CN112957239A - Height-adjustable walking assisting training device - Google Patents
Height-adjustable walking assisting training device Download PDFInfo
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- CN112957239A CN112957239A CN202110339041.3A CN202110339041A CN112957239A CN 112957239 A CN112957239 A CN 112957239A CN 202110339041 A CN202110339041 A CN 202110339041A CN 112957239 A CN112957239 A CN 112957239A
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- 230000007246 mechanism Effects 0.000 claims abstract description 75
- 210000003141 lower extremity Anatomy 0.000 claims abstract description 40
- 239000013585 weight reducing agent Substances 0.000 claims abstract description 29
- 210000000689 upper leg Anatomy 0.000 claims description 36
- 230000001681 protective effect Effects 0.000 claims description 24
- 230000001012 protector Effects 0.000 claims description 19
- 230000005021 gait Effects 0.000 claims description 7
- 230000002146 bilateral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 6
- 210000002414 leg Anatomy 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 208000006011 Stroke Diseases 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 206010008190 Cerebrovascular accident Diseases 0.000 description 1
- 206010033799 Paralysis Diseases 0.000 description 1
- 206010008129 cerebral palsy Diseases 0.000 description 1
- 210000003414 extremity Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/008—Appliances for aiding patients or disabled persons to walk about using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H2003/005—Appliances for aiding patients or disabled persons to walk about with knee, leg or stump rests
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H3/00—Appliances for aiding patients or disabled persons to walk about
- A61H3/04—Wheeled walking aids for patients or disabled persons
- A61H2003/046—Wheeled walking aids for patients or disabled persons with braking means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
- A61H2201/01—Constructive details
- A61H2201/0192—Specific means for adjusting dimensions
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- Health & Medical Sciences (AREA)
- Epidemiology (AREA)
- Pain & Pain Management (AREA)
- Physical Education & Sports Medicine (AREA)
- Rehabilitation Therapy (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a height-adjustable auxiliary walking training device, which relates to the field of medical rehabilitation equipment and comprises a base, a lifting mechanism, a weight reduction mechanism and a lower limb exoskeleton; the lifting mechanism is fixedly connected with the base; the lifting mechanism comprises a first connecting piece, a second connecting piece, a third connecting piece, an equipment connecting device, a first supporting rod, a second supporting rod, a third supporting rod, a fourth supporting rod, a first gear, a second gear, a first telescopic rod and a second telescopic rod, and can realize stepless adjustment of lifting height; the weight reduction mechanism and the lower limb exoskeleton are respectively and fixedly connected with the equipment connecting device. The invention has the advantages that: the height of the weight reduction mechanism and the height of the lower limb exoskeleton can be adjusted in a stepless mode simultaneously.
Description
Technical Field
The invention relates to the field of medical rehabilitation equipment, in particular to a height-adjustable auxiliary walking training device.
Background
When patients with lower limb paralysis, such as cerebral palsy, apoplexy and the like, carry out rehabilitation training, auxiliary walking training equipment is needed. Because the lower limbs of the patient are weak in strength, when the patient is in walking training, a weight reduction mechanism needs to be arranged to fix the upper body of the patient so as to reduce the weight of the lower limbs of the patient, and the exoskeleton is arranged to correct the gait of the user. The height of a weight reduction mechanism and the height of a lower limb exoskeleton cannot be adjusted steplessly by the conventional walking assisting training device so as to be suitable for the height of a patient, and the upper body of the patient cannot be fixed well by the conventional walking assisting training device. Patent CN221200953U discloses a movable lower limb exoskeleton rehabilitation robot, which comprises a mobile robot, a lower limb exoskeleton robot and a weight reduction device, wherein the exoskeleton robot is installed at the inner side of a portal frame of the mobile robot, linear slide rails are fixedly installed on supports at two sides of the upper end of the mobile robot, sliders are installed on the linear slide rails, the weight reduction device is fixedly connected to the outer sides of the sliders, the height of the weight reduction device can only be adjusted, the height of the exoskeleton robot cannot be adjusted steplessly, and the upper body of a patient cannot be well fixed.
Disclosure of Invention
The invention aims to provide a height-adjustable auxiliary walking training device which can simultaneously and steplessly adjust the height of a weight reduction mechanism and the height of a lower limb exoskeleton.
