Joint training device and rehabilitation training standing frame

Abstract

The present disclosure provides a joint training device, comprising: a first support rod, a second support rod, an ankle joint training module, and a knee joint training module; the ankle joint training module is connected between the first support rod and the second support rod, the knee joint training module is connected between the first support rod and the second support rod, and the knee joint training module is arranged above the ankle joint training module. The present disclosure also provides a rehabilitation training standing frame comprising the above-mentioned joint training device.

Description

TECHNICAL FIELD

[0001] The present disclosure belongs to the technical field of machinery, and in particular relates to a joint training device and a rehabilitation training standing frame. BACKGROUND

[0002] Cerebral palsy syndrome, also known as cerebral palsy and brain palsy, is a group of persistent central motor and posture development disorders and activity limitation syndromes. It is more common in children caused by infection, fetal development retardation, abnormal delivery and other factors. The main manifestations of patients are motor disorders and posture abnormalities, often accompanied by sensory, perceptual, cognitive, communication and behavioral disorders, as well as epilepsy and secondary muscle and bone diseases. The rehabilitation training of brain palsy patients mostly needs to be completed with the help of rehabilitation equipment and auxiliary tools. The rehabilitation of joint injury (especially the knee joint and ankle joint) mostly needs to be completed with the help of rehabilitation equipment and auxiliary tools.

[0003] The existing cerebral palsy patient rehabilitation training device and standing frame, joint rehabilitation training device and support in the prior art have a standing training function, a single mode, limited function, and it is difficult to realize comprehensive rehabilitation training of multiple joints such as legs and feet and balance. SUMMARY

[0004] In order to solve at least one of the above technical problems, the present disclosure provides a joint training device and a rehabilitation training standing frame.

[0005] According to one aspect of the present disclosure, a joint training device is provided, comprising: a first support rod, a second support rod, an ankle joint training module, and a knee joint training module; the ankle joint training module is connected between the first support rod and the second support rod, the knee joint training module is connected between the first support rod and the second support rod, and the knee joint training module is arranged above the ankle joint training module; the ankle joint training module comprises an ankle joint crank, an ankle joint first connecting rod and an ankle joint second connecting rod, a first end of the ankle joint crank is rotatably connected to a side surface of the first support rod, a second end of the ankle joint crank is rotatably connected to a first end of the ankle joint first connecting rod, a second end of the ankle joint first connecting rod is rotatably connected to a first end of the ankle joint second connecting rod, and a second end of the ankle joint second connecting rod is rotatably connected to a side surface of the second support rod; the knee joint training module comprises a knee joint crank, a knee joint first connecting rod and a knee joint second connecting rod, a first end of the knee joint crank is rotatably connected to a side surface of the first support rod, a second end of the knee joint crank is rotatably connected to a first end of the knee joint first connecting rod, a second end of the knee joint first connecting rod is rotatably connected to a first end of the knee joint second connecting rod, and a second end of the knee joint second connecting rod is rotatably connected to a side surface of the second support rod.

[0006] According to the joint training device of at least one embodiment of the present disclosure, the ankle joint training module further comprises a pedal and a pedal support rod, a first end of the pedal support rod is fixedly connected with the pedal, a second end of the pedal support rod is fixedly connected with the ankle joint first connecting rod, and the second end of the pedal support rod is connected at a middle position of the ankle joint first connecting rod.

[0007] According to the joint training device of at least one embodiment of the present disclosure, the knee joint training module further comprises a knee joint fixing support and a fixing support rod, a first end of the fixing support rod is fixedly connected with the knee joint fixing support, a second end of the fixing support rod is fixedly connected with the knee joint first connecting rod, and the second end of the fixing support rod is connected at a position between the second end of the knee joint first connecting rod and a middle position of the knee joint first connecting rod.

[0008] According to the joint training device of at least one embodiment of the present disclosure, the first support rod comprises a first main support rod and a first adjustable support rod, the second support rod comprises a second main support rod and a second adjustable support rod, the first adjustable support rod is arranged at an upper end of the first main support rod, the second adjustable support rod is arranged at an upper end of the second main support rod, the height of the first adjustable support rod is adjustable, and the height of the second adjustable support rod is adjustable.

