A training component and a rehabilitation training device capable of meeting joint training requirements

Abstract

The present invention discloses a training component and a rehabilitation training device that can meet the needs of joint training. The rehabilitation training device includes a base; a support frame, which is installed on the base; a lower limb training mechanism, which includes a first support component, a first rotating shaft, a first supporting aid, a first crank, a first connecting rod, a first rocker and a first rocker supporting component; the first support component is arranged on the base; the first rotating shaft is rotatably installed on the first support component; the first crank is fixedly connected to the first rotating shaft; the first crank is rotatably connected to one end of the first connecting rod or the first supporting aid; the first supporting aid is fixedly installed on the first connecting rod; the other end of the first connecting rod is rotatably connected to one end of the first rocker; the other end of the first rocker forms a rotating pair with the first rocker supporting component; the first rocker supporting component is arranged on the base. The rehabilitation training device has a good ankle joint or wrist joint training effect.

Description

Technical Field

[0001] The present invention relates to the technical field of sports equipment, and in particular to a training component and a rehabilitation training device capable of meeting joint training requirements. Background Art

[0002] At present, my country's population is aging more and more, and the number of patients with limb problems is increasing. Therefore, limb rehabilitation assistive devices have become a research hotspot in the field of rehabilitation, and various rehabilitation robots designed by domestic and foreign research teams have been put into practical use.

[0003] The existing limb rehabilitation training devices have a small joint movement angle during the rehabilitation training process, and the ankle joint or wrist joint cannot be well trained, and the expected rehabilitation training effect cannot be achieved; in addition, the existing limb rehabilitation training devices do not take into account the training needs of the human ankle joint or wrist joint, do not take into account the training needs of the human ankle joint or wrist joint, or do not have ankle joint or wrist joint training functions, which will also cause the ankle joint or wrist joint to not be well trained during the rehabilitation training process, and the expected rehabilitation training effect cannot be achieved; and there is no effective ankle pump movement, and the function of preventing venous thrombosis cannot be achieved.

[0004] Existing crank rocker steppers or training machines are mainly for standing posture, with small pedal inclination angle and insufficient ankle movement range, which also cannot meet the needs of rehabilitation training.

[0005] Therefore, it is particularly important to develop a rehabilitation training device with a reasonable structure that can meet the needs of ankle or wrist rehabilitation training. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide a training component and a rehabilitation training device that can meet the needs of ankle joint or wrist joint rehabilitation training and can meet the joint training needs.

[0007] To achieve the above-mentioned and other related purposes, the present invention provides a rehabilitation training device that can meet the needs of joint training, including:

[0008] Base;

[0009] A support frame, the support frame is installed on the base;

[0010] A lower limb training mechanism, comprising a first supporting component, a first rotating shaft, a first supporting aid, a first crank, a first connecting rod, a first rocker and a first rocker supporting component;

[0011] The first supporting member is disposed on the base;

[0012] The first rotary shaft is rotatably mounted on the first supporting member;

[0013] The first crank is fixedly connected to the first rotating shaft;

[0014] The first crank is rotatably connected to one end of the first connecting rod or the first supporting auxiliary device;

[0015] When the first crank is rotatably connected to one end of the first connecting rod, the first supporting aid is fixedly mounted on the first connecting rod or the first rocker;

[0016] When the first crank is rotatably connected to the first supporting aid, the first supporting aid is fixedly mounted on the first connecting rod;

[0017] The other end of the first connecting rod is rotatably connected to one end of the first rocker;

[0018] The other end of the first rocker forms a rotation pair with the first rocker support component;

[0019] The first rocker support component is arranged on the base.

[0020] In an optional embodiment of the present invention, the installation position of the first rocker support component is adjustable.

[0021] In an optional embodiment of the present invention, the rehabilitation training device also includes an upper limb training mechanism, including a second supporting component, a second supporting aid, a second rotating shaft and a second crank; the second supporting component is installed on the supporting frame, the second rotating shaft is rotatably installed on the second supporting component, the second crank is fixedly connected to the second rotating shaft, and the second supporting aid is rotatably installed on the second crank.

[0022] In an optional embodiment of the present invention, the upper limb training mechanism also includes: a second supporting component, a second supporting aid, a second rotating shaft, a second crank, a second connecting rod and a second rocker; the second supporting component is installed on the supporting frame, the second rotating shaft is rotatably installed on the second supporting component, the second crank is fixedly connected to the second rotating shaft, the second crank is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to one end of the second rocker, the other end of the second rocker forms a rotating pair with the second supporting component, and the second supporting aid is installed on the second connecting rod.

[0023] In an optional embodiment of the present invention, the upper limb training mechanism also includes a second rocker support component, which is installed at one end of the second support component away from the second rotating axis, and one end of the second rocker that is not connected to the second connecting rod forms a rotating pair with the second rocker support component.

[0024] In an optional embodiment of the present invention, the height of the swing center of the first rocker is adjustable, and / or the height of the swing center of the second rocker is adjustable.

[0025] In an optional embodiment of the present invention, the installation position of the second rocker support component is adjustable.

[0026] In an optional embodiment of the present invention, the upper limb training mechanism further includes a second driving component disposed in the second supporting component, and the second driving component is connected to the second rotating shaft.

[0027] In an optional embodiment of the present invention, the rehabilitation training device further includes an armrest, and the armrest is installed on the support frame.

[0028] In an optional embodiment of the present invention, the lower limb training mechanism further includes a first driving component disposed in the first supporting component, and the first driving component is connected to the first rotating shaft.

[0029] In an optional embodiment of the present invention, the maximum angle between the support plane of the first connecting rod or the first supporting aid and the horizontal direction is greater than or equal to 35°, or the maximum angle of the first connecting rod located on both sides of the first rotating axis is greater than or equal to 32°.

[0030] To achieve the above-mentioned and other related purposes, the present invention provides a training component for a rehabilitation training device, the training component comprising:

[0031] A connecting rod, wherein a fixing portion for fixedly connecting to the supporting aid of the rehabilitation training device is provided on the connecting rod, and one end of the connecting rod serves as a rotating end forming a rotating pair with a crank of the rehabilitation training device;

[0032] A rocker, one end of which is rotatably connected to the other end of the connecting rod, and the other end of the rocker serves as a rotating end forming a rotating pair with the rehabilitation training device.