The invention solves the technical problems through the following technical means: the height-adjustable auxiliary walking training device comprises a base (1), a lifting mechanism (2), a weight reduction mechanism (3) and a lower limb exoskeleton (4); the lifting mechanism (2) is fixedly connected with the base (1); the lifting mechanism (2) comprises a first connecting piece (201), a second connecting piece (202), a third connecting piece (203), an equipment connecting device (204), a first supporting rod (205), a second supporting rod (206), a third supporting rod (207), a fourth supporting rod (208), a first gear (209), a second gear (210), a first telescopic rod (211) and a second telescopic rod (212); the first connecting piece (201) is fixedly connected with the base (1); the lower ends of the first supporting rod (205) and the second supporting rod (206) are hinged with the first connecting piece (201) through connecting shafts respectively, and the upper ends of the first supporting rod (205) and the second supporting rod (206) are hinged with the second connecting piece (202) through connecting shafts respectively; the lower ends of the third supporting rod (207) and the fourth supporting rod (208) are hinged with the second connecting piece (202) through connecting shafts respectively, and the upper ends of the third supporting rod (207) and the fourth supporting rod (208) are hinged with the third connecting piece (203) through connecting shafts respectively; the equipment connecting device (204) is fixedly connected with the third connecting piece (203); the first gear (209) is fixedly connected to the upper end of the second support rod (206), the second gear (210) is fixedly connected to the lower end of the fourth support rod (208), and the first gear (209) is meshed with the second gear (210); the lower end of the first telescopic rod (211) is hinged with the base (1) through a connecting shaft, and the upper end of the first telescopic rod (211) is hinged with the first supporting rod (205) through a connecting shaft; the lower end of the second telescopic rod (212) is hinged with the first supporting rod (205) through a connecting shaft, and the upper end of the second telescopic rod (212) is hinged with the second supporting rod (206) through a connecting shaft; the central axes of the connecting shafts are parallel to each other; the first telescopic rod (211) and the second telescopic rod (212) can automatically perform stepless expansion; the weight reduction mechanism (3) and the lower limb exoskeleton (4) are respectively and fixedly connected with the equipment connecting device (204). The lifting mechanism supports the first supporting rod and the third supporting rod through the first telescopic rod and the second telescopic rod respectively, the second supporting rod and the fourth supporting rod are linked through the first connecting piece, the second connecting piece, the third connecting piece, the first gear and the second gear, stepless adjustment of lifting height can be achieved, the third connecting piece can keep moving up and down along a central line in the lifting process, and the use and the storage are convenient; the weight reduction mechanism can reduce the weight of the lower limbs; the lower limb exoskeleton can correct the gait of the user; the lifting mechanism drives the weight reduction mechanism and the lower limb exoskeleton to move up and down, and the heights of the weight reduction mechanism and the lower limb exoskeleton can be adjusted steplessly at the same time, so that the height adjustment mechanism is suitable for the height of a user.
As an optimized technical scheme, a connecting line of a central axis central point of a connecting shaft at two ends of the first supporting rod (205) and a central axis central point of a connecting shaft at two ends of the second supporting rod (206) is a parallelogram, and a connecting line of a central axis central point of a connecting shaft at two ends of the third supporting rod (207) and a central axis central point of a connecting shaft at two ends of the fourth supporting rod (208) is a parallelogram; the upper bottom edge and the lower bottom edge of each parallelogram are horizontal line segments, the lengths of the two bottom edges of the upper parallelogram are equal to those of the two bottom edges of the lower parallelogram, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the lower parallelogram. The stability of structure can be guaranteed to two parallelogram structures.
As an optimized technical scheme, the first telescopic rod (211) and the second telescopic rod (212) both adopt self-locking gas springs. Self-locking type air spring can stop the optional position in the stroke, and locking by oneself after stopping, during the use, through the length extension and the shrink of button simultaneous control first telescopic link, second telescopic link, when the button loosens, first telescopic link, second telescopic link are locked by oneself respectively, realize the stepless lift of a key formula.
As an optimized technical scheme, the base (1) comprises mounting rods (101), connecting rods (102) and wheels (103), wherein the two mounting rods (101) are arranged in bilateral symmetry, the connecting rods (102) are respectively and fixedly connected with the two mounting rods (101), and the two groups of symmetrically arranged wheels (103) are respectively and fixedly connected with the two mounting rods (101); the two lifting mechanisms (2) are symmetrically arranged, first connecting pieces (201) of the two lifting mechanisms (2) are fixedly connected with the two mounting rods (101) respectively, and first telescopic rods (211) of the two lifting mechanisms (2) are hinged with the two mounting rods (101) respectively; the weight reduction mechanism (3) is respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2); the two lower limb exoskeletons (4) are respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2). The structure of base is convenient for walk the training, sets up two elevating system and makes the structure more stable, and two elevating system go up and down in step, can stepless regulation subtract heavy mechanism and two low limbs ectoskeleton height simultaneously.
