CN-121987454-A - Power assisting mechanism and lower limb autonomous exercise device comprising same

Abstract

The invention discloses a power assisting mechanism and a lower limb autonomous exercise device comprising the same, which comprises an L-shaped supporting frame, a driving mechanism, a thigh power assisting component and a lower limb autonomous exercise device, wherein the L-shaped supporting frame is provided with a transverse plate and a vertical plate, the driving mechanism is fixedly arranged on the L-shaped supporting frame and comprises a motor, the thigh power assisting component comprises a first connecting plate rotationally connected with the transverse plate through a rotating shaft, a second winding wheel driven by the motor and provided with a rope I, the free end of the rope I is connected with the first connecting plate, and the lower limb autonomous exercise device comprises a lower limb rehabilitation technical field.

Inventors

• HUANG PENG
• ZENG ZHITONG

Assignees

• 上海交通大学医学院附属瑞金医院

Dates

Publication Date

20260508

Application Date

20260128

Claims (10)

1. 1. The power assisting mechanism is characterized by comprising an L-shaped supporting frame, wherein the L-shaped supporting frame is provided with a transverse plate and a vertical plate, and the power assisting mechanism further comprises: the driving mechanism is fixedly arranged on the L-shaped supporting frame and comprises a motor; the thigh power assisting assembly comprises a first connecting plate rotationally connected with the transverse plate through a first rotating shaft and a second winding wheel driven by the motor and winding a first rope, wherein the free end of the first rope is connected to the first connecting plate, so that the motor can provide power for lifting the first connecting plate through winding the first rope; The shank movement control assembly comprises a connecting plate II which is rotationally connected with the connecting plate I through a rotating shaft II, a winding wheel I which is driven by the motor and winds a rope II, a moving frame which is arranged on the device in a sliding manner, and a protruding shaft which is fixed on the side wall of the connecting plate II; the movable frame is movably connected with the convex shaft, and the free end of the second rope is connected to the movable frame; The motor is configured to synchronously drive the first winding wheel and the second winding wheel, so that the second rope pulls the moving frame to move, and the second connecting plate is guided to generate corresponding bending movement when the first connecting plate is lifted through the cooperation of the convex shaft and the moving frame.
2. 2. The power assisting mechanism according to claim 1, wherein the driving mechanism further comprises a second driving wheel fixed on the motor output shaft, a first driving wheel connected with the second driving wheel through a belt, and a first connecting shaft fixedly connected with the driving wheel in a coaxial manner, and the second winding wheel is fixedly arranged on the first connecting shaft.
3. 3. The booster mechanism of claim 2 wherein said lower leg movement control assembly further comprises a fixed frame fixedly mounted on one side of said L-shaped support frame and a support plate fixedly mounted on said fixed frame, said movable frame forming a sliding pair with a guide rod fixedly mounted on said support plate by means of a slider disposed thereon.
4. 4. The booster mechanism of claim 3, wherein the movable frame comprises side plates and a string rod connecting the side plates, the movable frame is connected with the protruding shaft through a sliding sleeve, the sliding sleeve is slidably sleeved on the string rod, and the sliding sleeve is rotatably connected with the protruding shaft through a rotating shaft IV.
5. 5. The booster mechanism of claim 1 wherein said calf motion control assembly further comprises a driven pulley block disposed on said support plate, said second rope being connected to said movable frame after passing around said driven pulley block.
6. 6. The booster mechanism of claim 1, wherein a foot rest for supporting the foot of the user is mounted at the bottom of the second connecting plate.
7. 7. A booster mechanism as claimed in claim 1, wherein the inner side of the cross plate is provided with armrests for the user to rest.
8. 8. The booster mechanism of claim 4 further comprising an angle adjustment mechanism, wherein the angle adjustment mechanism comprises an arc-shaped guide frame, an arc-shaped guide groove is formed in the arc-shaped guide frame, and the protruding shaft is slidably arranged in the arc-shaped guide groove.
9. 9. The booster mechanism of claim 8 wherein the angle adjustment mechanism further comprises a connector for mounting the arc-shaped guide frame, the connector is rotatably connected to the fixed frame via a second connecting shaft, and the axis of the second connecting shaft coincides with the axis of the protruding shaft when the first connecting plate and the second connecting plate are in a straightened state.
10. 10. A lower extremity autonomous exercise apparatus incorporating a booster as set forth in any one of claims 1-9, including a booster.

