulum rods, it has the lead screw to distribute between the spliced pole, lead screw connection has No. two motors.

The lower limb exoskeleton mechanism comprises pedals distributed above corresponding walking areas, the pedals are all hinged to be connected with knee foot connecting rods, one ends, far away from the pedals, of the knee foot connecting rods are all hinged to be connected with hip knee connecting rods, the hip knee connecting rods are all hinged to be connected with a connecting plate matched with an adjusting mechanism, two hydraulic cylinders connected with the hip knee connecting rods to drive hip joint movement are installed on the connecting plate in a hinged mode, three hydraulic cylinders connected with the pedals to drive ankle joint movement are installed on the knee foot connecting rods in a hinged mode, and four motors driving knee joint movement are arranged between the knee foot connecting rods and the hip knee connecting rods.

The adjusting mechanism comprises a second connecting plate arranged on the power mechanism, a limiting plate matched with the lower limb exoskeleton mechanism is arranged in the second connecting plate in a sliding mode, the limiting plate is connected with a push rod arranged in the second connecting plate in a sliding mode, and a positioning plate for preventing the limiting plate from falling off is sleeved on the push rod.

The power mechanism comprises a moving platform which is slidably installed on the walking platform and connected with the adjusting mechanism, three motors are installed on the moving platform, the three motors are connected with gears, and the gears are matched with racks installed on the walking platform.

Fixing belts are arranged on the hip and knee connecting rod, the knee and foot connecting rod and the pedal.

The invention has the beneficial effects that: the invention can satisfy patients with different diseases and different illness periods, the unpowered treadmill can be lifted and descended by matching the lead screw with the first swing rod, the second swing rod and the third swing rod, the structure is simple, the lifting is rapid, the speed of the treadmill does not need to be adjusted, and the treadmill is completely controlled by the patients; the first hydraulic cylinder is matched with the sealing plate to open and close the walking area, so that the patient without walking ability is prevented from falling down and rising the unpowered treadmill to fall down under the condition of no stability; the hip knee connecting rod, the knee foot connecting rod and the pedal are driven to perform bionic motion through the second hydraulic cylinder, the fourth motor and the third hydraulic cylinder, so that rehabilitation training is performed on the sick leg of the patient; the gear and the rack are matched to drive the mobile station to slide, so that the lower limb exoskeleton mechanism is suitable for patients with only one injured leg; the height of the pedal plate is adjusted by matching the push rod, the positioning plate and the limiting plate, so that the movement interference is prevented in the sliding process of the mobile platform.

Drawings

The invention is further illustrated with reference to the following figures and examples.

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a partial cross-sectional view A-A of FIG. 1 in accordance with the present invention;

FIG. 3 is a top view of the present invention;

FIG. 4 is an enlarged view of I of FIG. 1 in accordance with the present invention;

FIG. 5 is an enlarged view of II of FIG. 1 in accordance with the present invention;

FIG. 6 is an enlarged view of III of FIG. 1 in accordance with the present invention;

FIG. 7 is an enlarged view of IV of FIG. 1 in accordance with the present invention;

fig. 8 is a partial cross-sectional view B-B of fig. 3 in accordance with the present invention.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the present invention will be described more clearly and more completely with reference to the drawings in the following embodiments, and it is understood that the described embodiments are only a part of the present invention, rather than all of the present invention, and based on the embodiments, other embodiments obtained by those skilled in the art without inventive exercise are within the protection scope of the present invention.

As shown in fig. 1 to 8, a lower limb auxiliary walking rehabilitation device comprises a walking table 1, wherein walking areas 1a which are symmetrically distributed along the width direction of the walking table 1 are arranged in the middle of the walking table 1, liftable unpowered running equipment 2 is uniformly distributed below the walking areas 1a, walking devices 3 capable of driving sick legs to perform bionic motion are uniformly distributed above the walking areas 1a, opening and closing mechanisms 6 for opening and closing the walking areas 1a are arranged in the walking areas 1a, a suspension device 5 for preventing a patient from accidentally falling down is further mounted on the walking table 1, a bottom plate 7 is distributed below the walking table 1, a plurality of support legs 8 connected with the bottom plate 7 are mounted on the walking table 1, and the starting end of the walking table 1 is a slope so that a wheelchair can conveniently enter the walking areas 1 a.

The unpowered running device 2 comprises a mounting seat 21, a unpowered running machine 22 is mounted on the mounting seat 21, and a lifting mechanism 23 for driving the mounting seat 21 to lift is connected below the mounting seat 21.