[0033] To achieve the above-mentioned and other related purposes, the present invention provides a training component for a rehabilitation training device, the training component comprising:

[0034] A connecting rod, one end of which is used as a connecting end fixedly connected to the supporting aid of the rehabilitation training device;

[0035] A rocker, one end of which is rotatably connected to the other end of the connecting rod, and the other end of the rocker serves as a rotating end forming a rotating pair with the rehabilitation training device.

[0036] To achieve the above-mentioned and other related purposes, the present invention provides a training component for a rehabilitation training device, the training component comprising:

[0037] A supporting aid, wherein the supporting aid is provided with a rotating part forming a rotating pair with the crank of the rehabilitation training device;

[0038] A connecting rod, one end of which is fixedly connected to the supporting aid;

[0039] A rocker, one end of which is rotatably connected to the other end of the connecting rod, and the other end of the rocker serves as a rotating end rotatably connected to the rehabilitation training device.

[0040] To achieve the above-mentioned and other related purposes, the present invention provides a training component for a rehabilitation training device, the training component comprising:

[0041] A connecting rod, one end of which serves as a rotating end forming a rotating pair with the crank of the rehabilitation training device;

[0042] A supporting aid, wherein the supporting aid is fixedly mounted on the connecting rod,

[0043] A rocker, one end of which is rotatably connected to the other end of the connecting rod, and the other end of the rocker serves as a rotating end rotatably connected to the rehabilitation training device.

[0044] In an optional embodiment of the present invention, the training component further comprises a rocker support component for mounting the rocker on the rehabilitation training device, and an end of the rocker not connected to the connecting rod forms a revolute pair with the rocker support component.

[0045] In an optional embodiment of the present invention, the position of the swing center of the rocker on the rocker support component is adjustable.

[0046] The rehabilitation training device of the present invention can eliminate local degrees of freedom, thereby inhibiting abnormal joint reactions, allowing bilateral ankle joints or wrist joints to produce a certain activity angle, forming ankle pump movements, and having a good ankle joint or wrist joint training effect.

[0047] The second supporting aid of the upper limb exercise training mechanism of the rehabilitation training device of the present invention can be fixed on the second connecting rod at the same position where it forms a rotating pair with the second crank. At this time, the second supporting aid as a whole performs circular rotational motion relative to the second rotating axis, but because it is still located on the second connecting rod, the rotation center of the rotating pair of the second connecting rod and the second crank can still be kept swinging relative to each other, so that it has an appropriate wrist joint activity angle.

[0048] The rehabilitation training device of the present invention has a simple structure, a small volume and is convenient to place overall.

[0049] The lengths of the cranks (first crank and second crank), connecting rods (first connecting rod and second connecting rod) and support frame of the rehabilitation training device of the present invention are adjustable, which can better adapt to the sports training needs of different groups of people and ensure the training effect.

[0050] The rehabilitation training device of the present invention has multiple working modes, and can realize individual lower limb training, individual upper limb training, and coordinated upper and lower limb training.

[0051] The upper and lower limb movement training mechanism of the rehabilitation training device of the present invention can directly transform the existing rehabilitation training device and the like so as to enable it to have the ankle joint or wrist joint training function.

[0052] The rehabilitation training device of the present invention can meet the requirements that the maximum angle between the support plane of the first connecting rod or the first supporting aid and the horizontal direction is greater than or equal to 35° or the maximum angle between the two first connecting rods on both sides is greater than or equal to 32°, ensuring a sufficient inclination angle of the first supporting aid (pedal or support plate) to meet the ankle joint training requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a schematic diagram of the three-dimensional structure of a rehabilitation training device according to Example 1 of the present invention.

[0054] Figure 2 This is a schematic diagram of the three-dimensional structure of another implementation manner of the rehabilitation training device according to Example 1 of the present invention.

[0055] Figure 3 It is a schematic diagram of a partial three-dimensional structure in which the height of the swing center of the second rocker of the rehabilitation training device according to the first embodiment of the present invention is adjustable.

[0056] Figure 4 It is a schematic diagram of the three-dimensional structure of the rehabilitation training device according to the second embodiment of the present invention.

[0057] Figure 5 It is a schematic diagram of the three-dimensional structure of the rehabilitation training device according to the third embodiment of the present invention.

[0058] Figure 6 This is a schematic diagram of the three-dimensional structure of an implementation manner of the rehabilitation training device of Example 4 of the present invention.

[0059] Figure 7 It is a schematic diagram of the three-dimensional structure of another implementation manner of the rehabilitation training device of Example 4 of the present invention.

[0060] Figure 8 It is a schematic diagram of the three-dimensional structure of the third implementation manner of the rehabilitation training device of Example 4 of the present invention.

[0061] Fig. 9 It is a schematic diagram of the three-dimensional structure of the rehabilitation training device according to the fifth embodiment of the present invention.

[0062] Fig.10 This is a schematic diagram of the structure in which the handle is fixed on the second connecting rod at the same position as the second crank to form a rotating pair.

[0063] Component number description

[0064] Base 1; lower limb training mechanism 2; first support component 21; pedal 22; first rotating shaft 23; first crank 24; first connecting rod 25; first rocker 26; first rocker support component 27; first roller or slider 28; arc slide rail assembly 29; arc slide rail 291; support 292; first support rod section 31; second support rod section 32; horizontal rod section 33; armrest 4; upper limb training mechanism 5; second support component 51; handle 52; second rotating shaft 53; second crank 54; second connecting rod 55; second rocker 56; second rocker support component 57; fixed plate 571; movable plate 572; human-computer interaction device 6. DETAILED DESCRIPTION

[0065] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0066] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0067] Embodiment 1

[0068] See also Figure 1 As shown, this embodiment introduces a rehabilitation training device, which includes a base 1 and a support frame 3 arranged on the base 1, a lower limb training mechanism 2 and an upper limb training mechanism 5.

[0069] See also Figure 1 In this embodiment, the bottom of the base 1 may be provided with rollers, so that the entire rehabilitation training device can be conveniently moved. Of course, in some embodiments, the base 1 may not be provided with rollers.