[0009] According to the joint training device of at least one embodiment of the present disclosure, the ankle joint training module is connected between the first main support rod of the first support rod and the first main support rod of the second support rod, and the knee joint training module is connected between the first adjustable support rod of the first support rod and the second adjustable support rod of the second support rod.

[0010] According to the joint training device of at least one embodiment of the present disclosure, the joint training device further comprises a first driving motor, the first driving motor is arranged at a side of the first support rod, and the first driving motor drives the ankle joint crank to rotate at the side of the first support rod.

[0011] According to the joint training device of at least one embodiment of the present disclosure, the joint training device further comprises a second driving motor, the second driving motor is arranged at a side of the first support rod, and the second driving motor drives the knee joint crank to rotate at the side of the first support rod.

[0012] According to the joint training device of at least one embodiment of the present disclosure, the first adjustable support rod and the second adjustable support rod each comprise an outer sleeve, an inner sleeve, a gas spring, a gas spring connector and an adjusting bolt, the outer sleeve is sleeved outside the inner sleeve, the gas spring is arranged in a hollow structure formed by the outer sleeve and the inner sleeve, a first end of the gas spring is fixedly connected with a first end of the inner sleeve, a second end of the gas spring is fixedly connected with a second end of the outer sleeve through the gas spring connector, a second end of the inner sleeve is capable of sliding in the outer sleeve, a first end of the outer sleeve is provided with a locking hole, the adjusting bolt is inserted into the locking hole, and the position of the second end of the inner sleeve in the outer sleeve is fixed by rotating the adjusting bolt.

[0013] According to the joint training device of at least one embodiment of the present disclosure, the first adjustable support rod and the second adjustable support rod each further comprise a support rod connector, the first end of the gas spring and the first end of the inner sleeve are each fixed on the support rod connector.

[0014] According to the joint training device of at least one embodiment of the present disclosure, the size of the first end of the ankle joint crank is greater than the size of the second end of the ankle joint crank, and the size of the first end of the knee joint crank is greater than the size of the second end of the knee joint crank.

[0015] According to the joint training device of at least one embodiment of the present disclosure, the second end of the ankle joint second connecting rod is rotatably connected to the side of the second support rod through an ankle joint fixing member; the second end of the knee joint second connecting rod is rotatably connected to the side of the second support rod through a knee joint fixing member.

[0016] According to the joint training device of at least one embodiment of the present disclosure, the first end of the ankle joint crank is rotatably connected to the side of the first support rod through an ankle joint fixing member, and a driving shaft of the first driving motor is fixedly connected with the first end of the ankle joint crank after penetrating through the ankle joint fixing member.

[0017] According to the joint training device of at least one embodiment of the present disclosure, the first end of the knee joint crank is rotatably connected to the side of the first support rod through a knee joint fixing member, and a driving shaft of the second driving motor is fixedly connected with the first end of the knee joint crank after penetrating through the knee joint fixing member.

[0018] According to another aspect of the present disclosure, a rehabilitation training standing frame is provided, comprising two joint training devices according to any one of the above and a connecting part, the connecting part fixedly connecting the two joint training devices.

[0019] According to the rehabilitation training standing frame of at least one embodiment of the present disclosure, the connecting part is a support table top.

[0020] The rehabilitation training standing frame according to at least one embodiment of the present disclosure further comprises a waist protection pad, a waist adjusting rod, a waist supporting rod, two handrails and two handrail connecting members; the waist protection pad is fixed on the waist adjusting rod, the waist adjusting rod is fixed on the waist supporting rod, the waist supporting rod is fixedly connected between the second ends of the two handrails, and the first ends of the two handrails are fixed on the first supporting rods of the two joint training devices through the two handrail connecting members respectively. BRIEF DESCRIPTION OF DRAWINGS

[0021] The accompanying drawings illustrate exemplary embodiments of the present disclosure and together with the general description of the disclosure given above, and the detailed description of the embodiments below, serve to explain the principles of the present disclosure.

[0022] Figure 1 is a structural schematic diagram of a joint training device and a rehabilitation training standing frame comprising the joint training device according to one embodiment of the present disclosure.

[0023] Figure 2 is a structural schematic diagram of a knee joint training module and an ankle joint training module of a joint training device according to one embodiment of the present disclosure.

[0024] Figure 3 is a structural exploded schematic diagram of an adjustable supporting rod of a joint training device according to one embodiment of the present disclosure.

