CN113350742B

CN113350742B - Self-adaptive variable-rigidity treadmill system for rehabilitation

Info

Publication number: CN113350742B
Application number: CN202110667264.2A
Authority: CN
Inventors: 崔泽; 徐浩; 钱东海; 龚梦宇; 包鹏; 李奎; 赵金治
Original assignee: Shandong MBH Fitness Co Ltd; University of Shanghai for Science and Technology
Current assignee: Shandong MBH Fitness Co Ltd; University of Shanghai for Science and Technology
Priority date: 2021-06-16
Filing date: 2021-06-16
Publication date: 2022-11-08
Anticipated expiration: 2041-06-16
Also published as: CN113350742A

Abstract

The invention discloses a self-adaptive variable-rigidity treadmill system for rehabilitation. It can be used for rehabilitation of hemiplegic gait of stroke patients. The treadmill comprises a treadmill module, a weight reduction supporting system, a variable stiffness mechanism and a variable angle scissor fork mechanism. The independent change of the rigidity, the inclination angle and the speed of the treadmill modules corresponding to the two side legs is realized. The variable stiffness system adopting the principle of changing the effective length of the leaf spring can realize the large-scale rapid change of the stiffness of the running belt of the running machine in the vertical direction so as to implement stiffness disturbance on the lower limbs of the healthy side of a patient and stimulate the nerve path of the affected side through the cooperative coupling mechanism among the limbs of the human body so as to promote rehabilitation. The weight-reducing support system adopting the constant-force spring and the lever mechanism can assist in supporting the patient to prevent the patient from falling. The variable angle mechanism combined with the variable angle scissors fork mechanism can change the gradient of the surface of the treadmill to generate gradient stimulation to assist rehabilitation. The invention belongs to the field of auxiliary rehabilitation.

Description

Self-adaptive variable-rigidity treadmill system for rehabilitation

Technical Field

The invention relates to medical rehabilitation equipment, in particular to a self-adaptive variable-stiffness running machine system for rehabilitation, wherein the vertical stiffness of a running machine module can be changed respectively and rapidly, the system is used for rehabilitation treatment of patients with hemiplegia or unilateral lower limb disability caused by diseases such as cerebral apoplexy and the like, and can also be used for scientific research of rehabilitation theory. Belongs to the field of auxiliary rehabilitation.

Background

With the development of aging society, patients suffering from lower limb hemiplegia and disability caused by the diseases such as cerebral apoplexy are increasing year by year. Lower limb dysfunction directly leads to the inability of patients to walk and thus to lose the ability to live autonomously. Paralysis and disability of the lower limbs are mostly caused by nervous system problems, generally, a method of driving the affected limbs to move repeatedly is adopted for training so that normal nerve cells around a nerve injury area of the affected limbs can play a role, and repeated movement can feed back information to the brain so that the brain can recover the capability of controlling the movement function of the limbs. The traditional rehabilitation mode needs at least one rehabilitation therapist to be matched with a patient for rehabilitation training, such as driving the affected limb to move, assisting the patient to walk and the like, and the rehabilitation mode has the disadvantages of large physical consumption of the rehabilitation therapist and high rehabilitation cost.

As a common fitness instrument, the treadmill is mostly used for fitness. The treadmill can simulate walking and running states in situ, so that the treadmill type rehabilitation equipment is applied to the field of lower limb rehabilitation to help patients with paralysis or disability of lower limbs recover walking ability. At present, related researches on the use of exoskeleton rehabilitation robots, tail end traction rehabilitation robots and walking-aid rehabilitation robots for lower limb rehabilitation treatment have been carried out, and certain effects are achieved.

Research shows that the four limbs of the human body have a cooperative coupling mechanism, and the motion sensory feedback of the lower limb on one side can influence the action of the lower limb on the other side, and the mechanism is realized through a nervous system. The unilateral paralysis and the incapacitating limb symptoms of the lower limb are mostly caused by nervous system problems, so the rehabilitation treatment of the lower limb can be carried out by utilizing a synergistic coupling mechanism of four limbs. However, the existing rehabilitation robot does not consider the cooperative coupling mechanism between limbs and how the sensory feedback of one leg influences the movement of the other leg, and the affected limb of the patient is forced to move, so that the motor function is recovered.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a self-adaptive variable-stiffness treadmill system for rehabilitation, aiming at solving the problems of low efficiency, large physical consumption and the like in lower limb rehabilitation treatment, and introducing a lower limb cooperative coupling mechanism theory into lower limb rehabilitation treatment equipment, so as to bring a new rehabilitation treatment equipment for patients with lower limb hemiplegia or unilateral disability, and further research on the rehabilitation theory by using the equipment.

In order to achieve the purpose, the invention comprises the following concepts:

in the external environment, the rigidity, gradient and the like of the ground can influence the walking or running of people. Therefore, the variable stiffness mechanism of the treadmill module is additionally arranged in the treadmill, the stiffness change of the ground is equivalent to the disturbance of the stiffness of the treadmill, and then the lower limb cooperative coupling mechanism is triggered, and further the nerve path of the lower limb at the affected side is activated by means of the cooperative coupling mechanism of the lower limb, so that the lower limb rehabilitation is realized.