[0070] See also Figure 1In this embodiment, the support frame 3 is installed on one side of the base 1, and the length of the support frame 3 is adjustable. The support frame 3 includes a first support rod segment 31, a second support rod segment 32 and a horizontal rod segment 33, the lower end of the first support rod segment 31 is fixedly connected to the base 1, the lower end of the second support rod segment 32 is inserted into the upper end of the first support rod segment 31, and is locked by a locking knob (not shown in the figure), and the horizontal rod segment 33 is installed at the upper end of the second support rod segment 32, and the horizontal rod segment 33 is arranged horizontally, wherein the horizontal rod segment 33 and the second support rod segment 32 can be either fixedly connected or rotatably connected. Specifically, the length of the support frame 3 can be adjusted by loosening the locking knob, adjusting the length of the second support rod segment 32 inserted into the first support rod segment 31 to control the length of the support frame 3, and after adjusting to a suitable length, it is locked by a locking knob (not shown in the figure). It is understandable that in other embodiments, the first support rod segment 31 and the second support rod segment 32 of the support frame 3 can also be adjusted in relative position through a screw nut transmission mechanism or other existing adjustment mechanisms to achieve the purpose of adjusting the length of the support frame 3.

[0071] See also Figure 1 In this embodiment, the lower limb training mechanism 2 adopts a crank rocker design, including a first support component 21, a first rotating shaft 23, a first supporting aid, a first crank 24, a first connecting rod 25, a first rocker 26 and a first rocker supporting component 27, wherein the first supporting aid is a pedal 22 (of course, it can also be a supporting plate). The first support component 21 is arranged on the base 1; the first rotating shaft 23 is rotatably mounted on the first support component 21; the first crank 24 is fixedly connected to the first rotating shaft 23; the first crank 24 is rotatably connected to the first pedal 22; the pedal 22 is fixedly mounted on the first connecting rod 25, and one end of the first connecting rod 25 is rotatably connected to one end of the first rocker 26; the other end of the first rocker 26 forms a rotating pair with the first rocker supporting component 27, and the first rocker supporting component 27 is installed at the end of the base 1 away from the supporting frame 3, that is, the first rocker supporting component 27 is rear-mounted. Of course, as Figure 2 As shown, the first rocker support component 27 can also be arranged adjacent to the support frame 3 and installed on the base 1, that is, the first rocker support component 27 is placed in front.

[0072] like Figure 1As shown, the height of the first rocker support component 27 is fixed, so the height of the swing center of the first rocker 26 is fixed. Of course, the height of the swing center of the first rocker 26 can also be adjustable. For example, the first rocker support component 27 can also be installed on the base 1 through a lifting platform, so that the height of the swing center of the first rocker 26 can be adjusted by adjusting the height of the first rocker support component 27 through the lifting platform. The lifting platform can be lifted and lowered by extending and retracting a push rod, for example. Figure 1 In a specific example of this embodiment, the pedal 22, the first crank 24, the first connecting rod 25 and the first rocker 26 each include two, which are respectively located on both sides of the first support component 21. The two first cranks 24 are respectively fixed to the two ends of the first rotary shaft 23, each of the first cranks 24 is rotatably connected to the pedal 22 on the same side, each pedal 22 is fixedly installed on the first connecting rod 25 on the same side, one end of each first connecting rod 25 is rotatably connected to one end of the first rocker 26 on the same side, and the other end of each first rocker 26 forms a rotation pair with the first rocker support component 27 on the same side. The maximum angle between the support plane (i.e., the tread) of the pedal 22 and the horizontal direction is greater than or equal to 35°, thereby ensuring that the pedal 22 has a sufficient inclination angle to meet the ankle joint training requirements.

[0073] See also Figure 1 In this embodiment, the first crank 24 is a disc crank, one end of the first rotary shaft 23 is fixedly connected to the center of the disc crank, the pedal 22 and the edge of the disc crank form a rotating pair, and the use of the disc crank can save some space. At the same time, the disc crank can also serve as a part of the first support component 21 to shield other components inside the first support component 21. It can be understood that in other embodiments, the first crank 24 can also be a rod crank, one end of the rod crank is fixedly connected to one end of the first rotary shaft 23, and the other end of the rod crank is rotatably connected to the pedal 22.

[0074] See also Figure 1 In this embodiment, the length of the first connecting rod 25 or the size of the first crank 24 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable, and the length of the first connecting rod 25 or the size of the first crank 24 can be adjusted to assist in adjusting the inclination angle of the pedal 22 to meet the reasonable ankle joint movement range and angle of different human bodies. For example, the first connecting rod 25 includes two rod bodies connected to each other, the relative positions of the two rod bodies are adjustable and fixed by tightening bolts or locking knobs, etc., and the length of the first connecting rod 25 can be adjusted by adjusting the relative positions of the two rod bodies. The size adjustment of the first crank 24 can be achieved by replacing cranks of different sizes.

[0075] It is understandable that, in this embodiment, it is also possible to Figure 7 As shown, the first crank 24 is rotatably connected to one end of the first connecting rod 25, the other end of the first connecting rod 25 is rotatably connected to one end 26 of the first rocker, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the pedal 22 has a sufficient inclination angle to meet the ankle joint training requirements, it is necessary to meet either of the two constraint conditions that the maximum angle between the support plane of the first connecting rod 25 or the pedal 22 and the horizontal direction is greater than or equal to 35° or the maximum angle between the two first connecting rods 25 on both sides is greater than or equal to 32°.

[0076] See also Figure 1 In this embodiment, the lower limb training mechanism 2 further includes a first driving component (not shown) disposed in the first supporting component 21, and the first driving component is connected to the first rotating shaft 23. The first driving component may be, for example, a motor, or a combination of a motor and a reducer, or a flywheel.

[0077] In this embodiment, the lower limb training mechanism 2 also includes a first resistance component arranged in the first support component 21, and the first resistance component includes a friction component, a magnetic control resistance generator or a flywheel. The friction component includes a friction plate and a friction plate seat that cooperate with each other, the friction plate is installed on the first rotating shaft 23, and the friction plate seat is installed at one end of the first support component 21 close to the first rotating shaft 23. The human-computer interaction device 6 to be introduced later controls the tightening or loosening of the friction plate and the friction plate seat to adjust the movement resistance. The magnetic control resistance generator includes an aluminum disk flywheel and a permanent magnet component that cooperate with each other, the aluminum disk flywheel is installed on the first rotating shaft 23, and the permanent magnet component is installed at one end of the first support component 21 close to the first rotating shaft 23. The magnetic control resistance generator generates eddy current to form resistance by cutting the magnetic flux lines between the permanent magnets through the aluminum disk flywheel, and the distance between the aluminum disk and the permanent magnet is adjusted by the human-computer interaction device 6 to adjust the resistance.