As an optimized technical scheme, the weight reduction mechanism (3) comprises a bearing rod (301), a first fixed end (302), a first movable end (303), a first locking device (304), a hip supporting device and a chest supporting device; the bearing rod (301) is fixedly connected with the equipment connecting device (204); the first fixed end (302) is fixedly connected to the bearing rod (301), the first movable end (303) is in sliding fit with the first fixed end (302) along the vertical direction, and the first movable end (303) is locked on the first fixed end (302) by the first locking device (304); the hip supporting device is fixedly connected with the first fixing end (302); the chest support device is fixedly connected with the first mobile end (303). The hip supporting device and the chest supporting device are arranged, so that the upper body of a user can be well fixed; the height position of the chest support device relative to the hip support device is conveniently adjusted to fit the upper body length of the user.
As an optimized technical scheme, the hip support device comprises a hip support rod (305) and a hip protector (306); the hip support rod (305) is an arc rod with a forward opening direction, and the hip support rod (305) is fixedly connected with the first fixing end (302); the hip pad (306) is mounted on the hip support bar (305), the hip pad (306) comprising a pad upper portion and a pad lower portion; the upper part of the protective clothing can bind the hip of a user; the rear side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is through adjusting the knot fixed connection, user's crotch portion can be binded to the protective equipment lower part, it can adjust to adjust the knot the elasticity degree of protective equipment lower part. The structure of the hip supporting device can provide better support for the hip of a user and better fix the upper body of the user; the weight reduction force can be adjusted by adjusting the tightness degree of the lower part of the protective tool.
As an optimized technical scheme, the chest supporting device comprises a chest supporting rod (307) and a chest protector (308); the chest supporting rod (307) is fixedly connected with the first moving end (303); the chest protector (308) is mounted on the chest support bar (307), the chest protector (308) being capable of strapping the chest of a user. The structure of the chest support device can provide better support for the chest of a user and better fix the upper body of the user.
As an optimized technical scheme, the lower limb exoskeleton (4) comprises a second fixed end (405), a second movable end (406), a second locking device (407), a thigh assembly, a thigh protector (410), a shank plate (411) and a shank protector (412); the second fixed end (405) is fixedly connected with the equipment connecting device (204), the second movable end (406) is in sliding fit with the second fixed end (405) along the up-down direction, and the second movable end (406) is locked on the second fixed end (405) by the second locking device (407); the thigh assembly is fixedly connected to the second moving end (406), the thigh brace (410) being mounted on the thigh assembly; the lower leg plate (411) is articulated to the thigh assembly, and the lower leg supporter (412) is mounted on the lower leg plate (411). The length of the lower limb exoskeleton can be conveniently adjusted to match the leg length of a user.
As an optimized technical scheme, the lower limb exoskeleton (4) further comprises a position adjusting device, wherein the position adjusting device comprises a first adjusting piece (401), a third locking device (403), a second adjusting piece (402) and a fourth locking device (404); the first adjusting piece (401) is in sliding fit with the equipment connecting device (204) along the front-back direction, and the third locking device (403) locks the first adjusting piece (401) on the equipment connecting device (204); the second adjusting piece (402) is in sliding fit with the first adjusting piece (401) along the left-right direction, and the fourth locking device (404) locks the second adjusting piece (402) on the first adjusting piece (401); the second fixed end (405) is fixedly connected with the second adjusting piece (402). The front and back positions and the left and right positions of the lower limb exoskeleton can be conveniently adjusted, and the positions of the legs of a user can be better matched.
As an optimized technical solution, the thigh assembly comprises an elastic device (408), a thigh plate (409); the elastic device (408) is fixedly connected with the second moving end (406), and the upper part of the thigh plate (409) is fixedly connected with the elastic device (408); the upper end of the lower leg plate (411) is hinged with the lower end of the upper leg plate (409). Buffering is carried out through the elastic device, and the central height change of a user in the walking process can be matched.
The invention has the advantages that:
1. the weight reduction mechanism can reduce the weight of the lower limb, the lower limb exoskeleton can correct the gait of the user, and the lifting mechanism can simultaneously and steplessly adjust the heights of the weight reduction mechanism and the lower limb exoskeleton so as to be suitable for the height of the user.
2. The height position of the chest support device, the length of the lower limb exoskeleton and the front-back position and the left-right position of the lower limb exoskeleton can be conveniently adjusted to match the length of the upper body, the length of the legs and the positions of the legs of a user.
3. The hip support device and the chest support device are arranged, and the chest support device and the hip support device are structured to provide better support for the chest of the user and well fix the upper body of the user.
