阅读说明：本技术 一种位姿可调康复机 (Pose adjustable rehabilitation machine ) 是由 王勇 高合一 穆景颂 倪军 刘郑 刘正士 于 2021-08-04 设计创作，主要内容包括：本发明公开一种位姿可调康复机,其特征在于,位姿可调康复机包括底座；支撑架,支撑架固定于底座上；移位调节机构；第一连接机构；以及运动训练机构,运动训练机构安装于第一连接机构的一端；其中,移位调节机构包括第一上连接杆、第一下连接杆及第一电动推杆；第一上连接杆与第一下连接杆平行,且第一上连接杆位于第一下连接杆的上方；第一上连接杆及第一下连接杆的一端与支撑架转动连接,第一上连接杆及第一下连接杆的另一端与第一连接机构的另一端转动连接；第一电动推杆的一端与第一上连接杆或第一下连接杆转动连接,第一电动推杆的另一端与支撑架转动连接。本发明的位姿可调康复机结构合理,体积精简,方便移位,位姿转换效率高。(The invention discloses a pose adjustable rehabilitation machine which is characterized by comprising a base, a support and a lifting device, wherein the base is provided with a base; the supporting frame is fixed on the base; a displacement adjustment mechanism; a first connecting mechanism; the exercise training mechanism is arranged at one end of the first connecting mechanism; the displacement adjusting mechanism comprises a first upper connecting rod, a first lower connecting rod and a first electric push rod; the first upper connecting rod is parallel to the first lower connecting rod and is positioned above the first lower connecting rod; one ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the supporting frame, and the other ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the other end of the first connecting mechanism; one end of the first electric push rod is rotatably connected with the first upper connecting rod or the first lower connecting rod, and the other end of the first electric push rod is rotatably connected with the support frame. The pose adjustable rehabilitation machine is reasonable in structure, simple in size, convenient to move and high in pose conversion efficiency.)

1. A posture-adjustable rehabilitation machine is characterized by comprising:

a base;

the supporting frame is fixed on the base;

a displacement adjustment mechanism;

a first connecting mechanism; and

the exercise training mechanism is arranged at one end of the first connecting mechanism;

the displacement adjusting mechanism comprises a first upper connecting rod, a first lower connecting rod and a first electric push rod;

the first upper connecting rod is parallel to the first lower connecting rod, and the first upper connecting rod is positioned above the first lower connecting rod;

one ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the supporting frame, and the other ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the other end of the first connecting mechanism;

one end of the first electric push rod is rotatably connected with the first upper connecting rod or the first lower connecting rod, the other end of the first electric push rod is rotatably connected with the supporting frame, and the movement of the movement training mechanism is realized by adjusting the lifting of the movement adjusting mechanism through the first electric push rod.

2. The pose-adjustable rehabilitation machine according to claim 1, wherein the exercise training mechanism includes a slider-crank type exercise training mechanism, a crank rocker type exercise training mechanism, a swing guide rod type exercise training mechanism, or a crank rocker type exercise training mechanism.

3. The pose-adjustable rehabilitation machine according to claim 2, wherein the motion training mechanism is a swing guide rod type motion training mechanism including a base, a rotation shaft support member, and a swing guide rod mechanism;

the base is fixedly connected with one end of the first connecting mechanism;

the rotation shaft support member is provided on the base;

the swing guide rod mechanism comprises a crank rotating shaft, a crank, a sliding block, a sliding rail and a pedal, wherein the sliding rail is arranged on the back of the pedal along the length direction of the pedal, the sliding block is slidably arranged in the sliding rail, a revolute pair is formed by the sliding block and one end of the crank, the crank rotating shaft is rotatably arranged at one end of the rotating shaft supporting part, the other end of the crank is fixedly connected with one end of the crank rotating shaft, and a revolute pair is formed between the pedal and the base.

4. The pose-adjustable rehabilitation machine according to claim 3, wherein the swing guide bar type motion training mechanism further includes a driving member provided in the rotation shaft support member, the rotation shaft being connected to the driving member.

5. The pose-adjustable rehabilitation machine according to claim 3, wherein the swing guide bar type motion training mechanism further comprises a resistance member provided in the slewing shaft support member, the resistance member including a friction assembly or a magnetically controlled resistance generator or a flywheel.

6. The pose-adjustable rehabilitation machine according to claim 1, wherein one end of the first electric push rod is rotatably connected to the middle of the first upper connecting rod or the first lower connecting rod.

7. The pose-adjustable rehabilitation machine according to claim 1, further comprising a second link mechanism, one end of the second link mechanism being fixedly connected to an end of the first link mechanism that is not connected to the displacement adjustment mechanism, and the other end of the second link mechanism being fixedly connected to the exercise training mechanism.