[0078] It is understandable that the first supporting component 21 may also only include a first resistance component (not shown) without providing a first driving component, and the operation of the first resistance component can be adjusted manually or controlled by the human-computer interaction device 6.

[0079] It is understandable that the first driving component can be directly used as the first resistance component without additionally setting a friction component or a magnetic control resistance generator as the first resistance component. Taking a driving device using a motor or a combination of a motor and a reducer as an example, the resistance can be generated by putting the motor in a power generation mode, and the resistance torque can be controlled by controlling the magnitude of the induced current.

[0080] See also Figure 1 In this embodiment, the upper limb training mechanism 5 adopts a crank rocker design, including a second support component 51, a second support aid, a second rotating shaft 53, a second crank 54, a second connecting rod 55, and a second rocker 56, wherein the second support aid is a handle 52. The second support component 51 is mounted on one end of the horizontal rod section 33 of the support frame 3, the second rotating shaft 53 is rotatably mounted on the end of the second support component 51 away from the support frame 3, the second crank 54 is fixedly connected to the end of the second rotating shaft 53, the second crank 54 is rotatably connected to one end of the second connecting rod 55, the other end of the second connecting rod 55 is rotatably connected to one end of the second rocker 56, the other end of the second rocker 56 forms a rotating pair with the second support component 51, and the handle 52 is mounted on the second connecting rod 55. Of course, the second support aid can also be a support plate, and when in use, the hand is placed flat on it, and the hand is fixed with a limiting object such as a strap to make the hand move with the support plate.

[0081] It should be noted that if Fig.10 As shown, the handle 52 of the upper limb exercise training mechanism 5 can also be fixed on the second connecting rod 55 at the same position forming a rotating pair with the second crank 54. At this time, the handle 52 as a whole makes a circular rotation motion relative to the second rotating axis 53, but because it is still located on the second connecting rod 55, it can still maintain a swing relative to the rotation center of the rotating pair of the second connecting rod 55 and the second crank 54, so that it has an appropriate wrist joint activity angle.

[0082] See also Figure 1 In a specific example of this embodiment, the handle 52, the second crank 54, the second connecting rod 55 and the second rocker 56 each include two, which are respectively located on both sides of the second supporting component 51. The two second cranks 54 are respectively fixed to the two ends of the second rotary shaft 53, each of the second cranks 54 is rotatably connected to one end of the second connecting rod 55 on the same side, the other end of each second connecting rod 55 is rotatably connected to one end of the second rocker 56 on the same side, the other end of each second rocker 56 forms a rotation pair with one side of the second supporting component 51, and each handle 52 is fixedly installed on the second connecting rod 55 on the same side.

[0083] See also Figure 1 In this embodiment, the second crank 54 is a rod crank, one end of which is fixedly connected to one end of the second rotary shaft 53, and the other end of which is rotatably connected to the end of the second connecting rod 55 that is not connected to the second rocker 56. Of course, in other embodiments, the second crank 54 may also be a disc crank.

[0084] See also Figure 1 In this embodiment, the upper limb training mechanism 5 further includes a second rocker support component 57, which is mounted on one end of the second support component 51 away from the second rotary shaft 53, and one end of the second rocker 56 not connected to the second connecting rod 55 forms a rotation pair with the second rocker support component 57. Of course, the second rocker support component 57 may not be provided, and one end of the second rocker 56 not connected to the second connecting rod 55 forms a rotation pair with the second support component 51.

[0085] like Figure 1 As shown in FIG. 5 , the height of the swing center of the second rocker 56 is fixed. Of course, the second rocker support member 57 can also be set as shown in FIG. Figure 3 The shape shown in the figure makes the height of the swing center of the second rocker 56 adjustable. Figure 3 As shown, the second rocker support component 57 includes a pair of fixed plates 571 and a pair of movable plates 572. The pair of fixed plates 571 are arranged on both sides of the second support component 51 and extend to the side away from the base 1. A movable plate 572 is installed on the outer side of each fixed plate 571 with adjustable height. The end of the second rocker 56 that is not connected to the second connecting rod 55 forms a rotating pair with the movable plate 572. The height of the swing center of the second rocker 56 can be adjusted by adjusting the position of the movable plate 572 on the fixed plate 571.

[0086] In this embodiment, the length of the second connecting rod 55 or the specification size of the second crank 54 (defined as the length of the rod crank or the diameter of the disc crank) is adjustable.

[0087] See also Figure 1 In this embodiment, the upper limb training mechanism 5 further includes a second driving component disposed in the second supporting component 51, and the second driving component is connected to the second rotating shaft 53. The second driving component may be a motor, or a combination of a motor and a reducer, or a flywheel.

[0088] In this embodiment, the upper limb training mechanism 5 also includes a second resistance component arranged in the second supporting component 51, and the second resistance component includes a friction component, a magnetic control resistance generator or a flywheel. The friction component includes a friction plate and a friction plate seat that cooperate with each other, the friction plate is installed on the second rotating shaft 53, and the friction plate seat is installed at one end of the second supporting component 51 close to the second rotating shaft 53. The human-machine interaction device 6 is used to control the tightening or loosening of the friction plate and the friction plate seat to adjust the movement resistance. The magnetic control resistance generator includes an aluminum disk flywheel and a permanent magnet component that cooperate with each other, the aluminum disk flywheel is installed on the second rotating shaft 53, and the permanent magnet component is installed at one end of the second supporting component 51 close to the second rotating shaft 53. The magnetic control resistance generator generates eddy currents to form resistance by cutting the magnetic flux lines between the permanent magnets through the aluminum disk flywheel, and the distance between the aluminum disk and the permanent magnet is adjusted by the human-machine interaction device 6 to adjust the resistance.