The walking device 3 comprises lower limb exoskeleton mechanisms 31 which are distributed above the corresponding walking areas 1a and can drive the sick legs to perform bionic motion, the lower limb exoskeleton mechanisms 31 are all connected with adjusting mechanisms 32 capable of adjusting the height of the lower limb exoskeleton mechanisms 31, and the walking device 3 further comprises power mechanisms 33 capable of driving the lower limb exoskeleton mechanisms 31 to slide along the width direction of the walking table 1.

The opening and closing mechanism 6 comprises sealing plates 61 which are distributed in corresponding walking areas 1a and symmetrically distributed along the length direction of the walking table 1, the sealing plates 61 are connected with hydraulic cylinders 62 which can drive the sealing plates 61 to slide, open and close and are installed on the walking table 1, a sliding groove 1b matched with the corresponding sealing plates 61 is formed in the walking table 1, the hydraulic cylinders 62 drive the sealing plates 61 to slide, open and close the walking areas 1a along the sliding grooves 1b so as to meet the requirements of different patients on the unpowered running device 2, and meanwhile, the unpowered treadmill 22 is prevented from being lifted when the patients are not stabilized, so that the patients are accidentally pulled to cause secondary injury.

The suspension device 5 comprises a fixed frame 51 arranged on the walking table 1, weight reduction hanging strips 52 are hung on the fixed frame 51, the weight reduction hanging strips 52 are connected with winding wheels 53 arranged on the fixed frame 51, the winding wheels 53 are all connected with a motor 54, the suspension device 5 further comprises handrails 55 which are arranged on the walking table 1 to assist patients to stabilize bodies and are symmetrically distributed along the width direction of the walking table 1, the handrails 55 are provided with a plurality of control buttons to control the unpowered running device 2, the walking device 3, the opening and closing mechanism 6 and the motor 54, the winding wheels 53 are connected with the weight reduction hanging strips 52 through steel wire ropes, the motor 54 drives the winding wheels 53 to rotate to drive the steel wire ropes to drive the weight reduction hanging strips 52 to support the patients without walking ability, and meanwhile, the weight reduction hanging strips 52 can adapt to the patients with different heights.

The lifting mechanism 23 comprises a first oscillating bar 231 which is hinged on the mounting seat 21 and symmetrically distributed along the width direction of the mounting seat 21, two groups of second oscillating bars 232 which are distributed in parallel along the length direction of the mounting seat 21 are further hinged on the mounting seat 21, one ends of the first oscillating bar 231 and the second oscillating bar 232, which are far away from the mounting seat 21, are hinged with a third oscillating bar 233, connecting columns 234 are mounted between the first oscillating bar 231 and the second oscillating bar 232, lead screws 235 are distributed between the connecting columns 234, the lead screws 235 are connected with a second motor 236, a third connecting plate 237 is arranged between the second oscillating bars 232, the mounting seat 21 is matched with a slideway 238 which is mounted on the bottom plate 7, the connecting columns 234 are connected with one ends of the first oscillating bar 231 and the second oscillating bar 232, which are far away from the mounting seat 21, one ends of the third oscillating bar 233, which are far away from the first oscillating bar 231 and the second oscillating bar 232, are, the lead screw 235 is a double-head lead screw and is in threaded fit with the corresponding connecting column 234 to drive the connecting column 234 to move relatively so as to lift the mounting seat 21, the second motor 236 drives the lead screw 235 to rotate and to be matched with the connecting column 234, so that the connecting column 234 is driven to move so as to drive the first swing rod 231, the second swing rod 232 and the third swing rod 233 to swing so as to enable the mounting seat 21 to lift along the slide 238.

The lower limb exoskeleton mechanism 31 comprises foot pedals 311 distributed above the corresponding walking area 1a, the foot pedals 311 are all hinged and connected with knee connecting rods 312, one ends, far away from the foot pedals 311, of the knee connecting rods 312 are all hinged and connected with hip and knee connecting rods 313, the hip and knee connecting rods 313 are all hinged and connected with a first connecting plate 314 matched with the adjusting mechanism 32, a second hydraulic cylinder 315 connected with the hip and knee connecting rods 313 to drive hip joint movement is hinged and installed on the first connecting plate 314, a third hydraulic cylinder 316 connected with the foot pedals 311 to drive ankle joint movement is hinged and installed on the knee connecting rods 312, a fourth motor 317 for driving knee joint movement is arranged between the knee and

knee connecting rods

312 and 313, the tail ends of piston rods of the second hydraulic cylinders 315 are hinged and connected with the hip and knee connecting rods 313, and the second hydraulic cylinders 315 drive the hip and knee connecting rods 313 to swing to drive the hip joint movement, the fourth motor 317 is installed on the hip and knee connecting rod 313 and connected with the knee and foot connecting rod 312, the fourth motor 317 drives the knee and foot connecting rod 312 to swing so as to drive the knee joint to move, the tail end of the piston rod of the third hydraulic cylinder 316 is hinged with the pedal 311, and the third hydraulic cylinder 316 drives the pedal 311 to swing so as to drive the ankle joint to move.