[0025] Figure 4 is a rear view of a rehabilitation training standing frame according to one embodiment of the present disclosure.

[0026] BRIEF DESCRIPTION OF DRAWINGS

[0027] 1 joint training device

[0028] 101 first supporting rod

[0029] 1011 first main supporting rod

[0030] 1012 first adjustable supporting rod

[0031] 102 second supporting rod

[0032] 1021 second main supporting rod

[0033] 1022 second adjustable supporting rod

[0034] 103 ankle joint training module

[0035] 1031 ankle joint crank

[0036] 1032 ankle joint first connecting rod

[0037] 1033 Second link of ankle joint

[0038] 1034 Pedal support rod

[0039] 1035 Pedal

[0040] 104 Knee joint training module

[0041] 1041 Knee joint crank

[0042] 1042 First link of knee joint

[0043] 1043 Second link of knee joint

[0044] 1044 Fixed support rod

[0045] 1045 Knee joint fixed support

[0046] 105 First driving motor

[0047] 106 Second driving motor

[0048] 107 Ankle joint fixing member

[0049] 108 Knee joint fixing member

[0050] 2001 Outer sleeve

[0051] 2002 Inner sleeve

[0052] 2003 Gas spring

[0053] 2004 Gas spring connecting member

[0054] 2005 Adjusting bolt

[0055] 2006 Support rod connecting member

[0056] 3 Standing frame for rehabilitation training

[0057] 4 Connecting part

[0058] 5 Waist protection pad

[0059] 6 Waist adjusting rod

[0060] 7 Waist support rod

[0061] 8 Handrail

[0062] 9 Handrail connecting member DETAILED DESCRIPTION

[0063] The present disclosure will be described in further detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are merely exemplary and are not limiting to the present disclosure. In addition, it should also be understood that for the convenience and clarity of the description, only parts of the relevant are shown in the drawings.

[0064] It should be noted that the embodiments and features of the present disclosure can be combined if there is no conflict. The technical solutions of the present disclosure will be described in detail below with reference to the drawings and in combination with the embodiments.

[0065] Unless otherwise specified, the exemplary embodiments / examples shown will be understood as providing exemplary features of various details that can implement the technical concepts of the present disclosure in practice. Therefore, unless otherwise specified, the features of various embodiments / examples can be additionally combined, separated, interchanged and / or rearranged without departing from the technical concepts of the present disclosure.

[0066] In the drawings, cross-hatching and / or shading are generally used to indicate that a portion of one component is positioned above another component, or that the portion of one component is positioned below another component. As such, unless otherwise specified, the presence of cross-hatching or shading is not a requirement for any particular material, material property, size, proportion, commonality of the illustrated components, or any other characteristic, attribute, property, or the like of the components. In addition, in the drawings, the size and relative sizes of components can be exaggerated for clarity and / or descriptive purposes. When exemplary embodiments can be practiced differently, a specific process sequence can be performed in a different order than the described order, or concurrently with the described order. For example, two consecutively described processes can be performed at substantially the same time or in the reverse order of the described order. Moreover, like reference numerals designate like components.

[0067] When a component is referred to as being “on” or “above” another component, “connected to” or “coupled to” another component, it can be directly on, directly connected to, or directly coupled to the other component, or intervening components can be present. However, when a component is referred to as being “directly on” or “directly connected to” or “directly coupled to” another component, there are no intervening components present. For this reason, the term “connected” can refer to a physical connection, an electrical connection, or the like, with or without intervening components.

[0068] For descriptive purposes, the present disclosure can use spatially relative terms, such as "below," "beneath," "lower," "under," "above," "upper," "over," and the like, to describe the relationship between one element and another element as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use, operation, and / or manufacture in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "below" can encompass both an orientation of above and below. Moreover, the device can be otherwise oriented (e.g., rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0069] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, to the extent that the terms "including," "includes," "having," "has," "with," or "contains" or variants thereof are used in either the detailed description and / or the claims, such terms are intended to be inclusive in a manner similar to the term "comprising." It is also noted that the terms "substantial," "approximately," and other similar terms, as used herein, are used in a relative sense and not in an absolute sense. Thus, they are used to indicate that a value, calculation, and / or provided value is close to an exact value, but not exact due to inherent tolerances and / or measurement inaccuracies.

