A servo multi-axis force applicator for muscle strength rehabilitation

Abstract

The present invention discloses a servo multi-axis force applicator for muscle strength rehabilitation, which includes a pulling slider slidably arranged in a pulling cylinder, and a traction rope is connected between the pulling slider and a weight-bearing support plate. The pulling cylinder is connected to a fixing plate with an internally threaded rotating shaft, and the threaded rotating shaft is threadedly connected to a control slider. A touch switch, an electromagnet, a wiring switch and a DC power supply connected in series through a wire are installed on the control slider. The weight-bearing support plate is connected with an iron plate magnetically attracted to the electromagnet, and a touch block is installed on the iron plate. The present invention solves the problems that the patient's arm is affected by unstable pulling force during exercise, which affects the training effect and causes training injuries, by pulling up the weight-bearing support plate for arm exercise, and by the way that the control slider drives the weight-bearing support plate to move downward, it makes the patient's arm not need to overcome the gravity of the weight-bearing support plate during the reset process, avoiding the problem that the patient's arm is vulnerable to injury when it is difficult to grasp the gravity of the weight-bearing support plate during stretching and resetting.

Description

Technical Field

[0001] The present invention relates to the technical field of rehabilitation equipment, and specifically to a servo multi-axis force applicator for muscle strength rehabilitation. Background Art

[0002] After the human body is damaged, targeted rehabilitation treatment is required, and the rehabilitation treatment is usually a relatively long process. Especially when the bones and muscles of the human body are damaged, such as: tendon and ligament injuries, muscle and soft tissue injuries, bone injuries (such as fractures), etc., the required rehabilitation time is relatively long. For example, when a patient's arm is damaged, if the arm is stationary for a long time, local soft tissue adhesions are likely to occur, and even problems such as limited joint movement and muscle atrophy may appear later. Therefore, it is necessary to use targeted rehabilitation equipment to effectively rehabilitate the patient's arm in a timely manner.

[0003] In the prior art, an arm rehabilitator for neurosurgery with the publication number "CN214597059U" includes a mounting plate. Two symmetrically arranged mounting bolts are threadedly connected to the top of the mounting plate. An installation tube is arranged on the top of the mounting plate between the two mounting bolts. A positioning spring is fixedly connected to the inner wall of the bottom of the installation tube. The top end of the positioning spring is fixedly connected to an elongation plate. Orientation grooves are formed on the inner walls of the left and right sides of the installation tube on both sides of the elongation plate. The positioning spring and the elongation plate effectively exercise the pushing action of the arm in the up and down direction, and the rotating rod and the fitting plate effectively exercise the bending effect of the arm. Furthermore, the muscles of the arm are effectively and alternately exercised through pushing and bending, and the alternating actions exercise the arm muscles to achieve the effect of continuously performing rehabilitation actions for a long time, thereby achieving the effect of improving the rehabilitation efficiency and quality of the arm.

[0004] However, the prior art still has relatively large defects. For example, in the prior art, the positioning spring provides the pulling force. The longer the displacement distance of the patient's arm pulling the elongation plate, the greater the pulling force exerted by the positioning spring on the patient's arm. That is, the pulling force exerted by the positioning spring is unstable. There are problems that when the patient pulls the positioning spring to elongate a short distance, the arm cannot be effectively exercised, when the patient pulls the positioning spring to elongate a long distance, the arm is easily damaged due to excessive pulling force, and it is difficult for the patient's arm to grasp the tension of the positioning spring during the process of resetting with the elongation plate and is easily damaged. Summary of the Invention

[0005] The purpose of the present invention is to provide a servo multi-axis force applicator for muscle strength rehabilitation to solve the problems raised in the above background art.

[0006] To achieve the above purpose, the present invention provides the following technical solutions:

[0007] A servo multi-axis force applicator for muscle strength rehabilitation, including a pull slider with a grip. The pull slider is slidably arranged in a horizontally placed pull cylinder. One end of the pull slider away from the grip is fixedly connected with a traction rope that extends out of the pull cylinder and extends downward. The lower end of the traction rope is fixedly connected with a weight bearing plate with several gravity blocks inside. One end of the pull cylinder close to the weight bearing plate is fixedly connected with a fixed plate, and the weight bearing plate is slidably arranged up and down on the fixed plate. The fixed plate is provided with no less than two empty slots that open on both side walls, and a threaded rotating shaft driven by a driving motor extends up and down in any empty slot. A control slider that slides up and down and is in threaded cooperation with the threaded rotating shaft extends out of the empty slot.

[0008] One end of the control slider close to the weight bearing plate is fixedly installed with a touch switch, and the touch switch is connected in series with an electromagnet, a wiring switch, and a DC power supply through a wire. The wiring switch includes an upper power connection block and a lower power connection block that are arranged up and down in the control slider. An elastic pressing block that pushes it to be electrically connected with the lower power connection block is installed on the upper power connection block. The upper power connection block is fixedly connected with a push rod that extends downward out of the control slider and is in pressing cooperation with the bottom wall of the empty slot. The weight bearing plate is fixedly connected with an iron plate that is magnetically attracted to the electromagnet, and a touch block that cooperates to press the touch switch is installed on the iron plate.