[0089] It is understandable that the second supporting component 51 may also include only the second resistance component without providing the second driving component, and the second resistance component may be adjusted to work manually or controlled to work by the human-machine interaction device 6 .

[0090] It is understandable that the second driving component can be directly used as the second resistance component without additionally setting up a friction component or a magnetic control resistance generator as the second resistance component. Taking a driving device using a motor or a combination of a motor and a reducer as an example, the resistance can be generated by putting the motor in a power generation mode, and the resistance torque can be controlled by controlling the magnitude of the induced current.

[0091] In this embodiment, the lower limb training mechanism 2 and the upper limb training mechanism 5 may further include limb restraining components (not shown) for restraining limbs.

[0092] See also Figure 1 In this embodiment, the rehabilitation training device further includes an armrest 4, which is mounted on the top of the support frame 3 and is used for the user to hold. As an example, the human-computer interaction device 6 is disposed on the horizontal rod section 33 of the support frame 3.

[0093] See also Figure 1 In this embodiment, the rehabilitation training device further includes a human-computer interaction device 6, which is an intelligent control center for controlling the rehabilitation training device. The human-computer interaction device 6 can be arranged on the top of the support frame 3 (of course, it can also be arranged at other suitable positions). As an example, the human-computer interaction device 6 is arranged on the horizontal rod section 33 of the support frame 3. As an example, the human-computer interaction device 6 can be a remote control or a touch screen.

[0094] The rehabilitation training device of this embodiment can realize individual lower limb training, individual upper limb training and coordinated upper and lower limb training. During the coordinated upper and lower limb training, the human body is in a sitting position, the lower limbs satisfy the ankle pump movement, and the upper limbs rotate with the handle 52 so that the wrist joint has a certain training activity angle.

[0095] The rehabilitation training device of this embodiment may include three training modes, namely, passive training mode, assisted training mode and active training mode, and foot training is taken as an example for explanation.

[0096] During passive training, the power source all comes from the first driving component. The foot is located on the pedal 22. The first driving component drives the first crank 24 to rotate, driving the pedal 22 to move, and the pedal 22 drives the ankle to swing back and forth.

[0097] During assisted training, which is between passive training and active training, part of the power source comes from the first drive component and part comes from the human foot. The human-computer interaction device 6 is operated to control the first drive component to switch to assisted training mode, and the intelligent sensing system (including sensors and control circuits) is started to cooperate with the human ankle to complete assisted training.

[0098] During active training, the human foot is used as a power source to drive the pedal 22 to move. The training resistance can be controlled by the human-machine interaction device 6. Different resistances can exercise the lower limb muscles of the human body to different degrees, and reshape the brain nerves' ability to control muscle movements in a graded manner.

[0099] It should be noted that hand training can also adopt similar active training modes, assisted training modes and active training modes. The control principles are similar to those of foot training, so they will not be repeated.

[0100] The rehabilitation training device of this embodiment can eliminate local degrees of freedom, thereby inhibiting abnormal joint reactions, allowing the bilateral ankle joints or wrist joints to produce a certain range of motion, forming ankle pump motion, and having a good ankle joint or wrist joint training effect. The second support aid of the upper limb exercise training mechanism of the rehabilitation training device of this embodiment can be fixed on the second connecting rod 55 at the same position where the second crank 54 forms a revolving pair. At this time, the second support aid as a whole performs a circular rotation relative to the second rotating shaft 53, but because it is still located on the second connecting rod 55, the rotation center of the revolving pair of the relative second connecting rod 55 and the second crank 54 can still be kept to swing, so that it has an appropriate wrist joint activity angle. The rehabilitation training device of this embodiment has a simple structure, a small volume, and is convenient for overall placement. The cranks (the first crank 24 and the second crank 54), the connecting rods (the first connecting rod 25 and the second connecting rod 55) and the support frame 3 of the rehabilitation training device of this embodiment are adjustable in length, which can better adapt to the exercise training needs of different groups of people and ensure the training effect. The rehabilitation training device of this embodiment has multiple working modes, which can realize separate lower limb training, separate upper limb training, and coordinated training of upper and lower limbs. The upper and lower limb exercise training mechanism of the rehabilitation training device of this embodiment can directly transform the existing rehabilitation training device, etc., so that it has the ankle or wrist joint training function. The rehabilitation training device of this embodiment can meet the maximum angle between the support plane of the first connecting rod 25 or the first supporting aid (foot pedal 22 or supporting plate) and the horizontal direction is greater than or equal to 35° or the maximum angle between the two first connecting rods 25 on both sides is greater than or equal to 32°, ensuring a sufficient inclination angle of the first supporting aid to meet the ankle joint training requirements.

[0101] It should be noted that the first connecting rod 25, the first rocker 26 and the first rocker support component 27 of the present embodiment can be used as a training component product, as a training component of the lower limb training mechanism of the sitting or lying rehabilitation training machine. Of course, the first connecting rod 25, the first rocker 26, the first rocker support component 27 and the first supporting aid of the present embodiment can also be used as a training component product, applied to the lower limb training mechanism of the sitting or lying rehabilitation training machine.

[0102] It should be noted that the second connecting rod 55, the second rocker 56 and the second rocker support component 57 of this embodiment can be used as a training component product, as a training component of the upper limb training mechanism of the sitting or lying rehabilitation training machine. Of course, the second connecting rod 55, the second rocker 56, the second rocker support component 57 and the second supporting aid of this embodiment can also be used as a training component product, applied to the upper limb training mechanism of the sitting or lying rehabilitation training machine.

[0103] Embodiment 2

[0104] like Figure 4As shown, this embodiment introduces another rehabilitation training device, which includes a base 1 and a support frame 3 arranged on the base 1, a lower limb training mechanism 2 and an upper limb training mechanism 5. Compared with the rehabilitation training device of the first embodiment, except for the use of a different upper limb training mechanism 5, other structures are basically the same, so they will not be described again.

[0105] In this embodiment, the upper limb training mechanism 5 includes a second support component 51, a second support auxiliary tool, a second rotating shaft 53 and a second crank 54. The second support auxiliary tool is a handle 52 (of course, a support plate can also be used instead). The second support component 51 is installed at one end of the horizontal rod section 33 of the support frame 3, the second rotating shaft 53 is rotatably installed on the second support component 51, the second crank 54 is fixedly connected to the end of the second rotating shaft 53, and the handle 52 is rotatably connected to the second crank 54.