[0070] The following detailed description is made with reference to the accompanying drawings, Figures 1 to 4 The structure of the joint training device and the rehabilitation training standing frame of the present disclosure will be described in detail.

[0071] Reference is first made to Figure 1 and Figure 2The joint training device 1 comprises a first support rod 101, a second support rod 102, an ankle joint training module 103, and a knee joint training module 104; the ankle joint training module 103 is connected between the first support rod 101 and the second support rod 102, the knee joint training module 104 is connected between the first support rod 101 and the second support rod 102, and the knee joint training module 104 is arranged above the ankle joint training module 103; the ankle joint training module 103 comprises an ankle joint crank 1031, an ankle joint first connecting rod 1032, and an ankle joint second connecting rod 1033; a first end of the ankle joint crank 1031 is rotatably connected to a side surface of the first support rod 101; a second end of the ankle joint crank 1031 is rotatably connected to a first end of the ankle joint first connecting rod 1032; a second end of the ankle joint first connecting rod 1032 is rotatably connected to a first end of the ankle joint second connecting rod 1033; and a second end of the ankle joint second connecting rod 1033 is rotatably connected to a side surface of the second support rod 102; the knee joint training module 104 comprises a knee joint crank 1041, a knee joint first connecting rod 1042, and a knee joint second connecting rod 1043; a first end of the knee joint crank 1041 is rotatably connected to a side surface of the first support rod 101; a second end of the knee joint crank 1041 is rotatably connected to a first end of the knee joint first connecting rod 1042; a second end of the knee joint first connecting rod 1042 is rotatably connected to a first end of the knee joint second connecting rod 1043; and a second end of the knee joint second connecting rod 1043 is rotatably connected to a side surface of the second support rod 102.

[0072] Figure 1 In the joint training device 1 is exemplarily applied to the rehabilitation training standing frame 3, the joint training device of the present disclosure is not limited to be applied to the rehabilitation training standing frame in the Figure 1 Preferably, the first support rod 101 and the second support rod 102 are both arranged in a cylindrical shape and have the same structure. The knee joint training module 104 is arranged above the ankle joint training module 103, and the position of the ankle joint training module 103 in the vertical direction can be adjusted to adapt to different users, and the position of the knee joint training module 104 in the vertical direction can also be adjusted.

[0073] The crank is a component that can make a full rotation in a connecting rod mechanism. Figure 1 The ankle joint training module 103 and the knee joint training module 104 in the joint training device 1 are both connecting rod mechanisms. The distance between the first support rod 101 and the second support rod 102 needs to be able to make the crank in the ankle joint training module 103 and the crank in the knee joint training module 104 make a full rotation.

[0074] Preferably, the second end of the ankle joint second connecting rod 1033 is rotatably connected to the side of the second support rod 102 through the ankle joint fixing member 107; the second end of the knee joint second connecting rod 1043 is rotatably connected to the side of the second support rod 102 through the knee joint fixing member 108. The first end of the ankle joint crank 1031 is rotatably connected to the side of the first support rod 101 through the ankle joint fixing member 107. The first end of the knee joint crank 1041 is rotatably connected to the side of the first support rod 101 through the knee joint fixing member 108. The above-mentioned "rotatably connected" preferably adopts hinging.

[0075] The ankle joint fixing member 107 and the knee joint fixing member 108 can be sleeved on the first support rod 101 and the second support rod 102, and can be locked after adjusting the position of the ankle joint fixing member 107 and the knee joint fixing member 108 on the first support rod 101 and the second support rod 102.

[0076] According to one preferred embodiment of the present disclosure, the joint training device 1 further comprises a first driving motor 105 arranged on the side of the first support rod 101, the first driving motor 105 drives the ankle joint crank 1031 to rotate on the side of the first support rod 101. The joint training device 1 further comprises a second driving motor 106 arranged on the side of the first support rod 101, the second driving motor 106 drives the knee joint crank 1041 to rotate on the side of the first support rod 101. Preferably, the first driving motor 105 and the second driving motor 106 independently drive the ankle joint crank 1031 and the knee joint crank 1041. The first driving motor 105 and the second driving motor 106 can be respectively supported on the side of the first support rod 101 through a motor support. Preferably, the first motor support is fixedly connected with the ankle joint fixing member 107, the first motor support can be fixed with a part of the lower surface of the ankle joint fixing member 107, so that the first motor support can hold the first driving motor 105, and the positional relationship between the first driving motor 105 and the ankle joint fixing member 107 is stable. The second motor support is fixedly connected with the knee joint fixing member 108, the second motor support can be fixed with a part of the lower surface of the knee joint fixing member 108, so that the second motor support can hold the second driving motor 106, and the positional relationship between the second driving motor 106 and the knee joint fixing member 108 is stable.