4. The weight reduction force can be adjusted by adjusting the tightness degree of the lower part of the protective tool.
5. Buffering is carried out through the elastic device, and the central height change of a user in the walking process can be matched.
Drawings
FIG. 1 is an axial view of an assisted walking training device with adjustable height according to an embodiment of the present invention.
Fig. 2 is a left side view schematically showing an auxiliary walking training device with adjustable height according to an embodiment of the present invention.
Fig. 3 is a front view schematically showing an auxiliary walking training device with adjustable height according to an embodiment of the present invention.
Fig. 4 is a schematic structural diagram of a base according to an embodiment of the invention.
Fig. 5 is a schematic external structural view of the lifting mechanism according to the embodiment of the present invention.
Fig. 6 is an axial view of the internal structure of the lifting mechanism according to the embodiment of the present invention.
Fig. 7 is a schematic front view of the internal structure of the lifting mechanism according to the embodiment of the present invention.
Fig. 8 is a schematic structural view of a weight-reducing mechanism according to an embodiment of the present invention.
Fig. 9 is a schematic structural diagram of the lower extremity exoskeleton according to the embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, the height-adjustable walking assistance training device includes a base 1, a lifting mechanism 2, a weight reduction mechanism 3, a lower extremity exoskeleton 4, and an armrest 5.
The two lifting mechanisms 2 are symmetrically arranged and are respectively fixedly connected with the base 1; the left side and the right side of the weight reduction mechanism 3 are respectively fixedly connected with the two lifting mechanisms 2; the two lower limb exoskeletons 4 are respectively and fixedly connected with the two lifting mechanisms 2; two handrails 5 are fixedly connected to the left and right sides of the rear end of the weight reduction mechanism 3, respectively, for pushing the device.
As shown in fig. 4, the base 1 includes a mounting rod 101, a connecting rod 102, and wheels 103; the two mounting rods 101 are parallel to each other along the horizontal direction, and the two mounting rods 101 are arranged in bilateral symmetry; two ends of the connecting rod 102 are respectively fixedly connected with the rear ends of the two mounting rods 101; two sets of wheels 103 that the symmetry set up respectively with two installation pole 101 fixed connection, every group is equipped with two wheels 103, all is equipped with damping adjustment and brake mechanism on each wheel 103. The base 1 is the main supporting frame of the device, and the damping and braking of the device are controlled by the damping adjustment and braking mechanism of the wheel 103.
As shown in fig. 5 to 7, the lifting mechanism 2 includes a first connecting member 201, a second connecting member 202, a third connecting member 203, an equipment connecting device 204, a first supporting rod 205, a second supporting rod 206, a third supporting rod 207, a fourth supporting rod 208, a first gear 209, a second gear 210, a first telescopic rod 211, a second telescopic rod 212, and a housing 213.
The first connecting pieces 201 of the two lifting mechanisms 2 are respectively fixedly connected with the two mounting rods 101, and the first telescopic rods 211 of the two lifting mechanisms 2 are respectively hinged with the two mounting rods 101.
The first connecting piece 201 is fixedly connected to the middle part of the mounting rod 101; the lower ends of the first supporting rod 205 and the second supporting rod 206 are hinged with the first connecting piece 201 through connecting shafts fixedly connected to the lower ends of the first supporting rod 205 and the second supporting rod 206, and the upper ends of the first supporting rod 205 and the second supporting rod 206 are hinged with the second connecting piece 202 through connecting shafts fixedly connected to the upper ends of the first supporting rod 205 and the second supporting rod 206; the lower ends of the third supporting rod 207 and the fourth supporting rod 208 are hinged with the second connecting piece 202 through connecting shafts fixedly connected to the third supporting rod and the fourth supporting rod 208 respectively, and the upper ends of the third supporting rod 207 and the fourth supporting rod 208 are hinged with the third connecting piece 203 through connecting shafts fixedly connected to the third supporting rod and the fourth supporting rod 208 respectively; the equipment connecting device 204 is fixedly connected with the third connecting piece 203; the first gear 209 is fixedly connected to the outer ring of the connecting shaft at the upper end of the second supporting rod 206, the second gear 210 is fixedly connected to the outer ring of the connecting shaft at the lower end of the fourth supporting rod 208, and the first gear 209 is meshed with the second gear 210; the lower end of the first telescopic rod 211 is hinged with the mounting rod 101 through a connecting shaft fixedly connected to the mounting rod 101, and the upper end of the first telescopic rod 211 is hinged at the lower part of the first supporting rod 205 through a connecting shaft fixedly connected to the first supporting rod 205; the lower end of the second telescopic rod 212 is hinged on the upper part of the first supporting rod 205 through a connecting shaft fixedly connected on the first supporting rod 205, and the upper end of the second telescopic rod 212 is hinged on the upper part of the second supporting rod 206 through a connecting shaft fixedly connected on the second supporting rod 206; the central axes of the connecting shafts are parallel to each other, and the central axes of the connecting shafts are along the horizontal direction and are perpendicular to the length direction of the mounting rod 101; the housing 213 is divided into five sections, a first section is fixedly connected with the mounting rod 101 and surrounds the outer side of the first connecting piece 201, a second section is fixedly connected with the first supporting rod 205 and the second supporting rod 206 and surrounds the outer sides of the first supporting rod 205 and the second supporting rod 206, a third section is fixedly connected with the second connecting piece 202 and surrounds the outer sides of the second connecting piece 202, the first gear 209 and the second gear 210, a fourth section is fixedly connected with the third supporting rod 207 and the fourth supporting rod 208 and surrounds the outer sides of the third supporting rod 207 and the fourth supporting rod 208, and a fifth section is fixedly connected with the equipment connecting device 204 and surrounds the outer side of the third connecting piece 203.