8. The pose-adjustable rehabilitation machine according to claim 1, further comprising:

the second connecting mechanism comprises a second upper connecting rod, a second lower connecting rod, a fixing part and a second electric push rod;

one end of the second upper connecting rod and one end of the second lower connecting rod are rotatably connected with one end of the first connecting mechanism, which is not connected with the displacement adjusting mechanism, the other end of the second upper connecting rod and the other end of the second lower connecting rod are rotatably connected with the fixing part, and the fixing part is fixedly connected with the exercise training mechanism;

one end of the second electric push rod is rotatably connected with the second upper connecting rod or the second lower connecting rod, the other end of the second electric push rod is rotatably connected with the first connecting mechanism, and the inclination angle of the exercise training mechanism can be adjusted through the second electric push rod.

9. The pose-adjustable rehabilitation machine according to claim 1, wherein the mounting height of the displacement adjustment mechanism on the support frame is adjustable.

10. The pose-adjustable rehabilitation machine according to claim 1, further comprising:

the second connecting mechanism comprises a second connecting rod and a second electric push rod;

one end of the second connecting rod is rotatably connected with one end of the first connecting mechanism which is not connected with the displacement adjusting mechanism, and the other end of the second connecting rod is fixedly connected with the exercise training mechanism;

one end of the second electric push rod is rotatably connected with the first connecting mechanism, the other end of the second electric push rod is rotatably connected with the exercise training mechanism, and the inclination angle of the exercise training mechanism can be adjusted through the second electric push rod.

Technical Field

The invention relates to the technical field of health and fitness instruments, in particular to a pose adjustable rehabilitation machine.

Background

At present, the aging degree of the population of China is increased, and the number of patients with unhealthy limbs is increased day by day, so that limb rehabilitation machines become research hotspots in the rehabilitation field, and various limb rehabilitation machines designed by research teams at home and abroad are put into practical use. The motion trail of the limb rehabilitation machine universally existing on the market mostly does not consider the training requirement of human ankle joints or does not set the ankle joint training function, so that the ankle joints cannot be well trained in the process of rehabilitation training, and the expected rehabilitation training effect cannot be achieved. In addition, the support frame of the existing limb rehabilitation machine is large in size, large in occupied space when not used, difficult to displace or small in displacement amplitude and range, and has the problems that a single motion training mechanism is inconvenient to change in pose and the like.

Therefore, it is particularly important to develop a pose adjustable rehabilitation machine with reasonable structure, simple volume, convenient displacement and high pose conversion efficiency.

Disclosure of Invention

In view of the above disadvantages of the prior art, the present invention aims to provide a novel pose-adjustable rehabilitation machine which can realize bilateral lower limb collaborative training, meet the ankle joint angle training requirements, has a simple volume, is convenient to shift, and has high pose conversion efficiency.

To achieve the above and other related objects, the present invention provides a pose adjustable rehabilitation machine, including:

a base;

the supporting frame is fixed on the base;

a displacement adjustment mechanism;

a first connecting mechanism; and

the exercise training mechanism is arranged at one end of the first connecting mechanism;

the displacement adjusting mechanism comprises a first upper connecting rod, a first lower connecting rod and a first electric push rod;

the first upper connecting rod is parallel to the first lower connecting rod, and the first upper connecting rod is positioned above the first lower connecting rod;

one ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the supporting frame, and the other ends of the first upper connecting rod and the first lower connecting rod are rotatably connected with the other end of the first connecting mechanism;

one end of the first electric push rod is rotatably connected with the first upper connecting rod or the first lower connecting rod, the other end of the first electric push rod is rotatably connected with the supporting frame, and the movement of the movement training mechanism is realized by adjusting the lifting of the movement adjusting mechanism through the first electric push rod.

In an alternative embodiment, the exercise training mechanism comprises a slider-crank type exercise training mechanism, a crank rocker type exercise training mechanism, a swing guide rod type exercise training mechanism, or a crank rocker type exercise training mechanism.

In an alternative embodiment, the exercise training mechanism is a swing guide rod type exercise training mechanism, which comprises a base, a rotating shaft supporting component and a swing guide rod mechanism;

the base is fixedly connected with one end of the first connecting mechanism;

the rotation shaft support member is provided on the base;

the swing guide rod mechanism comprises a crank rotating shaft, a crank, a sliding block, a sliding rail and a pedal, wherein the sliding rail is arranged on the back of the pedal along the length direction of the pedal, the sliding block is slidably arranged in the sliding rail, a revolute pair is formed by the sliding block and one end of the crank, the crank rotating shaft is rotatably arranged at one end of the rotating shaft supporting part, the other end of the crank is fixedly connected with one end of the crank rotating shaft, and a revolute pair is formed between the pedal and the base.

In an alternative embodiment, the swing guide bar type exercise training mechanism further includes a driving member provided in the rotation shaft supporting member, and the rotation shaft is connected to the driving member.

In an alternative embodiment, the swing guide bar type exercise training mechanism further comprises a resistance member disposed within the swivel shaft support member, the resistance member comprising a friction assembly or a magnetically controlled resistance generator or a flywheel.

In an optional embodiment, one end of the first electric push rod is rotatably connected with the middle part of the first upper connecting rod or the first lower connecting rod.

In an optional embodiment, the pose adjustable rehabilitation machine further comprises a second connecting mechanism, one end of the second connecting mechanism is fixedly connected with one end of the first connecting mechanism, which is not connected with the displacement adjusting mechanism, and the other end of the second connecting mechanism is fixedly connected with the motion training mechanism.