[0077] More preferably, the driving shaft of the first driving motor 105 is fixedly connected with the first end of the ankle joint crank 1031 after penetrating through the ankle joint fixing member. The driving shaft of the second driving motor 106 is fixedly connected with the first end of the knee joint crank 1041 after penetrating through the knee joint fixing member.

[0078] It should be noted that the driving shaft of the first driving motor 105 passes through the ankle joint fixing member 107 but does not pass through the first support rod 101, that is, the driving shaft of the first driving motor 105 passes through a non-central position of the ankle joint fixing member 107, the ankle joint fixing member 107 is preferably provided with a middle through hole for being passed through by the first support rod 101, and the ankle joint fixing member 107 is further provided with a transverse through hole, the extension direction of the transverse through hole being perpendicular to the extension direction of the middle through hole, the transverse through hole being used for being passed through by the driving shaft of the first driving motor 105, so that the driving shaft of the first driving motor 105 passes through the side of the first support rod 101.

[0079] The driving shaft of the second driving motor 106 passes through the knee joint fixing member 108 but does not pass through the first support rod 101, that is, the driving shaft of the second driving motor 106 passes through a non-central position of the knee joint fixing member 108, the knee joint fixing member 108 is preferably provided with a middle through hole for being passed through by the first support rod 101, and the knee joint fixing member 108 is further provided with a transverse through hole, the extension direction of the transverse through hole being perpendicular to the extension direction of the middle through hole, the transverse through hole being used for being passed through by the driving shaft of the second driving motor 106, so that the driving shaft of the second driving motor 106 passes through the side of the first support rod 101.

[0080] According to one preferred embodiment of the present disclosure, the first support rod 101 of the joint training device 1 comprises a first main support rod 1011 and a first adjustable support rod 1012, and the second support rod 102 comprises a second main support rod 1021 and a second adjustable support rod 1022, the first adjustable support rod 1012 is arranged at the upper end of the first main support rod 1011, the second adjustable support rod 1022 is arranged at the upper end of the second main support rod 1021, the height of the first adjustable support rod 1012 is adjustable, and the height of the second adjustable support rod 1022 is adjustable. The ankle joint training module 103 is connected between the first main support rod 1011 of the first support rod 101 and the first main support rod 1021 of the second support rod 102, and the knee joint training module 104 is connected between the first adjustable support rod 1012 of the first support rod 101 and the second adjustable support rod 1022 of the second support rod 102.

[0081] By arranging the first support rod 101 and the second support rod 102 as a main support rod plus an adjustable support rod structure, the height of the joint training device is adjustable.

[0082] Preferably, the first adjustable support rod 1012 and the second adjustable support rod 1022 have the following structure. As shown in Figure 3As shown, the first adjustable support rod 1012 and the second adjustable support rod 1022 each comprise an outer sleeve 2001, an inner sleeve 2002, a gas spring 2003, a gas spring connector 2004 and an adjusting bolt 2005, the outer sleeve 2001 is sleeved outside the inner sleeve 2002, the gas spring 2003 is arranged in the hollow structure formed by the outer sleeve 2001 and the inner sleeve 2002, the first end of the gas spring 2003 is fixedly connected with the first end of the inner sleeve 2002, the second end of the gas spring 2003 is fixedly connected with the second end of the outer sleeve 2001 through the gas spring connector 2004, the second end of the inner sleeve 2002 can slide inside the outer sleeve 2001, the first end of the outer sleeve 2001 is provided with a locking hole, the adjusting bolt 2005 is inserted into the locking hole, and the position of the second end of the inner sleeve 2002 in the outer sleeve 2001 is fixed by rotating the adjusting bolt 2005.

[0083] The first adjustable support rod 1012 and the second adjustable support rod 1022 each further comprise a support rod connector 2006, the first end of the gas spring 2003 and the first end of the inner sleeve 2002 are each fixed on the support rod connector 2006.