The first connecting piece 201, the second connecting piece 202 and the third connecting piece 203 are all flat, the plate surfaces of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203 are perpendicular to the connecting shafts, the first supporting rod 205, the third supporting rod 207, the first gear 209 and the second gear 210 are positioned on the outer side of the same side plate surface of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203, and the second supporting rod 206 and the fourth supporting rod 208 are positioned on the outer side of the other side plate surface of the first connecting piece 201, the second connecting piece 202 and the third connecting piece 203.
The connecting line of the central axis central point of the connecting shaft at the two ends of the first supporting rod 205 and the central axis central point of the connecting shaft at the two ends of the second supporting rod 206 is a parallelogram, the connecting line of the central axis central point of the connecting shaft at the two ends of the third supporting rod 207 and the central axis central point of the connecting shaft at the two ends of the fourth supporting rod 208 is a parallelogram, the upper bottom edge and the lower bottom edge of each parallelogram are horizontal line segments, the length of the two bottom edges of the upper parallelogram is equal to that of the two bottom edges of the lower parallelogram, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the.
First telescopic link 211, second telescopic link 212 all adopt self-locking type air spring, can carry out stepless expansion automatically and can stop the optional position in the stroke, and the self-locking after stopping.
The using method of the lifting mechanism 2 is that the length of the first telescopic rod 211 and the length of the second telescopic rod 212 of the two lifting mechanisms 2 are controlled to extend and contract simultaneously through the button, when the button is loosened, the first telescopic rod 211 and the second telescopic rod 212 of the two lifting mechanisms 2 are locked automatically respectively, the first support rod 205 and the third support rod 207 of each lifting mechanism 2 are supported respectively through the first telescopic rod 211 and the second telescopic rod 212 of each lifting mechanism 2, the stepless adjustment of the lifting height can be realized through the first connecting piece 201, the second connecting piece 202, the third connecting piece 203, the first gear 209 and the second gear 210 of each lifting mechanism 2 in linkage with the second support rod 206 and the fourth support rod 208 of each lifting mechanism 2, the third connecting pieces 203 of the two lifting mechanisms 2 can keep moving up and down along the central line in the lifting process, the two lifting mechanisms 2 synchronously lift, the weight reduction mechanism 3 and the two exoskeleton 4 are driven to lift simultaneously, the heights of the weight reducing mechanism 3 and the two lower limb exoskeletons 4 can be adjusted steplessly at the same time.
As shown in fig. 8, the weight-reducing mechanism 3 includes a weight-bearing bar 301, a first fixed end 302, a first movable end 303, a first locking device 304, a hip supporting device, and a chest supporting device.
The equipment connecting device 204 is a rod piece with the length direction parallel to the length direction of the mounting rod 101, and the left end and the right end of the bearing rod 301, namely the left side and the right side of the weight reducing mechanism 3 are respectively and fixedly connected with the rear ends of the equipment connecting devices 204 of the two lifting mechanisms 2; the first fixed end 302 is a rod with the length direction along the vertical direction, the first fixed end 302 is fixedly connected to the middle of the front side of the bearing rod 301, and a sliding channel is formed between the rear side of the first fixed end 302 and the front side of the bearing rod 301; the first moving end 303 is a rod with a length direction along the vertical direction, and the first moving end 303 penetrates into the sliding channel and is in sliding fit with the first fixed end 302 along the up-down direction; the first fixed end 302 and the first movable end 303 are respectively provided with a first locking hole at corresponding positions, and the first locking hole is a strip-shaped hole with the length direction along the vertical direction; the first locking device 304 adopts a quick handle, and the first locking device 304 passes through the first locking hole from the back of the first movable end 303 to lock the first movable end 303 on the first fixed end 302; the hip support device is fixedly connected with the first fixed end 302; the chest support is fixedly connected to the first mobile end 303.