According to the conception, the invention adopts the following technical scheme:

a self-adaptive variable-stiffness treadmill system for rehabilitation comprises two sets of treadmill modules, two variable-angle scissor mechanisms, two variable-stiffness mechanisms, a rack and a weight support system; the treadmill module is arranged at the upper end of the variable-angle scissors fork mechanism, and realizes the continuous rotation of the running belt under the drive of the drive motor of the treadmill module, so as to provide a continuous moving surface as a running surface; the variable-angle scissors fork mechanism is used for guiding and supporting the treadmill module in the vertical direction and realizing the change of the pitching angle; the variable-rigidity mechanism is fixed on the rack and is in contact connection with a fifth scissor fork shaft of the variable-angle scissor fork mechanism, so that an acting force is provided to maintain the fifth scissor fork shaft at a certain position, the variable-angle scissor fork mechanism keeps a certain height, the variable-rigidity mechanism can elastically deform when the acting force changes, the position of the fifth scissor fork shaft changes, the height of the variable-angle scissor fork mechanism changes, and the height of the treadmill module is further changed; the body weight support system is fixed on the stand column of the frame, and is driven by the lever arm and the steel cable under the constant elastic force of the constant force spring, so that constant body weight support force is provided for a user through the body weight support belt, and the patient can stand and can be prevented from falling down.

The rehabilitation principle of the cooperative coupling mechanism between limbs of the lower limb is as follows: the two side running machine modules respectively correspond to the two side legs of a user, and for a hemiplegic patient, the two side legs are respectively a healthy side leg and an affected side leg. When a hemiplegic patient walks on the running machine, the rigidity of the running machine module corresponding to the healthy side leg of the hemiplegic patient in the vertical direction is suddenly reduced, the healthy side leg is disturbed by the rigidity change and then triggers an inter-limb cooperative coupling mechanism of the lower limb, the muscle nerve of the affected side leg can be stimulated through the mechanism, and the possibility of the affected side leg recovering the normal physiological function is increased through long-term muscle nerve stimulation. The gradient between the treadmill module and the horizontal plane can be changed rapidly, and the feet of a user can follow the change of the gradient of the surface of the treadmill module in the walking process, so that the foot drop symptom in the rehabilitation process can be prevented.

The two sets of treadmill modules are respectively arranged on the angle-variable scissors fork mechanisms on the left side and the right side of the system side by side, so that the speed control of the running belt and the height change of the treadmill modules are independently realized; the treadmill module comprises a driving motor, a running belt, a running plate, a running belt roller, a belt pulley shaft, a bearing, a vertical supporting seat, a connecting block, a synchronous belt wheel and a base; the driving motor is fixed on the base and drives a synchronous belt wheel fixedly connected with the driving belt running roller to rotate through synchronous belt transmission under the control of the controller, so as to drive the driving belt running roller to rotate; the running belt is wound on the two running belt rollers and is driven to rotate by the driving running belt roller; the belt running roller is arranged on a belt wheel shaft through a pair of bearings, and the belt wheel shaft is fixed on the base through a pair of vertical supporting seats; the connecting block is fixed on the base, runs the board and installs in the connecting block top, closely laminates with running the inboard in area, runs the area and supports human weight through running the board bearing.

The two variable-angle scissors and fork mechanisms are arranged on the rack side by side from left to right and can move independently; the variable angle scissor fork mechanism comprises: the scissors comprise a first scissors fork arm, a second scissors fork arm, a folding arm, a bearing with a base, a slotted hole base, a bearing with a flange, a first scissors fork shaft, a second scissors fork shaft, a third scissors fork shaft, a fourth scissors fork shaft, a fifth scissors fork shaft, a pin shaft, a sliding bearing and an electric push rod; the lower end of the first scissor fork arm is fixedly connected with the first scissor fork shaft, both ends of the first scissor fork shaft are provided with flanged bearings, and the flanged bearings can roll in a slotted hole of a slotted hole seat fixed on the frame seat along a straight line; the upper end of the scissor fork arm I is fixedly connected with a scissor fork shaft III, and the scissor fork shaft III is hinged with a pair of bearings with seats fixed on the base of the treadmill module; the lower end of the scissor fork arm II is fixedly connected with a scissor fork shaft II, the scissor fork shaft II is hinged with a bearing with a seat fixed on a frame seat, and the upper end of the scissor fork arm II is hinged with the lower end of the folding arm through a pin shaft; the upper end of the folding arm is fixedly connected with a scissor fork shaft IV, and two ends of the scissor fork shaft IV are provided with bearings with flanges, so that the scissor fork shaft IV can linearly roll in a slotted hole of a slotted hole seat fixed on a treadmill module base; the first scissor fork arm and the second scissor fork arm are hinged through a fifth scissor fork shaft and a sliding bearing. The variable-angle scissors fork mechanism further comprises a variable-angle mechanism, one end of an electric push rod is hinged with the second scissors fork arm through a hinge seat, and the other end of the electric push rod is hinged with the folding arm through the hinge seat.