[0106] See also Figure 4 In a specific example of this embodiment, the handle 52 and the second crank 54 include two, which are respectively located on both sides of the second support member 51. The two second cranks 54 are respectively mounted and fixed on both ends of the second rotary shaft 53, and each handle 52 is rotatably mounted on the second crank 54 on the same side.

[0107] See also Figure 4 In this embodiment, the second crank 54 is a rod crank, one end of which is fixedly connected to one end of the second rotary shaft 53, and the other end of which is rotatably connected to the handle 52. Of course, the second crank 54 is a disc crank.

[0108] The rehabilitation training device of this embodiment can realize individual lower limb training, individual upper limb training and coordinated upper and lower limb training. During the coordinated upper and lower limb training, the human body is in a sitting position, the lower limbs perform ankle pump exercises, and the upper limbs perform ordinary circular motions.

[0109] It is understandable that the lower limb training mechanism 2 of the rehabilitation training device of this embodiment can also adopt Figure 6-8 The lower limb training mechanism 2 shown is described in detail in the fourth embodiment and will not be elaborated here.

[0110] Embodiment 3

[0111] like Figure 5 As shown, this embodiment introduces a third rehabilitation training device, which includes a base 1, a support frame 3 and a lower limb training mechanism 2 arranged on the base 1. Compared with the first embodiment, except that the upper limb training mechanism 5 is not arranged, other structures are basically the same, so they will not be described again.

[0112] The rehabilitation training device of this embodiment can only perform lower limb training. During training, the human body is in a sitting position, and the lower limbs perform rotational motion with the pedal 22 and satisfy the ankle pump motion, thereby achieving a good ankle joint training effect.

[0113] It is understandable that the lower limb training mechanism 2 of the rehabilitation training device of this embodiment can also adopt Figure 6-8 The lower limb training mechanism 2 shown is described in detail in the fourth embodiment and will not be elaborated here.

[0114] Embodiment 4

[0115] like Figure 6 As shown, this embodiment introduces a fourth rehabilitation training device, which is a modified embodiment of the rehabilitation training device of embodiment 1. The lower limb training structure 2 of the rehabilitation training device of this embodiment is different from the lower limb training mechanism 2 of the rehabilitation training device of embodiment 1, and the other mechanisms are basically the same, so they will not be described again.

[0116] The rehabilitation training device comprises a base 1, a support frame 3 arranged on the base 1, a lower limb training mechanism 2 and an upper limb training mechanism 5. Except for the structure of the lower limb training mechanism 2, the other structures are basically the same, so they will not be described again.

[0117] See also Figure 1 and Figure 6 The lower limb training mechanism 2 of this embodiment adopts an equivalent replacement mechanism of the crank rocker mechanism, which is formed by replacing the combination of the first rocker 26 and the first rocker support component 27 of the lower limb training mechanism 2 of the first embodiment with a combination of a roller or slider 28, an arc-shaped slide rail 291 and a support 292. The center of the arc-shaped slide rail 291 is located at the swing center of the first rocker 26, and the arc of the arc-shaped slide rail 291 is consistent with the arc-shaped motion trajectory of the end of the first rocker 26 away from its swing center.

[0118] See also Figure 6In this embodiment, the lower limb training mechanism 2 includes a first support component 21, a first rotating shaft 23, a first supporting aid, a first crank 24, a first connecting rod 25, a roller or a slider 28 and an arc-shaped slide rail assembly 29, wherein the arc-shaped slide rail assembly 29 includes an arc-shaped slide rail 291 and a support 292, wherein the first supporting aid is a pedal 22 (of course, it can also be a supporting plate). The first support component 21 is arranged on the base 1; the first rotating shaft 23 is rotatably mounted on the first support component 21; the first crank 24 is fixedly connected to the first rotating shaft 23; the first crank 24 is rotatably connected to the first pedal 22; the pedal 22 is fixedly mounted on the first connecting rod 25, and one end of the first connecting rod 25 forms a rotating pair with the roller or the slider 28; the arc-shaped slide rail 291 is mounted on the base 1 through the support 292, and the roller or the slider 28 is arranged on the arc-shaped slide rail 291 and moves along the arc-shaped slide rail 291.

[0119] Specifically, the arc-shaped slide rail assembly 29 is installed at the end of the base 1 away from the support frame 3, that is, the arc-shaped slide rail 291 is arranged at the end of the base 1 away from the support frame 3. Figure 8 As shown, the arc-shaped slide rail assembly 29 can also be installed in front of the end of the base 1 where the support frame 3 is provided, that is, the arc-shaped slide rail 291 is provided at the end of the base 1 close to the support frame 3. Of course, when the arc-shaped slide rail 291 is rearwardly arranged, the arc-shaped slide rail 291 can also be installed on the first support component 21; when the arc-shaped slide rail 291 is forwardly arranged, the arc-shaped slide rail 291 can be installed on the support frame 3 or the first support component 21.

[0120] like Figure 6 As shown, the height of the support 292 is fixed, so the height of the arc-shaped slide rail 291 is fixed. Of course, the height of the arc-shaped slide rail 291 can also be adjustable, for example, the support 292 can be a lifting platform, so that the height of the arc-shaped slide rail 291 can be adjusted by the height of the support 292.

[0121] See also Figure 6In a specific example of this embodiment, the pedal 22, the first crank 24, the first connecting rod 25, the roller or slider 28 and the arc-shaped slide rail assembly 29 each include two, which are respectively located on both sides of the first support component 21. The two first cranks 24 are respectively fixed to the two ends of the first rotating shaft 23, each of the first cranks 24 is rotatably connected to the pedal 22 on the same side, each pedal 22 is fixedly installed on the first connecting rod 25 on the same side, one end of each first connecting rod 25 forms a rotation pair with the roller or slider 28 on the same side, each roller or slider 28 is installed on the arc-shaped slide rail 291 of the arc-shaped slide rail assembly 29 on the same side, and the two arc-shaped slide rail assemblies 29 are installed on the base 1. The maximum angle between the support plane (i.e., the tread) of the pedal 22 and the horizontal direction is greater than or equal to 35°, thereby ensuring that the pedal 22 has a sufficient inclination angle to meet the ankle joint training requirements.