[0084] Preferably, the second end of the outer sleeve 2001 and the gas spring connector 2004 are each provided with a screw hole, Figure 3 Exemplarily, the screw hole of the second end of the outer sleeve 2001 and the screw hole provided on the gas spring connector 2004 are shown, the second end of the outer sleeve 2001 has a skirt, and the screw hole is arranged on the skirt. The gas spring connector 2004 is arranged between the second end of the outer sleeve 2001 and the upper end of the main support rod, and the upper end of the main support rod is also provided with a skirt, and the screw hole is arranged on the skirt. The second end of the outer sleeve 2001, the gas spring connector 2004 and the upper end of the main support rod are fixedly connected through the above structure.

[0085] According to one preferred embodiment of the present disclosure, as Figure 2 As shown, the ankle training module 103 of the joint training device 1 further comprises a pedal 1035 and a pedal support rod 1034, the first end of the pedal support rod 1034 is fixedly connected with the pedal 1035, the second end of the pedal support rod 1034 is fixedly connected with the ankle first connecting rod 1032, and the second end of the pedal support rod 1034 is connected at the middle position of the ankle first connecting rod 1032. Preferably, the pedal 1035 is detachably fixedly connected with the first end of the pedal support rod 1034, and different pedals are replaced to meet the needs of different users. The pedal 1035 is preferably fixedly connected with the pedal support rod 1034 through a pedal support, and the pedal 1035 is preferably detachably fixedly connected with the pedal support. The first end of the pedal support rod 1034 is preferably detachably fixedly connected with the pedal support. Figure 2The pedal support is clearly visible. This disclosure does not impose any special limitations on the structure of the pedal support or the structure of the pedal 1035. The second end of the pedal support rod 1034 is fixedly connected to the middle position of the first ankle joint link 1032, so that the motion curve of the ankle joint training module 103 is closer to the motion curve of the human ankle joint.

[0086] According to a preferred embodiment of this disclosure, the knee joint training module 104 of the joint training device 1 further includes a knee joint fixation bracket 1045 and a fixation bracket support rod 1044. A first end of the fixation bracket support rod 1044 is fixedly connected to the knee joint fixation bracket 1045, and a second end of the fixation bracket support rod 1044 is fixedly connected to a first knee joint link 1042. The second end of the fixation bracket support rod 1044 is positioned between the second end of the first knee joint link 1042 and the middle position of the first knee joint link 1042. Preferably, the fixation bracket support rod 1044 is detachably fixedly connected to the knee joint fixation bracket 1045. This disclosure does not specifically limit the structure of the knee joint fixation bracket. Figure 2 As shown, the second end of the fixed support rod 1044 is connected to the position between the second end of the first link 1042 of the knee joint and the middle position of the first link 1042 of the knee joint, that is, the second end of the fixed support rod 1044 is connected to the position near the second end of the first link 1042 of the knee joint, so that the motion curve of the knee joint training module 104 is closer to the motion curve of the human knee joint.

[0087] To improve the mechanical efficiency of the crank, preferably, the size of the first end of the ankle joint crank 1031 is larger than the size of the second end of the ankle joint crank 1031, and the size of the first end of the knee joint crank 1041 is larger than the size of the second end of the knee joint crank 1041.

[0088] The following is combined with Figure 1 and Figure 4 This disclosure provides a detailed description of the rehabilitation training standing frame. For example... Figure 2 As shown, the rehabilitation training standing frame 3 includes two joint training devices 1 and a connecting part 4, which fixes the two joint training devices 1 together. The first support rods 101 of the two joint training devices 1 are arranged opposite each other, and the second support rods 102 of the two joint training devices 2 are arranged opposite each other.

[0089] The connecting part 4 is preferably configured as a desktop support structure, which can provide support for the user's upper body.

[0090] Preferably, the rehabilitation training standing frame 3 further comprises a waist protection pad 5, a waist adjusting rod 6, a waist supporting rod 7, two handrails 8 and two handrail connecting pieces 9; the waist protection pad 5 is fixed on the waist adjusting rod 6, the waist adjusting rod 6 is fixed on the waist supporting rod 7, the waist supporting rod 7 is fixedly connected between the second ends of the two handrails 8, and the first ends of the two handrails 8 are fixed on the first supporting rods 101 of the two joint training devices respectively through the two handrail connecting pieces 9.