The variable angle scissor mechanism may cause vertical movement of a treadmill module mounted thereon. In the present invention, the supporting force of the variable angle scissor mechanism in the vertical direction is obtained by applying a horizontal force on the scissor fork shaft five. When the acting force acting on the scissor fork shaft five changes or the load force on the variable-angle scissor fork mechanism changes, the position of the scissor fork shaft five changes, meanwhile, the flanged bearing rolls in the slotted hole, and the included angle between the scissor fork arm I and the scissor fork arm II is further changed, so that the treadmill module installed on the variable-angle scissor fork mechanism moves in the vertical direction. When the electric push rod is controlled by the controller to extend or retract, the included angle between the folding arm and the second scissor fork arm is changed, so that the equivalent length of the arm formed by the second scissor fork arm and the folding arm is not equal to that of the first scissor fork arm, the included angle between the base of the treadmill module and the horizontal plane is changed, and the included angle between the surface of the running belt in the treadmill module and the horizontal plane is further changed.

The variable rigidity mechanisms are arranged on the frame base and are respectively positioned in the variable-angle scissors fork mechanisms; the variable stiffness mechanism comprises a variable stiffness motor, a linear guide rail, a sliding block, a synchronous belt pulley shaft, a belt seat guide wheel, a spring steel plate and a spring steel plate fixing seat; the belt seat guide wheel is arranged on a slide block of the linear guide rail and is connected with the synchronous belt; one end of the spring steel plate is fixed on the frame seat through the spring steel plate fixing seat, the other end of the spring steel plate is in contact with a scissor fork shaft of the variable-angle scissor fork mechanism, and the guide wheel with the seat is in contact with the spring steel plate to provide supporting force and rolls along the spring steel plate; the variable-rigidity motor is controlled by the controller to drive the synchronous belt pulley and drive the synchronous belt to move so as to move the belt seat guide wheel; along with the movement of the guide wheel with the seat in the vertical direction, the support position of the guide wheel with the seat on the spring steel plate is changed, so that the effective cantilever length of the spring steel plate is further changed, and the rigidity is further changed; the rigidity change of the spring steel plate is transmitted to the variable-angle scissors fork mechanism through the scissors fork shaft five in contact with the spring steel plate, and then the vertical rigidity change of the treadmill module is realized.

The weight support system comprises: the device comprises a constant force spring, handrails, a fixed shaft, a connecting slide block, a linear module, a fulcrum shaft, a lever arm, a steel cable connecting rod, a pulley shaft, a steel cable, a movable pulley, a groove-shaped guide rail, a weight supporting belt and a stand column of a rack; the lower end of the weight supporting belt is arranged in the armpit of a user, the upper end of the weight supporting belt is fixed on a pulley shaft, one end of a steel cable penetrating through a movable pulley is fixed on a stand column of the frame, the other end of the steel cable is connected with a steel cable connecting rod at one end of a lever arm, the movable pulley is connected with the pulley shaft through a bearing, and the pulley shaft moves up and down along a vertical groove-shaped guide rail under the combined action of the steel cable tension bypassing the movable pulley and the weight supporting belt tension; the lever arm is hinged with a fulcrum shaft fixed on a stand column of the rack, one end of the lever arm is connected with a steel cable through a steel cable connecting rod, a linear module controlled by a controller is installed at a position close to the other end of the lever arm, a connecting sliding block on the linear module is connected with an extending end of a constant force spring, a constant force spring body is installed on a fixed shaft, and constant tension can be provided for the weight supporting belt through the lever arm by virtue of the constant tension characteristic of the constant force spring; the distance between the constant force spring and the fulcrum shaft, namely the length of the force arm, is changed through the movement of the connecting slide block on the linear module, so that the supporting force of the body weight supporting system is changed.

Compared with the prior art, the invention has the following substantial advantages and remarkable effects:

1) The device can enable a treadmill module to generate rigidity change in the vertical direction, generate rigidity disturbance on the lower limb of the healthy side, and send an action signal to the muscle of the lower limb of the opposite diseased side through a nerve loop of the lower limb cooperative coupling mechanism when the muscle of the lower limb reacts quickly, so that the lower limb of the opposite diseased side reacts. The lower limb rehabilitation of the patient is facilitated by triggering the cooperative coupling mechanism for multiple times.

2) The vertical rigidity of the treadmill module can be quickly adjusted in a large range, and multiple times of rigidity adjustment can be completed in one gait cycle. The principle of changing the rigidity is that the length of an effective cantilever of the spring steel plate cantilever beam is changed by adopting the movement of a guide wheel with a seat, only rolling friction force exists in the rigidity changing process, the energy consumption is low, and the action is rapid.

3) The weight supporting system adopts the constant force spring as a force bearing part, and can ensure that the elasticity is constant when the constant force spring has different deformations, thereby realizing the stability of the weight supporting force.

4) The inclination angle between the treadmill module and the ground can be adjusted by means of the variable-angle scissors fork mechanism, slope disturbance can be provided, and the dorsiflexion angle of the foot of the patient can be changed along with the slope when the patient trains, so that auxiliary rehabilitation is carried out.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a schematic structural view of a treadmill module.

Fig. 3 is a schematic view of the construction of the variable angle scissor mechanism.

Fig. 4 is a schematic structural view of the variable stiffness mechanism.

Fig. 5 is a structural schematic diagram of the variable stiffness mechanism in different states.

Fig. 6 is a schematic view of the structure of the body weight support system.