In an optional embodiment, the pose adjustable rehabilitation machine further comprises:

the second connecting mechanism comprises a second upper connecting rod, a second lower connecting rod, a fixing part and a second electric push rod;

one end of the second upper connecting rod and one end of the second lower connecting rod are rotatably connected with one end of the first connecting mechanism, which is not connected with the displacement adjusting mechanism, the other end of the second upper connecting rod and the other end of the second lower connecting rod are rotatably connected with the fixing part, and the fixing part is fixedly connected with the exercise training mechanism;

one end of the second electric push rod is rotatably connected with the second upper connecting rod or the second lower connecting rod, the other end of the second electric push rod is rotatably connected with the first connecting mechanism, and the inclination angle of the exercise training mechanism can be adjusted through the second electric push rod.

In an alternative embodiment, the mounting height of the displacement adjustment mechanism on the support frame is adjustable.

In an optional embodiment, the pose adjustable rehabilitation machine further comprises:

the second connecting mechanism comprises a second connecting rod and a second electric push rod;

one end of the second connecting rod is rotatably connected with one end of the first connecting mechanism which is not connected with the displacement adjusting mechanism, and the other end of the second connecting rod is fixedly connected with the exercise training mechanism;

one end of the second electric push rod is rotatably connected with the first connecting mechanism, the other end of the second electric push rod is rotatably connected with the exercise training mechanism, and the inclination angle of the exercise training mechanism can be adjusted through the second electric push rod.

In an alternative embodiment, the mounting height of the displacement adjustment mechanism on the support frame is adjustable.

In an alternative embodiment, the height of the support frame is adjustable.

In an optional embodiment, the pose adjustable rehabilitation machine further comprises a moving wheel arranged below the base.

The pose-adjustable rehabilitation machine provided by the invention realizes high-efficiency lifting displacement and adjustment by utilizing a parallelogram structure, and the motion training mechanism generates larger displacement by using smaller displacement of the push rod.

The pose-adjustable rehabilitation machine is simple in structure, small in size and convenient to install overall.

The base of the pose-adjustable rehabilitation machine is stable in structure and convenient to move due to the wheels.

The position of the movement training mechanism of the pose-adjustable rehabilitation machine is adjustable and can be accommodated.

When the posture-adjustable rehabilitation machine is not used, the height of the motion training mechanism can be reduced, the size of the outward expansion is reduced, the occupied space is small, the posture-adjustable rehabilitation machine is convenient to store and is safe to use.

When the position of the motion training mechanism is adjusted, the pose-adjustable rehabilitation machine can be always kept in a horizontal state, is stable and safe, and can ensure that the basic angle required by joint training is kept unchanged.

The pose-adjustable rehabilitation machine can properly adjust the inclination angle of the motion training mechanism to meet the motion training requirements of different people.

The length of the crank of the exercise training mechanism of the pose-adjustable rehabilitation machine can be adjusted, the inclination angle of the pedal can be adjusted by adjusting the length of the crank, the exercise training mechanism can better adapt to people with different leg lengths and different using postures such as sitting posture and lying posture, and simultaneously, the exercise training mechanism can accord with the reasonable lower limb motion amplitude and angle of ankle joints, knee joints, hip joints and the like of different human bodies.

Drawings

Fig. 1 is a schematic perspective view of a pose adjustable rehabilitation machine according to a first embodiment of the present invention.

Fig. 2 is a rear view of a first pose-adjustable rehabilitation machine provided by the invention.

Fig. 3 is a rear view of the first pose-adjustable rehabilitation machine provided by the invention with the base, the support frame and the displacement adjusting mechanism removed.

Fig. 4 is a left side view of the first pose-adjustable rehabilitation machine provided by the invention with the base, the support frame and the displacement adjusting mechanism removed.

Fig. 5 is a schematic diagram of pose adjustment of the first pose adjustable rehabilitation machine provided by the present invention.

Fig. 6 is a schematic perspective view of a second pose adjustable rehabilitation machine provided by the present invention.

Fig. 7 is a rear view of the second pose-adjustable rehabilitation machine provided by the invention with the base, the support frame and the displacement adjusting mechanism removed.

Fig. 8 is a left side view of the second pose-adjustable rehabilitation machine provided by the invention with the base, the support frame and the displacement adjusting mechanism removed.

Fig. 9 is a schematic perspective view of a third pose adjustable rehabilitation machine provided by the present invention.

Fig. 10 is a left side view of a third pose adjustable rehabilitation machine provided by the present invention.

Description of the element reference numerals

A base 1; a moving wheel 11; a support frame 2; a first support rod segment 21; a second strut section 22; a handrail 23; a mounting seat 24; a displacement adjusting mechanism 3; a first upper connecting rod 31; a first lower connecting rod 32; a first electric push rod 33; a push rod end 331; a tail end 332; a first connecting mechanism 4; a second connecting mechanism 5; a second connecting rod 51; a second upper connecting rod 51 a; a second lower connecting rod 51 b; a fixed portion 52; a second electric push rod 53; a motion training mechanism 6; a base 61; a second slide rail 611; a U-shaped support plate 612; a rotation shaft support member 62; a rotating shaft 63; a crank 64; a support plate 65; a pedal 67; a first slide rail 68; a first slider 69.