Description

Power assisting mechanism and lower limb autonomous exercise device comprising same Technical Field The invention relates to the technical field of lower limb rehabilitation, in particular to a power assisting mechanism and a lower limb autonomous exercise device comprising the same. Background In the process, patients often have difficulty in independently completing standard lower limb bending and stretching actions, such as active leg lifting and knee bending due to insufficient muscle strength, nerve control disorder or postoperative pain; The existing rehabilitation apparatus, such as a simple CPM machine (continuous passive exercise machine), can provide passive exercise, but has a fixed exercise track and a single mode, can not provide adaptive auxiliary force according to the real-time muscle strength condition of a patient, and further lacks of accurate simulation and cooperative control of the combined exercise of the hip joint and the knee joint; some advanced power auxiliary equipment also has the problems of complex structure, high cost and difficulty in fine adjustment aiming at individual differences; particularly, when the combined action of lifting the leg and bending the knee in the gait cycle is simulated, how to ensure the motion coordination between the lifting of the thigh and the bending of the calf and allow a therapist to flexibly adjust the training intensity and the joint movement range according to the rehabilitation progress is a technical problem to be solved in the current rehabilitation equipment field, and the prior art generally adopts a complex sensor and a control system to realize motion control, which not only increases the manufacturing cost and the maintenance difficulty of the equipment, but also makes the operation flow more complicated; To this end we propose a booster mechanism and lower limb autonomous exercise device incorporating the mechanism. Disclosure of Invention Therefore, the invention provides an assisting mechanism and a lower limb autonomous exercise device with the assisting mechanism, so as to solve the problems in the prior art. In order to achieve the above object, the present invention provides the following technical solutions: According to a first aspect of the invention, a booster mechanism includes an L-shaped support frame having a cross plate and a riser, further comprising: the driving mechanism is fixedly arranged on the L-shaped supporting frame and comprises a motor; the thigh power assisting assembly comprises a first connecting plate rotationally connected with the transverse plate through a first rotating shaft and a second winding wheel driven by the motor and winding a first rope, wherein the free end of the first rope is connected to the first connecting plate, so that the motor can provide power for lifting the first connecting plate through winding the first rope; The shank movement control assembly comprises a connecting plate II which is rotationally connected with the connecting plate I through a rotating shaft II, a winding wheel I which is driven by the motor and winds a rope II, a moving frame which is arranged on the device in a sliding manner, and a protruding shaft which is fixed on the side wall of the connecting plate II; the movable frame is movably connected with the convex shaft, and the free end of the second rope is connected to the movable frame; The motor is configured to synchronously drive the first winding wheel and the second winding wheel, so that the second rope pulls the moving frame to move, and the second connecting plate is guided to generate corresponding bending movement when the first connecting plate is lifted through the cooperation of the convex shaft and the moving frame. The driving mechanism further comprises a driving wheel II fixed on the output shaft of the motor, a driving wheel I connected with the driving wheel II through a belt, and a connecting shaft I fixedly connected with the driving wheel in a coaxial manner, wherein the winding wheel II is fixedly arranged on the connecting shaft I. Further, the shank movement control assembly further comprises a fixing frame fixedly arranged on one side of the L-shaped supporting frame and a supporting plate fixed on the fixing frame, and the movable frame and a guide rod fixed on the supporting plate form a sliding pair through a sliding block arranged on the movable frame. The movable frame comprises a side plate and a string rod connected with the two side plates, the movable frame is connected with the convex shaft through a sliding sleeve, the sliding sleeve is arranged on the string rod in a sliding sleeve mode, and the sliding sleeve is connected with the convex shaft in a rotating mode through a rotating shaft IV. Further, the lower leg movement control assembly further comprises a driven pulley block arranged on the supporting plate, and the second rope is connected with the movable frame after bypassing the driven pulley block. Further