The variable-angle shear fork mechanism comprises five parts, namely a treadmill module 1, a variable-angle shear fork mechanism 2, a variable-rigidity mechanism 3, a rack 4 and a body weight supporting system 5. The reference numbers for the various parts are as follows:

the device comprises a driving motor 101, a running belt 102, a running plate 103, a running belt roller 104, a belt wheel shaft 105, a bearing 106, a vertical supporting seat 107, a connecting block 108, a synchronous belt 109, a synchronous belt wheel 110 and a base 111;

folding arm 201, pin shaft 202, second scissor fork arm 203, first scissor fork arm 204, flanged bearing 205, first scissor fork shaft 206, slotted seat 207, seated bearing 208, second scissor fork shaft 209, sliding bearing 210, fifth scissor fork shaft 211, third scissor fork shaft 212, electric push rod 213 and fourth scissor fork shaft 214;

the device comprises a spring steel plate 301, a belt seat guide wheel 302, a synchronous belt wheel shaft 303, a synchronous belt wheel 304, a synchronous belt 305, a sliding block 306, a linear guide rail 307, a variable stiffness motor 308 and a spring steel plate fixing seat 309;

a frame mount 401, a frame upright 402;

the device comprises an armrest 501, a fixed shaft 502, a constant force spring 503, a connecting slide block 504, a linear module 505, a fulcrum shaft 506, a lever arm 507, a cable connecting rod 508, a pulley shaft 509, a cable 510, a movable pulley 511, a groove-shaped guide rail 512 and a body weight supporting belt 513.

Detailed Description

In order that the objects, aspects and advantages of the present invention will become more apparent, exemplary embodiments of the present invention will be described in detail below with reference to the accompanying drawings, which are illustrative, not restrictive. In actual practice, the shapes and the arrangement of the components in the present invention may be changed, and it should be understood that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments of the present invention, and the present invention should not be limited by the exemplary embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention. It is expressly intended that all such obvious modifications and similar arrangements which come within the meaning and range of equivalents are included within the scope of the present invention without thereby departing from the design spirit of the present invention.

The self-adaptive variable-stiffness treadmill system for rehabilitation is used for providing auxiliary rehabilitation exercise for lower limb hemiplegia or unilateral disability people. An example implementation of the invention is illustrated in the following figures:

as shown in fig. 1 to 6, a self-adaptive variable stiffness treadmill system for rehabilitation comprises two sets of treadmill modules 1, two variable angle scissor mechanisms 2, two variable stiffness mechanisms 3, a frame 4 and a body weight support system 5; the treadmill module 1 is arranged at the upper end of the variable-angle scissors fork mechanism 2, and realizes the continuous rotation of the running belt under the driving of the driving motor 101 thereof, thereby providing a continuous moving surface as a running surface; the variable-angle scissors fork mechanism 2 is used for guiding and supporting the treadmill module 1 in the vertical direction and realizing the change of the pitching angle; the variable-rigidity mechanism 3 is fixed on the frame 4 and is in contact connection with the five scissors fork shafts 211 of the variable-angle scissors fork mechanism 2, so that an acting force is provided to maintain the five scissors fork shafts 211 at a certain position, the variable-angle scissors fork mechanism 2 is kept at a certain height, when the acting force is changed, the variable-rigidity mechanism 3 can elastically deform, the position of the five scissors fork shafts 211 is changed, the height of the variable-angle scissors fork mechanism 2 is changed, and the height of the treadmill module 1 is further changed; the body weight support system 5 is fixed on the stand column 402, driven by the constant elastic force of the constant force spring 503 through the lever arm 507 and the cable 510, and provides a constant body weight support force for the user through the body weight support belt 513, thereby assisting the patient to stand and preventing falling.

As shown in fig. 2, the two sets of treadmill modules 1 are respectively installed on the variable angle scissor mechanisms 2 at the left and right sides of the system side by side, so as to independently realize speed control of the running belt and height change of the treadmill modules 1; the treadmill module 1 comprises a driving motor 101, a running belt 102, a running plate 103, a running belt roller 104, a belt wheel shaft 105, a bearing 106, a vertical support seat 107, a connecting block 108, a synchronous belt 109, a synchronous belt wheel 110 and a base 111; the driving motor 101 is fixed on the base 111, and drives the synchronous pulley 110 fixedly connected with the driving running roller 104 to rotate through the transmission of the synchronous belt 109 under the control of the controller, so as to drive the driving running roller 104 to rotate; the tape 102 is wound on two tape rollers 104, and the tape 102 is driven to rotate by the driving tape roller 104; the tape running roller 104 is arranged on a pulley shaft 105 through a pair of bearings 106, and the pulley shaft 105 is fixed on a base 111 through a pair of vertical supporting seats 107; connecting block 108 is fixed on base 111, runs board 103 and installs in connecting block 108 top, closely laminates with running the inboard of area 102, through running board 103 bearing running area 102 and support human weight.