The adjusting mechanism 32 comprises a second connecting plate 321 installed on the power mechanism 32, a limiting plate 322 matched with the lower limb exoskeleton mechanism 31 is installed in the second connecting plate 321 in a sliding mode, the limiting plate 322 is connected with a push rod 323 installed in the second connecting plate 321 in a sliding mode, a clamping groove 324 is formed in the limiting plate 322, a clamping block 325 installed on the first connecting plate 314 is matched with the clamping groove 324, a second sliding groove 326 matched with the limiting plate 322 is formed in the second connecting plate 321, a third sliding groove 329 for preventing the first connecting plate 314 from falling off accidentally is further formed in the second connecting plate 321, a hand wheel 327 is connected to the tail end of the push rod 323, a spring 328 sleeved on the push rod 323 is arranged between the rotating wheel 327 and the second connecting plate 321, the push rod 323 pushes the limiting plate 322 to slide along the second sliding groove 326 to separate from the clamping block 325, and then the first connecting plate 314 is, preventing interference during movement of the power mechanism 33.

The power mechanism 33 comprises a moving table 331 which is slidably mounted on the walking table 1 and connected with the adjusting mechanism 32, three motors 332 are mounted on the moving table 331, the three motors 332 are connected with gears 333, the gears 333 are matched with racks 334 mounted on the walking table 1, four sliding grooves 335 which are distributed in parallel along the length direction of the walking table 1 are formed in the moving table 331, sliding blocks 336 mounted on the walking table 1 are matched with the four sliding grooves 335, and the three motors 332 drive the racks 334 to rotate and be matched with the racks 334 so as to drive the moving table 331 to slide along the sliding blocks 336 and meet different wounded conditions.

The hip and knee connecting rod 313, the knee and foot connecting rod 312 and the pedal 311 are all provided with fixing belts 4, and the fixing belts 4 are used for fixing the thigh, the shank and the foot of the patient, so that the patient is prevented from finishing bionic movement and being incapable of achieving the recovery expectation.

In the present invention, when the patient needs to use the device, the first step: the patient has the medical staff to assist to enter the walking area 1a, then a motor 54 drives a winding wheel 53 to rotate to drive a steel wire rope to drive a weight reduction hanging strip 52 to support the patient without walking ability, and meanwhile, the weight reduction hanging strip 52 can adapt to the patients with different heights.

The second step is that: the push rod 323 is pushed to enable the limit plate 322 to slide along the second sliding groove 327 to be separated from the clamping block 326, then the rotating wheel 328 is rotated to enable the limit plate 324 to be matched with the third sliding groove 321a to fix the limit plate 322, then the first connecting plate 314 is pulled to lift and adjust the height of the pedal 311, and then the third motor 332 drives the rack 334 to rotate to be matched with the rack 334, so that the moving table 331 is driven to slide along the sliding block 336, and different wounded situations are met.

The third step: when the moving table 331 slides to the wounded, the wounded leg of the patient is fixed by the fixing belt 4, then the first hydraulic cylinder 62 drives the sealing plate 61 to slide along the sliding groove 1b to open and close the walking area 1a, and then the second motor 236 drives the screw rod 235 to rotate to be matched with the connecting column 234, so that the connecting column 234 is driven to move to drive the first oscillating bar 231, the second oscillating bar 232 and the third oscillating bar 233 to swing to enable the mounting base 21 to ascend and descend along the slideway 238, and the unpowered treadmill 22 is in contact with the pedal plate 311.

The fourth step: when the patient is stable, the second hydraulic cylinder 315 drives the hip-knee connecting rod 313 to swing to drive the hip joint to move, the fourth motor 317 drives the knee-foot connecting rod 312 to swing to drive the knee joint to move, meanwhile, the tail end of the piston rod of the third hydraulic cylinder 316 is hinged with the pedal plate 311, and the third hydraulic cylinder 316 drives the pedal plate 311 to swing to drive the ankle joint to move and drive the sick leg to perform bionic motion.

The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a recovered device of walking is assisted to low limbs, includes walking platform (1), walking platform (1) middle part is equipped with along walking platform (1) width direction symmetric distribution's walking region (1a), its characterized in that: the utility model discloses a bionic walking platform, including walking region (1a), walking region (1a) below is all divided cloth and is had unpowered running device (2) of liftable, cloth is equallyd divide to have cloth above walking region (1a) and can drive sick leg and carry out bionic motion running gear (3), all be equipped with the mechanism (6) that opens and shuts that open and shut walking region (1a) in walking region (1a), still install suspension device (5) that prevent that the patient accident from falling down on walking platform (1).