[0122] exist Figure 6 The first crank 24 and the pedal 22 form a rotation pair. Of course, the first crank 24 can also be as Figure 7 As shown, a revolute pair is formed with the first connecting rod 25. Specifically, as Figure 7 As shown, the first crank 24 is rotatably connected to one end of the first connecting rod 25, the other end of the first connecting rod 25 forms a rotating pair with the roller or slider 28, and the pedal 22 is fixedly mounted on the first connecting rod 25. In this case, in order to ensure that the pedal 22 has a sufficient inclination angle to meet the ankle joint training requirements, it is necessary to meet either of the two constraint conditions that the maximum angle between the support plane of the first connecting rod 25 or the pedal 22 and the horizontal direction is greater than or equal to 35° or the maximum angle between the two first connecting rods 25 on both sides is greater than or equal to 32°.

[0123] See also Figure 6 In this embodiment, the lower limb training mechanism 2 further includes a first driving component (not shown) disposed in the first supporting component 21, and the first driving component is connected to the first rotating shaft 23. The first driving component may be, for example, a motor, or a combination of a motor and a reducer, or a flywheel.

[0124] In this embodiment, the lower limb training mechanism 2 also includes a first resistance component arranged in the first support component 21, and the first resistance component includes a friction component, a magnetic control resistance generator or a flywheel. The friction component includes a friction plate and a friction plate seat that cooperate with each other, the friction plate is installed on the first rotating shaft 23, and the friction plate seat is installed at one end of the first support component 21 close to the first rotating shaft 23. The human-computer interaction device 6 to be introduced later controls the tightening or loosening of the friction plate and the friction plate seat to adjust the movement resistance. The magnetic control resistance generator includes an aluminum disk flywheel and a permanent magnet component that cooperate with each other, the aluminum disk flywheel is installed on the first rotating shaft 23, and the permanent magnet component is installed at one end of the first support component 21 close to the first rotating shaft 23. The magnetic control resistance generator generates eddy current to form resistance by cutting the magnetic flux lines between the permanent magnets through the aluminum disk flywheel, and the distance between the aluminum disk and the permanent magnet is adjusted by the human-computer interaction device 6 to adjust the resistance.

[0125] It is understandable that the first supporting component 21 may also only include a first resistance component (not shown) without providing a first driving component, and the operation of the first resistance component can be adjusted manually or controlled by the human-computer interaction device 6.

[0126] It is understandable that the first driving component can be directly used as the first resistance component without additionally providing a friction component or a magnetic control resistance generator as the first resistance component. Taking a driving device using a motor or a motor and a reducer as an example, a direct current not greater than the rated current of the motor can be input to the motor, so that the motor is in an energy consumption braking state and becomes a resistance source.

[0127] The rehabilitation training device of this embodiment can realize individual lower limb training, individual upper limb training and coordinated upper and lower limb training. During the coordinated upper and lower limb training, the human body is in a sitting position, the lower limbs satisfy the ankle pump movement, and the upper limbs rotate with the handle 52 so that the wrist joint has a certain training activity angle.

[0128] The rehabilitation training device of this embodiment may also include three training modes, namely passive training mode, assisted training mode and active training mode. The detailed introduction of the training modes can be found in the description of the first embodiment, which will not be repeated here.

[0129] The rehabilitation training device of this embodiment can eliminate local degrees of freedom, thereby inhibiting abnormal joint reactions, allowing the bilateral ankle joints or wrist joints to produce a certain range of motion, forming ankle pump movements, and having good ankle or wrist joint training effects. The rehabilitation training device of this embodiment has a streamlined structure, a small size, and is easy to place overall. The lengths of the cranks (the first crank 24 and the second crank 54), the connecting rods (the first connecting rod 25 and the second connecting rod 55) and the support frame 3 of the rehabilitation training device of this embodiment are adjustable, which can better adapt to the sports training needs of different groups of people and ensure the training effect. The rehabilitation training device of this embodiment has a variety of working modes, which can realize separate lower limb training, separate upper limb training, and coordinated training of upper and lower limbs. The upper and lower limb movement training mechanism of the rehabilitation training device of this embodiment can directly transform the existing rehabilitation trainer, etc., so that it has ankle or wrist joint training functions. The rehabilitation training device of this embodiment can meet the requirements that the maximum angle between the support plane of the first connecting rod 25 or the first supporting aid (foot pedal 22 or support plate) and the horizontal direction is greater than or equal to 35° or the maximum angle between the two first connecting rods 25 on both sides is greater than or equal to 32°, ensuring a sufficient inclination angle of the first supporting aid to meet the ankle joint training requirements.

[0130] It is understandable that the upper limb training mechanism 5 of the rehabilitation training device of this embodiment can also be used Figure 4 The design of the upper limb training mechanism 5 shown is described in detail in the second embodiment and will not be elaborated here.

[0131] It is understandable that the rehabilitation training device of this embodiment can also be similar to Figure 5 The upper limb training mechanism 5 is not provided as shown.

[0132] Embodiment 5

[0133] like Fig. 9 As shown, this embodiment introduces a fifth rehabilitation training device, which includes a base 1, a support frame 3 and an upper limb training mechanism 5 arranged on the base 1. Compared with the first embodiment, except that the lower limb training mechanism 2 is not arranged and the shape of the base 1 is different, other structures are basically the same, so they will not be described again.

[0134] The rehabilitation training device of this embodiment can only perform upper limb training. During training, when the upper limb makes a rotational motion along with the handle 52, the wrist joint has a certain training activity angle, and has a good wrist joint training effect.

[0135] Embodiment 6

[0136] This embodiment introduces the sixth rehabilitation training device. Different from the first embodiment, the pedal 22 (first supporting aid) is directly fixedly mounted on the first rocker 26, and the pedal 22 can swing synchronously with the first rocker 26. At this time, the first crank 24 is rotatably connected to one end of the first connecting rod 25, and in order to meet the ankle joint training requirements, the maximum angle between the support plane of the pedal 22 and the horizontal direction is greater than or equal to 35°. The other structures are basically the same as those in the first embodiment, so they are not repeated here.