As shown in fig. 3, the two variable angle scissors and fork mechanisms 2 are mounted on the frame 4 side by side and can move independently; the variable angle scissor mechanism 2 includes: a first scissor fork arm 204, a second scissor fork arm 203, a folding arm 201, a bearing with a base 208, a slotted base 207, a bearing with a flange 205, a first scissor fork shaft 206, a second scissor fork shaft 209, a third scissor fork shaft 212, a fourth scissor fork shaft 214, a fifth scissor fork shaft 211, a pin shaft 202, a sliding bearing 210 and an electric push rod 213; the lower end of the first scissor fork arm 204 is fixedly connected with the first scissor fork shaft 206, both ends of the first scissor fork shaft 206 are provided with flanged bearings 205, and the flanged bearings 205 can roll in a groove hole of a groove hole seat 207 fixed on the frame seat 401 along a straight line; the upper end of the first scissor fork arm 204 is also fixedly connected with a third scissor fork shaft 212, and the third scissor fork shaft 212 is hinged with a pair of bearings 208 with seats fixed on the treadmill module base 111; the lower end of the second scissor fork arm 203 is fixedly connected with a second scissor fork shaft 209, the second scissor fork shaft 209 is hinged with a bearing with a seat 208 fixed on a frame seat 401, and the upper end of the second scissor fork arm 203 is hinged with the lower end of the folding arm 201 through a pin 202; the upper end of the folding arm 201 is fixedly connected with a scissor fork shaft IV 214, both ends of the scissor fork shaft IV 214 are provided with flanged bearings 205 which can roll along a straight line in a slotted hole of a slotted hole seat 207 fixed on the treadmill module base 111; the first scissor fork arm 204 and the second scissor fork arm 203 are hinged through a fifth scissor fork shaft 211 and a sliding bearing 210.

The variable-angle scissors fork mechanism 2 further comprises a variable-angle mechanism, one end of an electric push rod 213 is hinged with the second scissors fork arm 203 through a hinge seat, and the other end of the electric push rod is hinged with the folding arm 201 through a hinge seat; when the electric pushing rod 213 is extended or retracted under the control of the controller, the angle between the folding arm 201 and the second scissor fork 203 will change, which in turn will change the angle between the treadmill module base 111 and the horizontal plane, further changing the angle between the surface of the running belt 102 in the treadmill module 1 and the horizontal plane.

As shown in fig. 4 and 5, the stiffness varying mechanisms 3 are mounted on the frame base 401 and respectively located inside the angle varying scissor mechanisms 2; the variable stiffness mechanism 3 comprises a variable stiffness motor 308, a linear guide rail 307, a sliding block 306, a synchronous belt 305, a synchronous belt wheel 304, a synchronous belt wheel shaft 303, a belt seat guide wheel 302, a spring steel plate 301 and a spring steel plate fixing seat 309; the belt seat guide wheel 302 is arranged on a slide block 306 of a linear guide rail 307 and is connected with a synchronous belt 305; one end of the spring steel plate 301 is fixed on the frame seat 401 through the spring steel plate fixing seat 309, the other end of the spring steel plate is kept in contact with the fifth scissor fork shaft 211 of the variable-angle scissor fork mechanism 2, and the guide wheel 302 with the seat is in contact with the spring steel plate 301 to provide supporting force and roll along the spring steel plate 301; the variable stiffness motor 308 is controlled by a controller to drive the synchronous pulley 304, and drives the synchronous belt 305 to move so as to move the belt seat guide wheel 302; along with the movement of the pulley 302 with a seat in the vertical direction, the supporting position of the pulley on the spring steel plate 301 is changed, so that the effective cantilever length of the spring steel plate 301 is further changed, and the rigidity is further changed; the stiffness change of the spring steel plate 301 is transmitted to the variable angle scissors fork mechanism 2 through the scissors fork shaft five 211 in contact with the spring steel plate, and then the vertical stiffness change of the treadmill module 1 is realized.

As shown in fig. 6, the body weight support system 5 includes: a constant force spring 503, an armrest 501, a fixed shaft 502, a connecting slide block 504, a linear module 505, a fulcrum shaft 506, a lever arm 507, a steel cable connecting rod 508, a pulley shaft 509, a steel cable 510, a movable pulley 511, a groove-shaped guide rail 512 and a body weight supporting belt 513; the lower end of the weight supporting belt 513 is arranged in the armpit of a user, the upper end of the weight supporting belt 513 is fixed on a pulley shaft 509, one end of a steel cable 510 which penetrates through a movable pulley 511 is fixed on the stand column 402 of the frame, the other end of the steel cable is connected with a steel cable connecting rod 508 at one end of a lever arm 507, the movable pulley 511 is connected with the pulley shaft 509 through a bearing, and the pulley shaft 509 moves up and down along a vertical groove-shaped guide rail 512 under the combined action of the pulling force of the steel cable 510 which bypasses the movable pulley 511 and the pulling force of the weight supporting belt 513; the lever arm 507 is hinged with a fulcrum shaft 506 fixed on the stand column 402, one end of the lever arm 507 is connected with a steel cable 510 through a steel cable connecting rod 508, a linear module 505 controlled by a controller is installed at a position close to the other end, a connecting sliding block 504 on the linear module 505 is connected with the extending end of a constant force spring 503, the body of the constant force spring 503 is installed on the fixed shaft 502, and constant tension force can be provided for the weight supporting belt 513 through the lever arm 507 by virtue of the constant tension force characteristic of the constant force spring 503; the distance between the constant force spring 503 and the fulcrum shaft 506, namely the length of the force arm, is changed by the movement of the connecting slide block 504 on the linear module 505, so that the supporting force of the body weight supporting system 5 is changed.