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict.

It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the drawings only show the components related to the present invention rather than the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.

Referring to fig. 1-10, the present invention introduces a novel pose-adjustable rehabilitation machine which can realize bilateral lower limb cooperative training, meet the ankle joint angle training requirement, and has the advantages of compact volume, convenient displacement and high pose conversion efficiency; the pose adjustable rehabilitation machine at least comprises a base 1, a support frame 2, a displacement adjusting mechanism 3, a first connecting mechanism 4 and a motion training mechanism 6; the supporting frame 2 is fixed on the base 1; the displacement adjusting mechanism 3 is mounted on the support frame 2, one end of the first connecting mechanism 4 is connected with one end of the displacement adjusting mechanism 3, the other end of the first connecting mechanism 4 is provided with the exercise training mechanism 6, and the exercise training mechanism 6 is a limb rehabilitation mechanism for performing lower limb rehabilitation training; the displacement adjusting mechanism 3 is designed to be of a parallelogram structure, and the integral lifting of the displacement adjusting mechanism 3 can be regulated and controlled through the first electric push rod 33, so that the displacement (including horizontal translation and vertical lifting) of the exercise training mechanism 6 is realized. The structure of the posture-adjustable rehabilitation machine of the present invention will be described in detail below with reference to the accompanying drawings.

Example one

Fig. 1 is a schematic perspective view of a pose adjustable rehabilitation machine according to the present embodiment, and fig. 2 is a rear view of the pose adjustable rehabilitation machine according to the present embodiment; fig. 3 is a rear view of the pose adjustable rehabilitation machine of the embodiment after the base 1, the support frame 2 and the displacement adjusting mechanism 3 are removed; fig. 4 is a left side view of the pose adjustable rehabilitation machine of the present embodiment with the base 1, the support frame 2, and the displacement adjustment mechanism 3 removed. Referring to fig. 1, in the present embodiment, the shifting device includes a base 1, a supporting frame 2, a shifting adjusting mechanism 3, a first connecting mechanism 4, a second connecting mechanism 5, and a exercise training mechanism 6.

Referring to fig. 1 and 2, in the present embodiment, a moving wheel 11 is installed at the bottom of the base 1, so that the entire displacement device can be conveniently moved, and the moving wheel 11 can be a universal wheel with a locking device, so that the displacement device can be conveniently moved to a specified position and fixed by the locking device. Of course, in some embodiments, the base 1 may not be provided with the moving wheel 11, but may be stabilized in various ways such as abutting against the base 1 by using a fast clamp, wherein the fast clamp is designed according to the mechanical principle of the double-rocker structure in the planar four-bar mechanism, and utilizes the dead point clamping in the mechanical mechanics.

Referring to fig. 1 and 2, in the present embodiment, the supporting frame 2 is installed at one side of the base 1, and the length of the supporting frame 2 is adjustable. The support frame 2 comprises a first support rod section 21 and a second support rod section 22; the lower end of the first support rod segment 21 is fixedly connected with the base 1, and the lower end of the second support rod segment 22 is inserted into the upper end of the first support rod segment 21 and is locked by a locking knob (not shown in the figure). Specifically, the length of the support frame 2 can be controlled by adjusting the length of the second support rod section 22 inserted into the first support rod section 21 by loosening the locking knob, and the support frame 2 is locked by the locking knob after being adjusted to a proper length. It is understood that in other embodiments, the first support rod segment 21 and the second support rod segment 22 of the support frame 2 may also be adjusted in relative position by a lead screw nut transmission mechanism or other existing adjusting mechanisms, so as to achieve the purpose of adjusting the length of the support frame 2.

Referring to fig. 1 and 2, in the present embodiment, the support frame 2 is further provided with a handrail 23, so as to facilitate holding during rehabilitation training. The armrest 23 may be arranged on the second support rod segment 22. Of course, the armrest 23 can also be arranged on the first support rod section 21.

Referring to fig. 1, in the present embodiment, a mounting seat 24 for mounting the displacement adjusting mechanism 3 is disposed on a side of the supporting frame 2 facing the displacement adjusting mechanism 3, and a height of the mounting seat 24 on the supporting frame 2 is adjustable, so that a mounting position of the displacement adjusting mechanism 3 on the supporting frame 2 is adjustable. The orientation of the first support rod section 21 of the support frame 2 is provided with a plurality of first threaded holes on one side of the displacement adjusting mechanism 3, the first threaded holes are arranged along the length direction of the first support rod section 21, the mounting seat 24 is provided with second threaded holes corresponding to the first threaded holes, and the mounting seat 24 can be mounted at a proper position of the first support rod section 21 through bolts.