[0137] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0138] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

[0139] References throughout this specification to "one embodiment," "an embodiment," or "a specific embodiment" mean that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention, and not necessarily in all embodiments. Thus, various appearances of the phrases "in one embodiment," "in an embodiment," or "in a specific embodiment" in different places throughout this specification do not necessarily refer to the same embodiment. In addition, the particular features, structures, or characteristics of any specific embodiment of the invention may be combined with one or more other embodiments in any suitable manner. It should be understood that other variations and modifications of the embodiments of the invention described and illustrated herein may be possible in light of the teachings herein and are to be considered part of the spirit and scope of the invention.

[0140] It should also be understood that one or more of the elements shown in the figures may also be implemented in a more separate or more integrated manner, or even removed because they are inoperable in certain circumstances or provided because they may be useful depending on the application.

[0141] In addition, unless otherwise explicitly indicated, any marking arrows in the drawings should be regarded as exemplary only and not limiting. In addition, unless otherwise indicated, the term "or" used herein is generally intended to mean "and / or". In the case where the term is not clear because it is anticipated that the ability to separate or combine is provided, the combination of components or steps will also be regarded as indicated.

[0142] As used in the description herein and throughout the claims that follow, "a", "an", and "the" include plural references unless otherwise indicated. Likewise, as used in the description herein and throughout the claims that follow, the meaning of "in" includes "in" and "on" unless otherwise indicated.

[0143] The above description of the illustrated embodiments of the present invention (including the contents described in the Abstract) is not intended to be an exhaustive list or to limit the present invention to the precise form disclosed herein. Although specific embodiments of the present invention and examples of the present invention are described herein for illustrative purposes only, various equivalent modifications are possible within the spirit and scope of the present invention as will be recognized and appreciated by those skilled in the art. As noted, these modifications may be made to the present invention in accordance with the above description of the embodiments described in the present invention, and these modifications will be within the spirit and scope of the present invention.

[0144] Systems and methods have been generally described herein as details that aid in understanding the present invention. In addition, various specific details have been given to provide an overall understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that embodiments of the present invention may be practiced without one or more of the specific details, or may be practiced using other devices, systems, accessories, methods, components, materials, parts, etc. In other cases, well-known structures, materials, and / or operations are not specifically shown or described in detail to avoid confusion with various aspects of embodiments of the present invention.

[0145] Thus, although the invention has been described herein with reference to specific embodiments thereof, freedom of modification, various changes and substitutions are also within the foregoing disclosure, and it should be understood that in some cases, some features of the invention will be employed without the corresponding use of other features without departing from the scope and spirit of the proposed invention. Thus, many modifications may be made to adapt a particular environment or material to the essential scope and spirit of the invention. The invention is not intended to be limited to the specific terms used in the claims below and / or the specific embodiments disclosed as the best mode contemplated for carrying out the invention, but the invention will include any and all embodiments and equivalents falling within the scope of the appended claims. Thus, the scope of the invention will be determined solely by the appended claims.

Claims

1. A rehabilitation training device that can meet the needs of joint training, characterized in that: include: Base; A support frame, the support frame is installed on the base, and the length of the support frame is adjustable; A lower limb training mechanism, comprising a first supporting component, a first rotating shaft, a first supporting aid, a first crank, a first connecting rod, a first rocker and a first rocker supporting component; The first supporting member is disposed on the base; The first rotary shaft is rotatably mounted on the first supporting member; The first crank is fixedly connected to the first rotating shaft; The first crank is rotatably connected to the first supporting auxiliary device; The first supporting auxiliary device is fixedly mounted on the first connecting rod; The other end of the first connecting rod is rotatably connected to one end of the first rocker; The other end of the first rocker forms a rotation pair with the first rocker support component; The first rocker support component is arranged on the base.

2. The rehabilitation training device that can meet the joint training needs according to claim 1 is characterized in that: The installation position of the first rocker support component is adjustable.

3. The rehabilitation training device capable of meeting joint training requirements according to claim 1, characterized in that: The rehabilitation training device also includes an upper limb training mechanism, including a second supporting component, a second supporting aid, a second rotating shaft and a second crank; the second supporting component is installed on the supporting frame, the second rotating shaft is rotatably installed on the second supporting component, the second crank is fixedly connected to the second rotating shaft, and the second supporting aid is rotatably installed on the second crank.

4. The rehabilitation training device capable of meeting joint training requirements according to claim 1, characterized in that: The rehabilitation training device also includes an upper limb training mechanism, including: a second supporting component, a second supporting aid, a second rotating shaft, a second crank, a second connecting rod and a second rocker; the second supporting component is installed on the supporting frame, the second rotating shaft is rotatably installed on the second supporting component, the second crank is fixedly connected to the second rotating shaft, the second crank is rotatably connected to one end of the second connecting rod, the other end of the second connecting rod is rotatably connected to one end of the second rocker, the other end of the second rocker forms a rotating pair with the second supporting component, and the second supporting aid is installed on the second connecting rod.

5. The rehabilitation training device capable of meeting joint training requirements according to claim 4, characterized in that: The upper limb training mechanism also includes a second rocker support component, which is installed at one end of the second support component away from the second rotating axis, and one end of the second rocker that is not connected to the second connecting rod forms a rotation pair with the second rocker support component.

6. The rehabilitation training device capable of meeting joint training requirements according to claim 5, characterized in that: The height of the swing center of the first rocker is adjustable, and / or the height of the swing center of the second rocker is adjustable.

7. The rehabilitation training device capable of meeting joint training requirements according to claim 5, characterized in that: The installation position of the second rocker support component is adjustable.

8. The rehabilitation training device capable of meeting joint training requirements according to claim 3 or 4, characterized in that: The upper limb training mechanism further includes a second driving component disposed in the second supporting component, and the second driving component is connected to the second rotating shaft.

9. The rehabilitation training device capable of meeting joint training requirements according to claim 1, characterized in that: The lower limb training mechanism further includes a first driving component disposed in the first supporting component, and the first driving component is connected to the first rotating shaft.

10. The rehabilitation training device capable of meeting joint training requirements according to claim 1, characterized in that: The maximum angle between the support plane of the first connecting rod or the first supporting aid and the horizontal direction is greater than or equal to 35°, or the maximum angle between the first connecting rods located on both sides of the first rotating axis is greater than or equal to 32°.

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