The hip support device includes a hip support bar 305, a hip protector 306; the hip support bar 305 is an arc-shaped bar with a forward opening, the middle of the rear side of the hip support bar 305 is fixedly connected with the upper part of the front side of the first fixed end 302, and the hip support bar 305 can be supported at the back of the hip of the user; the hip pad 306 is mounted on the hip support bar 305 by two collars, the hip pad 306 comprising a pad upper portion and a pad lower portion; the upper part of the protective clothing is in a ring belt shape with a buckle at the front side, and can bind the hip of a user; the rear side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is detained the fixed connection through two regulations, user's crotch portion can be binded to the protective equipment lower part, it can adjust to adjust the knot the elasticity degree of protective equipment lower part to adjust and subtract heavy dynamics.
The chest support device comprises a chest support bar 307 and a chest protector 308; the chest support rod 307 is a rod with the length direction parallel to the length direction of the bearing rod 301, the middle of the rear side of the chest support rod 307 is fixedly connected with the upper part of the front side of the first moving end 303, and the chest support rod 307 can be supported at the back of the chest of a user; the chest protector 308 is attached to the chest support rod 307 by two collars, and the chest protector 308 is in the form of an annular band with a buckle on the front side, and can bind the chest of the user.
As shown in fig. 9, the lower extremity exoskeleton 4 includes a position adjustment device, a second fixed end 405, a second movable end 406, a second locking device 407, a resilient device 408, a thigh assembly, a thigh brace 410, a shank plate 411, and a shank brace 412.
The two lower extremity exoskeletons 4 are respectively and fixedly connected with the equipment connecting devices 204 of the two lifting mechanisms 2.
The position adjusting device comprises a first adjusting piece 401, a second adjusting piece 402, a third locking device 403 and a fourth locking device 404; the upper part of the first adjusting part 401 is provided with first adjusting holes penetrating through the front side and the rear side of the first adjusting part 401, and the first adjusting part 401 is sleeved outside the equipment connecting device 204 through the first adjusting holes and is in sliding fit with the equipment connecting device 204 along the front-rear direction; the third locking device 403 adopts a knob handle, and the third locking device 403 penetrates into the first adjusting hole from the outside of the first adjusting piece 401 to lock the first adjusting piece 401 on the equipment connecting device 204; the lower part of the first adjusting piece 401 is provided with a second adjusting hole which penetrates through the left side and the right side of the first adjusting piece 401; the second adjusting piece 402 is a rod piece with the length direction parallel to the central axis of each connecting shaft, and the second adjusting piece 402 passes through the second adjusting hole and is in sliding fit with the first adjusting piece 401 along the left-right direction; the fourth locking device 404 is a knob handle, and the fourth locking device 404 penetrates into the second adjusting hole from the outside of the first adjusting member 401 to lock the second adjusting member 402 on the first adjusting member 401.
The second fixed end 405 is fixedly connected with the inner end of the second adjusting member 402 of the position adjusting device, and is fixedly connected with the equipment connecting device 204 through the position adjusting device; a sliding cavity is arranged on the second fixed end 405; the second moving end 406 penetrates into the sliding cavity and is in sliding fit with the second fixed end 405 along the up-down direction; second locking holes are formed in corresponding positions of the second fixed end 405 and the second movable end 406 respectively, and the second locking holes are strip-shaped holes with length directions along the vertical direction; the third locking device 407 adopts a quick handle, and the third locking device 407 passes through the second locking hole from the outer side of the second fixed end 405 to lock the second movable end 406 on the second fixed end 405; the thigh assembly is fixedly connected to the second movable end 406, and a thigh brace 410 is mounted on the thigh assembly; a lower leg plate 411 is hinged to the thigh assembly and a lower leg brace 412 is mounted on the lower leg plate 411.
The thigh assembly comprises an elastic device 408 and a thigh plate 409; the elastic device 408 comprises a box body, a spring and a cover plate; the top of the box body is fixedly connected with the bottom of the second moving end 406, an installation cavity is formed in the box body, the spring is fixedly connected in the installation cavity, and the cover plate is fixedly connected with the box body and seals an opening of the installation cavity; the upper part of the thigh plate 409 penetrates into the mounting cavity and is fixedly connected with the spring, and the elastic device 408 is used for buffering, so that the central height change of a user in the walking process can be matched; the upper end of the lower leg plate 411 is hinged to the lower end of the upper leg plate 409.