Referring to fig. 1 and 2, in the present embodiment, the length of the first support rod segment 21 is also adjustable, and the first support rod segment includes a bottom fixed segment and a top movable segment, and the bottom fixed segment and the top movable segment can adopt a connection manner similar to that of the first support rod segment 21 and the second support rod segment 22, so that the mounting seat 24 can be fixedly mounted on the top movable segment of the first support rod segment 21, and the height of the displacement adjusting mechanism 3 can be adjusted by directly adjusting the length of the top movable segment extending out of the bottom fixed segment.

Referring to fig. 1, in the present embodiment, the displacement adjusting mechanism 3 is designed to have a parallelogram structure, and includes a first upper connecting rod 31, a first lower connecting rod 32 and a first electric push rod 33; the first upper connecting rod 31 is parallel to the first lower connecting rod 32, and the first upper connecting rod 31 is located above the first lower connecting rod 32; one end of the first upper connecting rod 31 and one end of the first lower connecting rod 32 are rotatably connected with the supporting frame 2, and the other end of the first upper connecting rod 31 and the other end of the first lower connecting rod 32 are rotatably connected with one end of the first connecting mechanism 4; the push rod end 331 of the first electric push rod 33 is rotatably connected with the first upper connecting rod 31 (or the first lower connecting rod 32), the tail end 332 of the first electric push rod 33 is rotatably connected with the supporting frame 2, and the overall lifting of the displacement adjusting mechanism 3 is adjusted by the first electric push rod 33 so as to drive the movement training mechanism 6 to displace (including horizontal translation and up-down lifting), and the large-range displacement of the movement training mechanism 6 can be realized by the small displacement of the push rod. Of course, in other embodiments, the tail end 332 of the first electric push rod 33 is rotatably connected to the first upper connecting rod 31 (or the first lower connecting rod 32), and the push rod end 331 of the first electric push rod 33 is rotatably connected to the supporting frame 2.

Specifically, as shown in fig. 1, a rod end of the first electric push rod 33 is rotatably connected to a rod body of the first upper connecting rod 31 (or the first lower connecting rod 32) close to the supporting frame 2. It will be appreciated that in some embodiments, the rod end of the first electric push rod 33 is pivotally connected to other positions of the first upper connecting rod 31, such as a middle portion.

Specifically, as shown in fig. 1, the first upper connecting rod 31 and the first lower connecting rod 32 respectively include two; one end of each of the two first upper connecting rods 31 is rotatably connected with the upper end of the mounting seat 24, and the other end of each of the two first upper connecting rods 31 is rotatably connected with the upper part of one end of the first connecting mechanism 4; one end of each of the two first lower connecting rods 32 is rotatably connected to the upper end of the mounting seat 24, and the other end of each of the two first lower connecting rods 32 is rotatably connected to the lower portion of one end of the first connecting mechanism 4; the rod bodies of the two first upper connecting rods 31 close to the supporting frame 2 are rotatably connected with the push rod end 331 of the first electric push rod 33 through a rotating shaft, and the tail end 332 of the first electric push rod 33 is rotatably connected with the lower end of the mounting seat 24.

As shown in fig. 1, in the present embodiment, the first connecting mechanism 4 is a symmetrically disposed double-plate structure (of course, a double-rod structure is also possible), one end of the first connecting mechanism 4 is connected to the displacement adjusting mechanism 3, and the other end of the first connecting mechanism 4 is connected to one end of the second connecting mechanism 5.

As shown in fig. 1 and 4, in the present embodiment, the second connecting mechanism 5 includes a second upper connecting rod 51a, a second lower connecting rod 51b, a fixing portion 52, and a second electric push rod 53; one end of the second upper connecting rod 51a and one end of the second lower connecting rod 51b are rotatably connected to one end of the first connecting mechanism 4, which is not connected to the displacement adjusting mechanism 3, the other end of the second upper connecting rod 51a and the other end of the second lower connecting rod 51b are rotatably connected to the upper end and the lower end of the fixing portion 52, respectively, and the fixing portion 52 is fixedly connected to the base 61 of the exercise training mechanism 6; the push rod end of the second electric push rod 53 is rotatably connected with the second upper connecting rod 51a (or the second lower connecting rod 51b), the tail end of the second electric push rod 53 is rotatably connected with the first connecting mechanism 4, and the inclination angle of the exercise training mechanism 6 can be adjusted through the second electric push rod 53 so as to meet exercise training requirements of different people. Of course, in other embodiments, the tail end of the second electric push rod 53 is rotatably connected to the second upper connecting rod 51a (or the second lower connecting rod 51b), and the push rod end of the second electric push rod 53 is rotatably connected to the first connecting mechanism 4.

In a specific example, the horizontal state of the motion training mechanism 6 can be adjusted through the second electric push rod 53, so that the motion training mechanism 6 can be kept in a horizontal state all the time in the displacement process and the use process, stability and safety are achieved, and meanwhile, the basic angle required by joint training can be kept unchanged.

Specifically, as shown in fig. 1 and 4, the rod end of the second electric push rod 53 is rotatably connected to the rod body of the second upper connecting rod 51a (or the second lower connecting rod 51b) near one end of the fixing portion 52. It is understood that in some embodiments, the rod end of the second electric push rod 53 is rotatably connected to other positions of the second upper connecting rod 51 a.