[0091] Preferably, the position of the waist supporting rod 7 on the handrail 8 can be adjusted along the extension direction of the handrail 8, and the waist supporting rod 7 is fixed on the handrail 8 through a fastener.

[0092] The waist protection pad 5 provides waist protection for the user, the waist supporting rod 7 provides support for the user's waist, and the waist adjusting rod 6 can provide a support force to the waist protection pad 5. The waist adjusting rod 6 preferably has a sleeving part and a rod part sleeved on the waist supporting rod 7, the rod part passes through the sleeving part and provides different support forces to the waist protection pad 5 by screwing.

[0093] The positions of the two handrail connecting pieces 9 on the two first supporting rods 101 can be adjusted.

[0094] The bottom of the two joint training devices 1 of the rehabilitation training standing frame 3 can be provided with four universal wheels, which are fixed on the bottom ends of the two first supporting rods and the bottom ends of the two second supporting rods respectively through universal wheel fixing pieces. The structure of the universal wheels and the universal wheel fixing pieces is not particularly limited in the present disclosure, as long as the movement and locking of the rehabilitation training standing frame 3 can be achieved.

[0095] The joint training device and the rehabilitation training standing frame of the present disclosure can provide an ankle joint training mode, which is divided into left and right foot training and left and right foot training at the same time, and can perform foot bottom training and foot back bending training. The user can achieve active stretching of the dorsal muscle and calf muscle, and at the same time, the ankle joint coordination and muscle control can be trained.

[0096] The joint training device and the rehabilitation training standing frame of the present disclosure can provide a knee joint training mode, which is divided into left and right leg training and left and right leg training at the same time, and mainly trains the active stretching of the knee joint extensor and the hamstring, and at the same time, the knee joint coordination of the user can be trained.

[0097] The joint training device and the rehabilitation training standing frame of the present disclosure can also provide a walking comprehensive training mode, which combines ankle joint movement and knee joint movement to train the coordination of the knee joint and the ankle joint of the user.

[0098] In the description of the present disclosure, the description of the terms "one embodiment / way", "some embodiments / ways", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment / way or example are included in at least one embodiment / way or example of the present disclosure. In the present description, the illustrative expressions of the above terms do not necessarily refer to the same embodiment / way or example. Also, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments / ways or examples. In addition, the person skilled in the art can combine and combine the different embodiments / ways or examples described in the present description and the features of the different embodiments / ways or examples, without contradiction.

[0099] In addition, the terms "first", "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present disclosure, the meaning of "a plurality of" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0100] The person skilled in the art should understand that the above-mentioned embodiments are only for the purpose of clearly illustrating the present disclosure, and are not intended to limit the scope of the present disclosure. Based on the above disclosure, other changes or modifications can also be made by those skilled in the art, and these changes or modifications are still within the scope of the present disclosure.

Claims

1. A joint training device, characterized in that, include: The system includes a first support rod, a second support rod, an ankle joint training module, a first drive motor, a second drive motor, and a knee joint training module. The ankle joint training module is connected between the first support rod and the second support rod, the knee joint training module is connected between the first support rod and the second support rod, and the knee joint training module is positioned above the ankle joint training module; The ankle joint training module includes an ankle joint crank, an ankle joint first link, and an ankle joint second link. The first end of the ankle joint crank is rotatably connected to the side of the first support rod. The second end of the ankle joint crank is rotatably connected to the first end of the ankle joint first link. The second end of the ankle joint first link is rotatably connected to the first end of the ankle joint second link. The second end of the ankle joint second link is rotatably connected to the side of the second support rod. The knee joint training module includes a knee joint crank, a knee joint first link, and a knee joint second link. The first end of the knee joint crank is rotatably connected to the side of the first support rod. The second end of the knee joint crank is rotatably connected to the first end of the knee joint first link. The second end of the knee joint first link is rotatably connected to the first end of the knee joint second link. The second end of the knee joint second link is rotatably connected to the side of the second support rod. The ankle joint training module also includes a pedal and a pedal support rod. The first end of the pedal support rod is fixedly connected to the pedal, and the second end of the pedal support rod is fixedly connected to the first ankle joint link. The second end of the pedal support rod is connected to the middle position of the first ankle joint link. The knee joint training module also includes a knee joint fixation bracket and a fixation bracket support rod. The first end of the fixation bracket support rod is fixedly connected to the knee joint fixation bracket, and the second end of the fixation bracket support rod is fixedly connected to the first knee joint link. The second end of the fixation bracket support rod is located between the second end of the first knee joint link and the middle position of the first knee joint link. The first drive motor and the second drive motor independently drive the ankle joint crank and the knee joint crank.