The thigh protector 410 comprises a thigh supporting plate fixedly connected to the middle inner side of the thigh plate 409, a thigh strap mounted on the thigh supporting plate, and an annular band shape; shank protective equipment 412 includes shank support plate, shank bandage, shank support plate fixed connection is inboard at the middle part of shank plate 411, the shank support plate is the arc of cooperation shank outside shape, the shank bandage is installed in the shank support plate, the shank bandage is the annular banding.
When in use, the two lifting mechanisms 2 are adjusted to enable the hip protector 306 to be in a proper position; the first moving end 303 of the weight reduction device 3, the first adjusting piece 401, the second adjusting piece 402 and the second moving end 406 of the two lower limb exoskeletons 4 are adjusted to enable the chest protector 308 to be in a proper height position, the two lower limb exoskeletons 4 to be in proper front-back left-right positions and the lengths of the two lower limb exoskeletons 4 to be suitable for the leg length of a user; then, the hip guard 306, the chest guard 308, the thigh guard 410, and the shank guard 412 are worn, respectively, and the walking training can be performed.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An auxiliary walking training device with adjustable height is characterized in that: comprises a base (1), a lifting mechanism (2), a weight reduction mechanism (3) and a lower limb exoskeleton (4); the lifting mechanism (2) is fixedly connected with the base (1); the lifting mechanism (2) comprises a first connecting piece (201), a second connecting piece (202), a third connecting piece (203), an equipment connecting device (204), a first supporting rod (205), a second supporting rod (206), a third supporting rod (207), a fourth supporting rod (208), a first gear (209), a second gear (210), a first telescopic rod (211) and a second telescopic rod (212); the first connecting piece (201) is fixedly connected with the base (1); the lower ends of the first supporting rod (205) and the second supporting rod (206) are hinged with the first connecting piece (201) through connecting shafts respectively, and the upper ends of the first supporting rod (205) and the second supporting rod (206) are hinged with the second connecting piece (202) through connecting shafts respectively; the lower ends of the third supporting rod (207) and the fourth supporting rod (208) are hinged with the second connecting piece (202) through connecting shafts respectively, and the upper ends of the third supporting rod (207) and the fourth supporting rod (208) are hinged with the third connecting piece (203) through connecting shafts respectively; the equipment connecting device (204) is fixedly connected with the third connecting piece (203); the first gear (209) is fixedly connected to the upper end of the second support rod (206), the second gear (210) is fixedly connected to the lower end of the fourth support rod (208), and the first gear (209) is meshed with the second gear (210); the lower end of the first telescopic rod (211) is hinged with the base (1) through a connecting shaft, and the upper end of the first telescopic rod (211) is hinged with the first supporting rod (205) through a connecting shaft; the lower end of the second telescopic rod (212) is hinged with the first supporting rod (205) through a connecting shaft, and the upper end of the second telescopic rod (212) is hinged with the second supporting rod (206) through a connecting shaft; the central axes of the connecting shafts are parallel to each other; the first telescopic rod (211) and the second telescopic rod (212) can automatically perform stepless expansion; the weight reduction mechanism (3) and the lower limb exoskeleton (4) are respectively and fixedly connected with the equipment connecting device (204).
2. The height adjustable assisted gait training device according to claim 1, wherein: a connecting line of central axis central points of connecting shafts at two ends of the first supporting rod (205) and central axis central points of connecting shafts at two ends of the second supporting rod (206) is a parallelogram, and a connecting line of central axis central points of connecting shafts at two ends of the third supporting rod (207) and central axis central points of connecting shafts at two ends of the fourth supporting rod (208) is a parallelogram; the upper bottom edge and the lower bottom edge of each parallelogram are horizontal line segments, the lengths of the two bottom edges of the upper parallelogram are equal to those of the two bottom edges of the lower parallelogram, and the lower bottom edge of the upper parallelogram is positioned right above the upper bottom edge of the lower parallelogram.
3. The height adjustable assisted gait training device according to claim 1, wherein: the first telescopic rod (211) and the second telescopic rod (212) both adopt self-locking gas springs.