In this embodiment, the number of the second upper connecting rods 51a and the number of the second lower connecting rods 51b are two, two second upper connecting rods 51a are symmetrically arranged on both sides of the first connecting mechanism 4, two second lower connecting rods 51b are also symmetrically arranged on both sides of the first connecting mechanism 4, and the second upper connecting rods 51a are located above the second lower connecting rods 51 b.

The exercise training mechanism 6 according to the present embodiment may be, for example, an upper or lower limb exercise training device such as a slider-crank type, a crank rocker type, a swing guide bar type, or a crank rocker type, and the upper or lower limb exercise training device may be an upper or lower limb exercise training device having a joint angle training requirement, or an upper or lower limb exercise training device having a pedal or a handle with a local degree of freedom and having no joint angle training requirement. Fig. 1 to 4 show the case where the exercise training mechanism 6 is a swing guide bar type lower limb exercise training mechanism.

Referring to fig. 1-4, the swing guide bar type exercise training mechanism includes a base 61, a swing guide bar mechanism, a rotation shaft supporting member 62, and an adjusting mechanism. The exercise training mechanism 6 can remarkably promote the movement of the ankle joints of the lower limbs of the human body so as to promote the blood flow, does not interfere with the normal state of muscles and pulses, has adjustable shape so as to adapt to different requirements, and accords with the movement law of the ankle joints of the human body.

Referring to fig. 1 to 4, the swing guide mechanism includes a rotation shaft 63, a crank 64, a first slide block 69, a first slide rail 68, and a pedal 67, the first slide rail 68 is disposed on a back surface of the pedal 67 along a length direction of the pedal 67, the first slide block 69 is slidably mounted in the first slide rail 68, the first slide block 69 and one end of the crank 64 form a rotation pair, the rotation shaft 63 is rotatably mounted on an end of the rotation shaft supporting member 62 away from the base 61, the other end of the crank 64 is fixedly connected to an end of the rotation shaft 63, and a rotation pair is formed between the base 61 and the pedal 67.

Referring to fig. 1 to 4, in an embodiment, the crank 64, the first slide block 69, the first slide rail 68 and the pedal 67 each include two, and are respectively located at two sides of the rotation shaft supporting member 62, each of the first slide rails 68 is disposed on a back surface of the pedal 67 along a length direction of the pedal 67 on the same side, each of the first slide blocks 69 is slidably mounted in the first slide rail 68 on the same side, each of the first slide blocks 69 forms a rotation pair with one end of the crank 64 on the same side, the rotation shaft 63 is rotatably mounted on one end of the rotation shaft supporting member 62 away from the base 61, two ends of the rotation shaft 63 are respectively fixedly connected with the other end of the crank 64 on the same side, and a rotation pair is formed between the base 61 and the pedal 67.

Referring to fig. 1-4, in the present embodiment, the swing guide bar mechanism further includes a U-shaped connecting member (not labeled), one end of the U-shaped connecting member is fixedly connected to the top of the first sliding block, and the other end of the U-shaped connecting member and one end of the crank 64 form a rotation pair.

Referring to fig. 1 to 4, in the present embodiment, a U-shaped supporting plate 612 and a leg pad 66 are respectively disposed on two sides of the base 61 on the rotation shaft supporting part 62. The bottom of the U-shaped supporting plate 612 is fixed on the base 61, and a rotating pair is formed between the top end of the U-shaped supporting plate 612 and the pedal 67; the leg pad 66 is located on one side of the tread of the pedal 67 and is used for supporting the leg during ankle training.

Referring to fig. 1-4, in the present embodiment, the length of the crank 64 is adjustable, and the length of the crank 64 can be adjusted to assist in adjusting the inclination angle of the pedal 67. The length adjustment of the crank 64 can be realized by replacing the crank 64 with different length specifications. In this embodiment, the crank 64 may be a rotary disk.

Referring to fig. 1 to 4, in the present embodiment, the adjusting mechanism is disposed between the rotation shaft supporting member 62 and the base 61, a moving pair is formed between the rotation shaft supporting member 62 and the base 61, and the rotation shaft supporting member 62 and the first end of the base 61 form a rotating pair, so that the relative position of the rotation shaft 63 and the first end of the base 61 (including the overall horizontal movement of the rotation shaft supporting member 62 or the vertical distance between the rotation shaft 63 and the base 61) can be adjusted by the adjusting mechanism to adjust the swing angle of the pedal 67.