2. The lower limb walking assistance rehabilitation device according to claim 1, characterized in that: the unpowered running device (2) comprises a mounting seat (21), the unpowered running machine (22) is mounted on the mounting seat (21), and a lifting mechanism (23) for driving the mounting seat (21) to lift is connected to the lower portion of the mounting seat (21).

3. The lower limb walking assistance rehabilitation device according to claim 1, characterized in that: running gear (3) are including distributing in walking regional (1a) top that corresponds and can drive the sick leg and carry out lower limbs ectoskeleton mechanism (31) that bionic motion carries out, lower limbs ectoskeleton mechanism (31) all are connected with adjustment mechanism (32) of adjustable lower limbs ectoskeleton mechanism (31) height, running gear (3) still include can drive gliding power unit (33) of lower limbs ectoskeleton mechanism (31) along walking platform (1) width direction.

4. The lower limb walking assistance rehabilitation device according to claim 1, characterized in that: the opening and closing mechanism (6) comprises sealing plates (61) which are distributed in the corresponding walking area (1a) and symmetrically distributed along the length direction of the walking platform (1), and the sealing plates (61) are connected with a hydraulic cylinder (62) which can drive the sealing plates (61) to open and close in a sliding mode and is installed on the walking platform (1).

5. The lower limb walking assistance rehabilitation device according to claim 1, characterized in that: the suspension device (5) comprises a fixing frame (51) installed on the walking table (1), a weight reduction hanging strip (52) is hung on the fixing frame (51), the weight reduction hanging strip (52) is connected with a winding wheel (53) installed on the fixing frame (51), the winding wheel (53) is connected with a motor (54), and the suspension device (5) further comprises handrails (55) which are installed on the walking table (1) to assist a patient to stabilize the body and are symmetrically distributed along the width direction of the walking table (1).

6. The lower limb walking assistance rehabilitation device according to claim 2, characterized in that: elevating system (23) are including articulated installing pendulum rod (231) on mount pad (21) and along mount pad (21) width direction symmetric distribution, still articulated installing two sets of pendulum rod (232) No. two along mount pad (21) length direction parallel distribution on mount pad (21), the one end that mount pad (21) were kept away from to pendulum rod (231) and pendulum rod (232) No. two is all articulated to link up No. three pendulum rod (233), spliced pole (234) are all installed between pendulum rod (231) and pendulum rod (232) No. two, it has lead screw (235) to distribute between spliced pole (234), lead screw (235) are connected with motor (236) No. two.

7. The lower limb walking assistance rehabilitation device according to claim 3, wherein: the lower extremity exoskeleton mechanism (31) comprises foot pedals (311) distributed above the corresponding walking areas (1a), the pedals (311) are hinged and connected with knee connecting rods (312), one ends of the knee connecting rods (312) far away from the pedals (311) are hinged and connected with hip and knee connecting rods (313), the hip and knee connecting rods (313) are hinged with a first connecting plate (314) matched with the adjusting mechanism (32), a second hydraulic cylinder (315) which is connected with a hip and knee connecting rod (313) to drive the hip joint to move is hinged on the first connecting plate (314), a third hydraulic cylinder (316) which is connected with a pedal (311) to drive the ankle joint to move is hinged on each knee-foot connecting rod (312), a fourth motor (317) for driving the knee joint to move is arranged between the knee-foot connecting rod (312) and the hip-knee connecting rod (313).

8. The lower limb walking assistance rehabilitation device according to claim 3, wherein: the adjusting mechanism (32) comprises a second connecting plate (321) installed on the power mechanism (32), a limiting plate (322) matched with the lower limb exoskeleton mechanism (31) is installed in the second connecting plate (321) in a sliding mode, and the limiting plate (322) is connected with a push rod (323) installed in the second connecting plate (321) in a sliding mode.

9. The lower limb walking assistance rehabilitation device according to claim 3, wherein: power unit (33) are including slidable mounting moving platform (331) of walking on platform (1) and linking to each other with adjustment mechanism (32), all install No. three motor (332) on moving platform (331), No. three motor (332) all are connected with gear (333), gear (333) all cooperate and install rack (334) on walking platform (1).

10. The lower limb walking assistance rehabilitation device according to claim 7, wherein: fixing belts (4) are arranged on the hip and knee connecting rod (313), the knee and foot connecting rod (312) and the pedal (311).