The invention relates to a self-adaptive variable-rigidity treadmill system for rehabilitation, which comprises the following specific using methods:

referring to fig. 1, the overall structure of the invention is that the treadmill module 1 provides a continuously moving surface for a user to use as a walking platform, and is installed on the upper part of the variable angle scissor mechanism 2; the variable stiffness mechanism 3 can rapidly change stiffness through rotation of the variable stiffness motor 308 and convert the change of stiffness into the change of stiffness of the treadmill module 1 in the vertical direction through the structural characteristics of the variable angle scissor mechanism 2; the extension and retraction of the electric push rod 213 in the variable-angle scissors fork mechanism 2 changes the included angle between the folding arm 201 and the second scissors fork arm 203, so as to change the inclination angle between the treadmill module 1 and the horizontal plane; the body weight support system 5 provides a body weight support force by the constant force spring 503 as a force application member, and performs adjustment of the support force by a lever mechanism.

When the system is used, the variable stiffness motor 308 is controlled by the controller to rotate to move the seated guide wheel 302 to the uppermost end, so that the cantilever length of the spring steel plate 301 is minimum, and the treadmill module 1 achieves the maximum vertical stiffness. Treadmill module 1 is maintained level by controlling the extension and retraction of electrical push rod 213. The user stands on the adaptive variable stiffness treadmill with both feet standing on the treadbelts 102 of the bilateral treadmill module 1, respectively. Some patients may not stand by their own power, and thus the weight support belts 513 in the weight support system 5 are placed under the user's bilateral armpits. The controller adjusts the position of the connecting slide block 504 on the linear module 505 to adjust the range of the body weight supporting force, so that the proper body weight supporting force is provided for the patient, and the patient can stand on the variable-rigidity treadmill in an autonomous manner.

The controller respectively controls the driving motors 101 in the double-side running machine module 1 to rotate, the synchronous belt pulley 110 fixedly connected with the running belt roller 104 is driven to rotate through the synchronous belt 109 so as to drive the driving running belt roller to rotate, and the driving running belt roller rotates to drive the running belt 102 to continuously rotate; a user standing on the treadmill module 1 will follow the rotation of the running belt 102 to perform a walking or running action with the weight of the human body being carried by the running board 103 located under the running belt 102. The speed of the driving motor 101 of the double-side treadmill module 1 can be controlled independently during use, so as to realize different speeds of the double-side running belt 102 and meet the use requirements of different swing speeds and step lengths of legs at two sides.

When a user walks or runs on the treadmill module 1, a stiffness disturbance may be suddenly applied to the treadmill module 1 corresponding to a healthy side leg to trigger the inter-limb cooperative coupling mechanism of the human body. Specifically, the controller controls the variable stiffness motor 308 in the variable stiffness mechanism 3 corresponding to the healthy side leg to rotate at a certain moment of the walking gait cycle of the user, and then the pulley 302 with a base mounted on the sliding block 306 is driven by the synchronous belt 305 to move rapidly towards the steel spring plate fixing base 309. After the movement, the fulcrum position of the spring steel plate 301 is changed, so that the cantilever length is increased, the rigidity is reduced, and the spring steel plate is bent and deformed under the action of the force applied to the spring steel plate 301 by the scissor fork shaft five 211. The spring steel plate 301 in the stiffness varying mechanism 3 is deformed, and thus the scissors fork shaft five 211 is displaced. In the variable angle scissors and fork mechanism 2, the displacement of the scissors and fork shaft five 211 causes the flanged bearing 205 to roll in the slot of the slot seat 207, and further causes the included angle between the scissors and fork arms one 204 and two 203 to change, so that the rigidity of the treadmill module 1 corresponding to the healthy side leg in the vertical direction is also changed, and the treadmill module appears to move in the vertical direction. When the healthy side leg corresponding to the running machine module 1 changes obviously in vertical displacement due to the change of rigidity, the healthy side leg feels the disturbance and triggers the inter-limb cooperative coupling mechanism, the nerve of the affected side leg can be stimulated through the mechanism so that the muscle of the affected side leg makes a certain reaction, and the disturbance is repeated for many times to play a certain role in the rehabilitation of the affected side leg.

Due to the nature of the scissor mechanism, the treadmill module 1 mounted on top of the variable angle scissor mechanism 2 can only move in the vertical direction. When the scissor fork shaft five 211 is not displaced, the vertical height of the treadmill module 1 does not change. When the treadmill module 1 is displaced vertically, the body of the user on the treadmill module 1 may topple or sink. To prevent the user from falling down, the user can hold the armrest 501 and place the weight support belt 513 under the armpit of the user, when the user sinks, the pulley shaft 509 is driven by the weight support belt 513 to move downwards, the lever arm 507 is hinged with the fulcrum shaft 506 fixed on the stand column of the frame, and the movable pulley 511 applies force to one end of the lever arm 507 through the cable 510 when moving along with the pulley shaft 509, so as to drive the constant force spring 503 at the other end to stretch. Since the constant force spring 503 has a constant elastic force over a certain deformation range, a constant weight supporting force can be provided to the user through the weight supporting strap 513. When larger body weight supporting force is needed, the arm length of the lever is changed by the controller adjusting the connecting slide block 504 on the linear module 505 to be away from the fulcrum shaft 506, so that the body weight supporting belt 513 generates larger supporting force. The magnitude of the supporting force can be adjusted in real time by adjusting the position of the connection slider 504 in real time.