4. The height adjustable assisted walking training device of any one of claims 1-3, wherein: the base (1) comprises mounting rods (101), connecting rods (102) and wheels (103), the two mounting rods (101) are arranged in bilateral symmetry, the connecting rods (102) are respectively and fixedly connected with the two mounting rods (101), and the two groups of symmetrically arranged wheels (103) are respectively and fixedly connected with the two mounting rods (101); the two lifting mechanisms (2) are symmetrically arranged, first connecting pieces (201) of the two lifting mechanisms (2) are fixedly connected with the two mounting rods (101) respectively, and first telescopic rods (211) of the two lifting mechanisms (2) are hinged with the two mounting rods (101) respectively; the weight reduction mechanism (3) is respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2); the two lower limb exoskeletons (4) are respectively and fixedly connected with the equipment connecting devices (204) of the two lifting mechanisms (2).
5. The height adjustable assisted walking training device of any one of claims 1-3, wherein: the weight reduction mechanism (3) comprises a bearing rod (301), a first fixed end (302), a first movable end (303), a first locking device (304), a hip supporting device and a chest supporting device; the bearing rod (301) is fixedly connected with the equipment connecting device (204); the first fixed end (302) is fixedly connected to the bearing rod (301), the first movable end (303) is in sliding fit with the first fixed end (302) along the vertical direction, and the first movable end (303) is locked on the first fixed end (302) by the first locking device (304); the hip supporting device is fixedly connected with the first fixing end (302); the chest support device is fixedly connected with the first mobile end (303).
6. The height adjustable assisted gait training device according to claim 5, wherein: the hip support device comprises a hip support bar (305), a hip protector (306); the hip support rod (305) is an arc rod with a forward opening direction, and the hip support rod (305) is fixedly connected with the first fixing end (302); the hip pad (306) is mounted on the hip support bar (305), the hip pad (306) comprising a pad upper portion and a pad lower portion; the upper part of the protective clothing can bind the hip of a user; the rear side of protective equipment lower part with the rear side fixed connection on protective equipment upper portion, the front side of protective equipment lower part with the front side on protective equipment upper portion is through adjusting the knot fixed connection, user's crotch portion can be binded to the protective equipment lower part, it can adjust to adjust the knot the elasticity degree of protective equipment lower part.
7. The height adjustable assisted gait training device according to claim 5, wherein: the chest support device comprises a chest support rod (307) and a chest protector (308); the chest supporting rod (307) is fixedly connected with the first moving end (303); the chest protector (308) is mounted on the chest support bar (307), the chest protector (308) being capable of strapping the chest of a user.
8. The height adjustable assisted walking training device of any one of claims 1-3, wherein: the lower limb exoskeleton (4) comprises a second fixed end (405), a second movable end (406), a second locking device (407), a thigh assembly, a thigh protector (410), a shank plate (411) and a shank protector (412); the second fixed end (405) is fixedly connected with the equipment connecting device (204), the second movable end (406) is in sliding fit with the second fixed end (405) along the up-down direction, and the second movable end (406) is locked on the second fixed end (405) by the second locking device (407); the thigh assembly is fixedly connected to the second moving end (406), the thigh brace (410) being mounted on the thigh assembly; the lower leg plate (411) is articulated to the thigh assembly, and the lower leg supporter (412) is mounted on the lower leg plate (411).
9. The height adjustable assisted walking training device of claim 8, wherein: the lower limb exoskeleton (4) further comprises a position adjusting device, wherein the position adjusting device comprises a first adjusting piece (401), a third locking device (403), a second adjusting piece (402) and a fourth locking device (404); the first adjusting piece (401) is in sliding fit with the equipment connecting device (204) along the front-back direction, and the third locking device (403) locks the first adjusting piece (401) on the equipment connecting device (204); the second adjusting piece (402) is in sliding fit with the first adjusting piece (401) along the left-right direction, and the fourth locking device (404) locks the second adjusting piece (402) on the first adjusting piece (401); the second fixed end (405) is fixedly connected with the second adjusting piece (402).
10. The height adjustable assisted walking training device of claim 8, wherein: the thigh assembly comprises an elastic device (408), a thigh plate (409); the elastic device (408) is fixedly connected with the second moving end (406), and the upper part of the thigh plate (409) is fixedly connected with the elastic device (408); the upper end of the lower leg plate (411) is hinged with the lower end of the upper leg plate (409).
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| CN202110339041.3A CN112957239B (en) | 2021-03-30 | 2021-03-30 | Height-adjustable auxiliary walking training device |
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| CN202110339041.3A CN112957239B (en) | 2021-03-30 | 2021-03-30 | Height-adjustable auxiliary walking training device |
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| CN112957239B CN112957239B (en) | 2023-08-25 |
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| CN112957239B (en) | 2023-08-25 |
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