Referring to fig. 1-4, in the present embodiment, the adjusting mechanism includes a supporting plate 65 and a second sliding rail 611, and the rotation shaft supporting component 62 is slidably mounted on the second sliding rail 611 through a second sliding block and can be locked; the second slide rail 611 is disposed on the base 61 along a length direction of the base 61; the pivot shaft support member 62 and the top of the second slide block may be connected by a hinge to achieve the pivotal connection between the pivot shaft support member 62 and the second slide block. Two ends of the supporting plate 65 are respectively provided with a revolute pair, one end of the supporting plate 65 is connected with the middle part of the rotation shaft supporting component 62 through a revolute pair, the other end of the supporting plate 65 is connected with a third slider through a revolute pair, and the third slider is slidably mounted on the second sliding rail 611, that is, the other end of the supporting plate 65 is slidably mounted on the second sliding rail 611 through the third slider. Therefore, with the adjustment mechanism shown in fig. 1 to 4, the rotation shaft support member 62 can be adjusted to move horizontally by the synchronous movement of the rotation shaft support member 62 and the support plate 65 along the second slide rail 611, or the angle between the base 61 and the rotation shaft support member 62 can be adjusted by fixing the rotation shaft support member 62 and moving the support plate 65 horizontally along the second slide rail 611, both of which cause the position of the rotation shaft 63 to change, thereby achieving the purpose of adjusting the swing angle of the pedal 67 of the swing guide mechanism.

The position of the swing guide rod mechanism can be adjusted through the adjusting mechanism so as to adjust the swing angle of the pedal 67, or the length of the crank 64 can be adjusted in a matched mode so as to adjust the inclination angle of the pedal 67, so that the reasonable ankle joint motion amplitude and angle of different human bodies can be met.

It will be appreciated that in some embodiments, the swivel shaft support member 62 forms a sliding pair with the base 61, while the swivel shaft support member 62 does not form a rotating pair with the first end of the base 61.

It is understood that, in an embodiment, the adjusting mechanism is not provided between the rotation shaft supporting member 62 and the base 61, and the rotation shaft supporting member 62 is directly fixed to the base 61.

In this embodiment, a driving member (not shown) may be further provided in the rotation shaft supporting member 62, and the rotation shaft 63 may be connected to the driving member. The drive member may be, for example, an electric motor, or a combination of an electric motor and a speed reducer, or a flywheel.

In this embodiment, a resistance member including a friction assembly, a magnetic resistance generator, or a flywheel may be further disposed in the rotation shaft support member 62. The resistance member is a friction assembly including a friction plate and a friction plate seat which are engaged with each other, the friction plate is mounted on the rotation shaft 63, the friction plate seat is mounted on one end of the rotation shaft support member 62 close to the rotation shaft 63, and the magnitude of the motion resistance is adjusted by operating a man-machine interaction device, which will be described later, to control the tightening or loosening of the friction plate and the friction plate seat. The resistance part adopts a magnetic control resistance generator, the magnetic control resistance generator comprises an aluminum disc flywheel and a permanent magnet assembly which are matched with each other, the aluminum disc flywheel is installed on the rotating shaft 63, the permanent magnet assembly is installed at one end, close to the rotating shaft 63, of the rotating shaft supporting part 62, the magnetic control resistance generator passes through a magnetic induction line between the aluminum disc flywheel and the permanent magnet to generate eddy current to form resistance, and the resistance can be adjusted by operating the man-machine interaction device to control the distance between the aluminum disc flywheel and the permanent magnet.

It should be noted that, in other embodiments, the friction assembly or the magnetically controlled resistance generator may not be specifically provided as the resistance member, but the driving member may be directly used as the resistance member. Taking a driving part adopting a motor or a combination of the motor and a speed reducer as an example, direct current which is not more than rated current of the motor can be input into the motor, so that the motor is in an energy consumption braking state and becomes a resistance source.

Referring to fig. 1 to 4, in the present embodiment, the exercise training mechanism 6 further includes a human-machine interaction device (not shown), which may be disposed on the top surface of the rotation shaft supporting member 62, for example, and may serve as a control center of the pose adjustable rehabilitation machine of the present embodiment.

Fig. 5 shows a schematic height adjustment diagram of the motion training mechanism 6 of the pose adjustable rehabilitation machine of the present embodiment. As shown in fig. 5, the first electric push rod 33 adjusts the overall elevation of the displacement adjusting mechanism 3 to drive the movement of the exercise training mechanism 6 (including horizontal translation and vertical elevation), so as to adjust the pose and adapt to different use poses such as sitting posture and lying posture.

Example two

As shown in fig. 6 to 8, this embodiment describes another pose-adjustable rehabilitation machine, which also includes a base 1, a support frame 2, a displacement adjusting mechanism 3, a first connecting mechanism 4, a second connecting mechanism 5, and a motion training mechanism 6. Compared with the posture-adjustable rehabilitation machine of the first embodiment, the difference is that the structure of the second connecting mechanism 5 is different, and the other structures are basically the same, so that the description is not repeated.

Referring to fig. 6-8, in the present embodiment, the second connecting mechanism 5 includes a second connecting rod 51 and a second electric push rod 53; one end of the second connecting rod 51 is rotatably connected with one end of the first connecting mechanism 4 which is not connected with the displacement adjusting mechanism 3, and the other end of the second connecting rod 51 is fixedly connected with a base 61 of the exercise training mechanism 6; the push rod end/tail end of the second electric push rod 53 is rotatably connected with the middle part of the first connecting mechanism 4, the tail end/push rod end of the second electric push rod 53 is rotatably connected with the side wall of the base 61 of the exercise training mechanism 6, and the inclination angle of the exercise training mechanism 6 can be adjusted through the second electric push rod 53 so as to meet exercise training requirements of different people.