2. The joint training device according to claim 1, characterized in that, The first support rod includes a first main support rod and a first adjustable support rod, and the second support rod includes a second main support rod and a second adjustable support rod. The first adjustable support rod is disposed at the upper end of the first main support rod, and the second adjustable support rod is disposed at the upper end of the second main support rod. The height of the first adjustable support rod is adjustable, and the height of the second adjustable support rod is adjustable.

3. The joint training device according to claim 2, characterized in that, The ankle joint training module is connected between the first main support rod of the first support rod and the first main support rod of the second support rod, and the knee joint training module is connected between the first adjustable support rod of the first support rod and the second adjustable support rod of the second support rod.

4. The joint training device according to claim 1, characterized in that, It also includes a first drive motor, which is disposed on the side of the first support rod, and drives the ankle joint crank to rotate on the side of the first support rod.

5. The joint training device according to claim 1, characterized in that, It also includes a second drive motor, which is disposed on the side of the first support rod, and drives the knee joint crank to rotate on the side of the first support rod.

6. The joint training device according to claim 2 or 3, characterized in that, Both the first and second adjustable support rods include an outer sleeve, an inner sleeve, a gas spring, a gas spring connector, and an adjusting bolt. The outer sleeve is fitted over the inner sleeve, and the gas spring is disposed within the hollow structure formed by the outer sleeve and the inner sleeve. The first end of the gas spring is fixedly connected to the first end of the inner sleeve, and the second end of the gas spring is fixedly connected to the second end of the outer sleeve via the gas spring connector. The second end of the inner sleeve can slide inside the outer sleeve. The first end of the outer sleeve is provided with a locking hole, and the adjusting bolt is inserted into the locking hole. By rotating the adjusting bolt, the position of the second end of the inner sleeve within the outer sleeve is fixed.

7. The joint training device according to claim 6, characterized in that, Both the first adjustable support rod and the second adjustable support rod include a support rod connector, and the first end of the gas spring and the first end of the inner sleeve are fixed on the support rod connector.

8. The joint training device according to claim 1, characterized in that, The first end of the ankle joint crank is larger than the second end of the ankle joint crank, and the first end of the knee joint crank is larger than the second end of the knee joint crank.

9. The joint training device according to claim 1, characterized in that, The second end of the second link of the ankle joint is rotatably connected to the side of the second support rod via an ankle joint fixation member; the second end of the second link of the knee joint is rotatably connected to the side of the second support rod via a knee joint fixation member.

10. The joint training device according to claim 4, characterized in that, The first end of the ankle joint crank is rotatably connected to the side of the first support rod via an ankle joint fixation member, and the drive shaft of the first drive motor passes through the ankle joint fixation member and is fixedly connected to the first end of the ankle joint crank.

11. The joint training device according to claim 5, characterized in that, The first end of the knee joint crank is rotatably connected to the side of the first support rod via a knee joint fixation member, and the drive shaft of the second drive motor passes through the knee joint fixation member and is fixedly connected to the first end of the knee joint crank.

12. A rehabilitation training standing frame, characterized in that, It includes two joint training devices according to any one of claims 1 to 11 and a connecting part, the connecting part fixing the two joint training devices together.

13. The rehabilitation training standing frame according to claim 12, characterized in that, The connecting part supports the desktop.

14. The rehabilitation training standing frame according to claim 12, characterized in that, It also includes a lumbar support pad, a lumbar adjustment rod, a lumbar support rod, two handrails, and two handrail connectors; the lumbar support pad is fixed to the lumbar adjustment rod, the lumbar adjustment rod is fixed to the lumbar support rod, the lumbar support rod is fixedly connected between the second ends of the two handrails, and the first ends of the two handrails are respectively fixed to the first support rods of the two joint training devices through the two handrail connectors.

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