The controller controls the movement of the electric push rod 213 in the variable angle scissors and fork mechanism 2 to realize the change of the inclination angle between the treadmill module 1 installed on the variable angle scissors and fork mechanism 2 and the horizontal plane. When the electric push rod 213 moves under the instruction of the controller, the included angle between the folding arm 201 and the scissor fork arm 203 can be changed, further, because the other end of the folding arm 201 can roll in the slot hole seat 207 through the flanged bearing 205, when the included angle between the second scissor fork arm 203 and the folding arm 201 is changed, the angle between the treadmill module 1 installed above the variable-angle scissor fork mechanism 2 and the horizontal plane can also be changed. By changing the gradient between the treadmill module and the horizontal surface, the user can adapt to surfaces with different gradients when walking or running. Meanwhile, the slope angle between the treadmill module 1 and the horizontal plane is regularly changed in the walking gait cycle, so that the motion of foot ankle joints can be driven, and the foot drop symptom in the rehabilitation process is prevented.

In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "mounted" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.

Claims

1. The utility model provides a recovered self-adaptation variable stiffness treadmill system that uses which characterized in that: the treadmill comprises two sets of treadmill modules (1), two variable-angle scissor mechanisms (2), two variable-rigidity mechanisms (3), a frame (4) and a body weight supporting system (5); the treadmill module (1) is arranged at the upper end of the variable-angle scissors fork mechanism (2), and is driven by a driving motor (101) to realize the continuous rotation of the running belt so as to provide a continuous moving surface as a running surface; the variable-angle scissors fork mechanism (2) is used for guiding and supporting the treadmill module (1) in the vertical direction and realizing the change of a pitching angle; the variable stiffness mechanism (3) is fixed on the frame (4) and is in contact connection with a fifth scissor fork shaft (211) of the variable angle scissor fork mechanism (2), so that an acting force is provided to maintain the fifth scissor fork shaft (211) at a certain position, the variable angle scissor fork mechanism (2) is kept at a certain height, when the acting force is changed, the variable stiffness mechanism (3) can be elastically deformed, the position of the fifth scissor fork shaft (211) is changed, the height of the variable angle scissor fork mechanism (2) is changed, and the height of the treadmill module (1) is further changed; the body weight support system (5) is fixed on a stand column (402) of the frame, is driven by a lever arm (507) and a steel cable (510) under the action of constant elasticity of a constant force spring (503), and provides constant body weight support force for a user through a body weight support belt (513) so as to assist the patient to stand and prevent the patient from falling;

the two variable-angle scissors and fork mechanisms (2) are arranged on the rack (4) side by side from left to right and can move independently; the variable angle scissor mechanism (2) comprises: the scissors comprise a first scissors fork arm (204), a second scissors fork arm (203), a folding arm (201), a bearing with a base (208), a slotted base (207), a bearing with a flange (205), a first scissors fork shaft (206), a second scissors fork shaft (209), a third scissors fork shaft (212), a fourth scissors fork shaft (214), a fifth scissors fork shaft (211), a pin shaft (202), a sliding bearing (210) and an electric push rod (213); the lower end of the first scissor fork arm (204) is fixedly connected with the first scissor fork shaft (206), the two ends of the first scissor fork shaft (206) are provided with flanged bearings (205), and the flanged bearings (205) can roll in a slotted hole of a slotted hole seat (207) fixed on the frame seat (401) along a straight line; the upper end of the scissor fork arm I (204) is also fixedly connected with a scissor fork shaft III (212), and the scissor fork shaft III (212) is hinged with a pair of bearings (208) with seats fixed on the treadmill module base (111); the lower end of the second scissor fork arm (203) is fixedly connected with the second scissor fork shaft (209), the second scissor fork shaft (209) is hinged with a bearing (208) with a seat fixed on a frame seat (401), and the upper end of the second scissor fork arm (203) is hinged with the lower end of the folding arm (201) through a pin shaft (202); the upper end of the folding arm (201) is fixedly connected with a scissor fork shaft IV (214), two ends of the scissor fork shaft IV (214) are provided with bearings (205) with flanges, and the bearings can roll in a groove hole of a groove hole seat (207) fixed on a treadmill module base (111) along a straight line; the first scissor fork arm (204) is hinged with the second scissor fork arm (203) through a fifth scissor fork shaft (211) and a sliding bearing (210);

the angle-variable scissors fork mechanism (2) further comprises an angle-variable mechanism, one end of an electric push rod (213) is hinged with the second scissors fork arm (203) through a hinge seat, and the other end of the electric push rod is hinged with the folding arm (201) through the hinge seat; when the electric push rod (213) is controlled by the controller to extend or contract, the included angle between the folding arm (201) and the second scissor fork arm (203) is changed, so that the included angle between the base (111) of the treadmill module and the horizontal plane is changed, and the included angle between the surface of the running belt (102) in the treadmill module (1) and the horizontal plane is further changed;