In a specific example, the horizontal state of the motion training mechanism 6 can be adjusted through the second electric push rod 53, so that the motion training mechanism 6 can be kept in a horizontal state all the time in the displacement process and the use process, stability and safety are achieved, and meanwhile, the basic angle required by joint training can be kept unchanged.

The exercise training mechanism 6 according to the present embodiment may be, for example, an upper or lower limb exercise training device such as a slider-crank type, a crank rocker type, a swing guide bar type, or a crank rocker type, and the upper or lower limb exercise training device may be an upper or lower limb exercise training device having a joint angle training requirement, or an upper or lower limb exercise training device having a pedal or a handle with a local degree of freedom and having no joint angle training requirement. Fig. 6 to 8 show the case that the exercise training mechanism 6 is a swing guide rod type lower limb exercise training mechanism, and please refer to the related parts of the first embodiment for detailed structure, which is not described herein.

EXAMPLE III

As shown in fig. 9 and 10, the present embodiment describes a third posture-adjustable rehabilitation machine, which also includes a base 1, a support frame 2, a displacement adjustment mechanism 3, a first connection mechanism 4, a second connection mechanism 5, and a exercise training mechanism 6. Compared with the posture-adjustable rehabilitation machine of the first embodiment, the difference is that the structure of the second connecting mechanism 5 is different, and the other structures are basically the same, so that the description is not repeated.

Referring to fig. 9 and 10, in the present embodiment, the second connecting mechanism 5 is not provided with the second electric push rod 53, one end of the second connecting mechanism 5 is fixedly connected to one end of the first connecting mechanism 4 that is not connected to the displacement adjusting mechanism 3, and the other end of the second connecting mechanism 5 is fixedly connected to the base 61 of the exercise training mechanism 6. The base 61 of the exercise training mechanism 6 is horizontally arranged, so that the exercise training mechanism 6 can be kept in a horizontal state all the time in the displacement process and the use process, stability and safety are achieved, and meanwhile, the basic angle required by joint training is kept unchanged.

It is understood that, in some embodiments, the posture-adjustable rehabilitation machine may not include the second link mechanism 5, and the end of the first link mechanism 4 that is not connected to the displacement adjustment mechanism 3 is directly fixedly connected to the base 61 of the exercise training mechanism 6.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

In the description herein, numerous specific details are provided, such as examples of components and/or methods, to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Reference throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment, and not necessarily in all embodiments, of the present invention. Thus, appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in various places throughout this specification are not necessarily referring to the same embodiment. Furthermore, the particular features, structures, or characteristics of any specific embodiment of the present invention may be combined in any suitable manner with one or more other embodiments. It is to be understood that other variations and modifications of the embodiments of the invention described and illustrated herein are possible in light of the teachings herein and are to be considered as part of the spirit and scope of the present invention.

It will also be appreciated that one or more of the elements shown in the figures can also be implemented in a more separated or integrated manner, or even removed for inoperability in some circumstances or provided for usefulness in accordance with a particular application.

Additionally, any reference arrows in the drawings/figures should be considered only as exemplary, and not limiting, unless otherwise expressly specified. Further, as used herein, the term "or" is generally intended to mean "and/or" unless otherwise indicated. Combinations of components or steps will also be considered as being noted where terminology is foreseen as rendering the ability to separate or combine is unclear.

As used in the description herein and throughout the claims that follow, "a," "an," and "the" include plural references unless otherwise indicated. Also, as used in the description herein and throughout the claims that follow, the meaning of "in …" includes "in …" and "on …" unless otherwise indicated.

The above description of illustrated embodiments of the invention, including what is described in the abstract of the specification, is not intended to be exhaustive or to limit the invention to the precise forms disclosed herein. While specific embodiments of, and examples for, the invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention, as those skilled in the relevant art will recognize and appreciate. As indicated, these modifications may be made to the present invention in light of the foregoing description of illustrated embodiments of the present invention and are to be included within the spirit and scope of the present invention.

The systems and methods have been described herein in general terms as the details aid in understanding the invention. Furthermore, various specific details have been given to provide a general understanding of the embodiments of the invention. One skilled in the relevant art will recognize, however, that an embodiment of the invention can be practiced without one or more of the specific details, or with other apparatus, systems, assemblies, methods, components, materials, parts, and/or the like. In other instances, well-known structures, materials, and/or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the invention.

Thus, although the present invention has been described herein with reference to particular embodiments thereof, a latitude of modification, various changes and substitutions are intended in the foregoing disclosures, and it will be appreciated that in some instances some features of the invention will be employed without a corresponding use of other features without departing from the scope and spirit of the invention as set forth. Thus, many modifications may be made to adapt a particular situation or material to the essential scope and spirit of the present invention. It is intended that the invention not be limited to the particular terms used in following claims and/or to the particular embodiment disclosed as the best mode contemplated for carrying out this invention, but that the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Accordingly, the scope of the invention is to be determined solely by the appended claims.