the variable stiffness mechanisms (3) are arranged on the frame base (401) and are respectively positioned in the variable-angle scissor mechanisms (2); the variable stiffness mechanism (3) comprises a variable stiffness motor (308), a linear guide rail (307), a sliding block (306), a synchronous belt (305), a synchronous belt pulley (304), a synchronous belt pulley shaft (303), a belt seat guide wheel (302), a spring steel plate (301) and a spring steel plate fixing seat (309); the belt seat guide wheel (302) is arranged on a sliding block (306) of a linear guide rail (307) and is connected with a synchronous belt (305); one end of a spring steel plate (301) is fixed on a rack seat (401) through a spring steel plate fixing seat (309), the other end of the spring steel plate is kept in contact with a scissor fork shaft five (211) of the variable-angle scissor fork mechanism (2), and a guide wheel (302) with a seat is in contact with the spring steel plate (301) to provide supporting force and roll along the spring steel plate (301); the variable stiffness motor (308) is controlled by the controller to drive the synchronous belt pulley (304) to drive the synchronous belt (305) to move so as to drive the belt seat guide wheel (302) to move; along with the movement of the guide wheel with seat (302) in the vertical direction, the support position of the guide wheel with seat on the spring steel plate (301) is changed, so that the effective cantilever length of the spring steel plate (301) is further changed, and the rigidity is further changed; the rigidity change of the spring steel plate (301) is transmitted to the variable-angle scissors fork mechanism (2) through the scissors fork shaft five (211) which is in contact with the spring steel plate, so that the vertical rigidity change of the treadmill module (1) is realized;

the weight support system (5) comprises: the device comprises a constant force spring (503), an armrest (501), a fixed shaft (502), a connecting slide block (504), a linear module (505), a fulcrum shaft (506), a lever arm (507), a steel cable connecting rod (508), a pulley shaft (509), a steel cable (510), a movable pulley (511), a groove-shaped guide rail (512) and a weight supporting belt (513); the lower end of a weight supporting belt (513) is arranged in the armpit of a user, the upper end of the weight supporting belt is fixed on a pulley shaft (509), one end of a steel cable (510) which penetrates through a movable pulley (511) is fixed on a stand column (402) of the frame, the other end of the steel cable is connected with a steel cable connecting rod (508) at one end of a lever arm (507), the movable pulley (511) is connected with the pulley shaft (509) through a bearing, and the pulley shaft (509) moves up and down along a vertical groove-shaped guide rail (512) under the combined action of the pulling force of the steel cable (510) which winds around the movable pulley (511) and the pulling force of the weight supporting belt (513); the lever arm (507) is hinged with a fulcrum shaft (506) fixed on a stand column (402) of the rack, one end of the lever arm (507) is connected with a steel cable (510) through a steel cable connecting rod (508), a linear module (505) controlled by a controller is installed at a position close to the other end of the lever arm, a connecting sliding block (504) on the linear module (505) is connected with an extending end of a constant force spring (503), the body of the constant force spring (503) is installed on a fixed shaft (502), and constant tension force can be provided for supporting belt body weight (513) through the lever arm (507) by virtue of the constant tension force characteristic of the constant force spring (503); the distance between the constant force spring (503) and the fulcrum shaft (506), namely the length of the force arm is changed by the movement of the connecting slide block (504) on the linear module (505) so as to change the supporting force of the body weight supporting system (5);

the whole function is that the treadmill module (1) provides a continuously moving surface for a user to serve as a walking and running platform and is arranged at the upper part of the variable-angle scissor mechanism (2); the rigidity changing mechanism (3) changes rigidity rapidly through rotation of the rigidity changing motor (308) and converts the rigidity change into the rigidity change of the treadmill module 1 in the vertical direction through the structural characteristic of the variable-angle scissor mechanism (2); the extension and retraction of an electric push rod (213) in the variable-angle scissors fork mechanism (2) changes the included angle between the folding arm (201) and the second scissors fork arm (203) so as to change the inclination angle between the treadmill module (1) and the horizontal plane; the body weight support system (5) provides body weight support force by using a constant force spring (503) as a force application part, and performs support force adjustment by a lever mechanism.

2. The adaptive variable stiffness treadmill system for rehabilitation according to claim 1, wherein: the two sets of treadmill modules (1) are respectively arranged on the variable-angle scissors fork mechanisms (2) at the left side and the right side of the system side by side, and the speed control of the running belt and the height change of the treadmill modules (1) are independently realized; the running machine module (1) comprises a driving motor (101), a running belt (102), a running plate (103), a running roller (104), a belt wheel shaft (105), a bearing (106), a vertical supporting seat (107), a connecting block (108), a synchronous belt (109), a synchronous belt wheel (110) and a base (111); the driving motor (101) is fixed on the base (111), and drives a synchronous belt wheel (110) fixedly connected with the driving running roller (104) to rotate through the transmission of a synchronous belt (109) under the control of the controller, so as to drive the driving running roller (104) to rotate; the running belt (102) is wound on two running belt rollers (104), and the driving running belt roller (104) drives the running belt (102) to rotate; the belt running roller (104) is arranged on a belt wheel shaft (105) through a pair of bearings (106), and the belt wheel shaft (105) is fixed on a base (111) through a pair of vertical supporting seats (107); connecting block (108) are fixed on base (111), run board (103) and install in connecting block (108) top, closely laminate with running belt (102) inboard, through running board (103) bearing running belt (102) and support human weight.