[0009] A massage plate with several massage protrusions is arranged below the pull cylinder. A support spring is fixedly connected between the massage plate and the bottom wall of the pull cylinder. The massage plate is fixedly connected with a vibration plate that slides downward out of the pull cylinder. A magnetic plate that approaches the vibration plate under the magnetic push of the electromagnet is slidably arranged in the control slider. One end of the magnetic plate close to the vibration plate is fixedly connected with an elastic convex block. Several vibration grooves for the elastic convex block to extend into are spaced from top to bottom on the vibration plate, and the elastic convex block is connected with an elastic pull block that pulls it away from the vibration groove.

[0010] Preferably, a steam box for storing physical therapy liquid medicine is fixedly connected below the pull cylinder, and a heating element for heating the physical therapy liquid medicine is arranged in the steam box. Several steam spraying grooves that penetrate up and down are opened on the massage plate, and the steam box and the lower ends of the steam spraying grooves are connected through a communication hose. A support rod that slides upward out of the massage plate is fixedly connected to the inner bottom wall of the pull cylinder, and a sealing plate that cooperates to block the upper ends of the steam spraying grooves is fixedly connected to the upper end of the support rod.

[0011] Preferably, a guiding through groove parallel to the sliding direction of the pull slider is opened on the upper wall of the pull cylinder. A guiding slider that slides upward out of the guiding through groove is fixedly connected to the upper end of the pull slider, and the upper end of the guiding slider extends outward and abuts against the outer wall of the pull cylinder.

[0012] Preferably, the weighted pallet includes an upper mounting plate and a lower mounting plate which are arranged at an interval up and down. The upper mounting plate and the lower mounting plate are fixedly connected by fixing bolts. The gravity block is placed on the lower mounting plate, and the lower end of the traction rope is fixedly connected to the upper mounting plate.

[0013] Preferably, the fixing plate is provided with a limiting through groove which is open on both side walls thereof. The upper mounting plate is fixedly connected with a limiting rod which slides through the limiting through groove. Two limiting baffles which are respectively slidably abutted against the two side walls of the fixing plate are fixedly connected at intervals on the rod body of the limiting rod.

[0014] Preferably, a deflecting wheel for guiding the traction rope to extend downward is fixedly connected to the side wall of the fixing plate away from the drawing cylinder.

[0015] Preferably, a through hole for slidably placing a magnetic plate is formed in the control slider. The through hole penetrates through both end faces of the control slider along the sliding direction of the drawing slider. The electromagnet is fixedly connected to the inner wall of the through hole and extends out from one end of the through hole away from the vibrating plate. The elastic bump is located between the vibrating plate and the control slider. A bump connecting plate is fixedly connected to the end of the elastic bump close to the control slider. The elastic pull block is fixedly connected between the bump connecting plate and the control slider. The magnetic plate is located between the electromagnet and the bump connecting plate. The magnetic plate and the electromagnet are magnetically repulsive. A sliding connecting rod which extends out of the control slider and is fixedly connected to the bump connecting plate is fixedly connected to the magnetic plate.

[0016] Preferably, a vibrating plate connecting plate extending towards the fixing plate is fixedly connected to one end of the massage plate close to the fixing plate. The vibrating plate is fixedly connected below the end of the vibrating plate connecting plate away from the massage plate.

[0017] Preferably, the upper power connection block and the push rod are fixedly connected by an insulating plate. The insulating plate is fixedly connected above the push rod. The elastic pressing block is fixedly connected between the insulating plate and the lower inner wall of the control slider. The push rod slides downward through the elastic pressing block.

[0018] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0019] The servo multi-axis force applicator for muscle strength rehabilitation of the present invention adds an appropriate amount of gravity blocks to the weight-bearing tray according to the training intensity, and then performs arm exercises by pulling up the weight-bearing tray, solving the problems that the patient's arm is affected by unstable pulling force during exercise, affecting the training effect and causing training injuries. By controlling the slider to overcome the gravity of the weight-bearing tray and drive the weight-bearing tray to move downward, it is ensured that the patient's arm does not need to overcome the gravity of the weight-bearing tray during the reset process, avoiding the problem that the patient's arm is vulnerable to injury because it is difficult to grasp the pulling force exerted by the weight-bearing tray during stretching and resetting. Through the combined setting of elastic bumps, magnetic plates and vibrating plates, when the slider moves downward, the massage plate vibrates up and down, and the vibrating massage plate massages the reset and stretched patient's arm, relieving the fatigue of the patient's arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic cross-sectional view of the overall structure of the present invention;

[0021] Figure 2 is Figure 1 an enlarged schematic view of the internal structure of the control slider in;

[0022] Figure 3 is Figure 1 an enlarged schematic view of the sealing plate blocking the steam groove in;

[0023] Figure 4 is a schematic side view of the fixing plate in the present invention;

[0024] Figure 5 is a schematic view of the threaded engagement between the threaded rotating shaft and the control slider in the present invention;

[0025] Figure 6 is a schematic view of pulling up the weight-bearing tray in the present invention;

[0026] Figure 7 is Figure 6 an enlarged schematic view of the electromagnet attracting the iron plate in;

[0027] Figure 8 is a schematic view of the control slider driving the weight-bearing tray to slide down in the present invention;

[0028] Figure 9 is Figure 8 an enlarged schematic view of the sealing plate leaving the steam groove in;

[0029] Figure 10 is a schematic view of the separation between the control slider and the weight-bearing tray in the present invention;

[0030] Figure 11 is Figure 10 an enlarged schematic view of the internal structure of the control slider in;

[0031] Figure 12 For Figure 11 An enlarged schematic view of the push rod driving the upper power connection block away from the lower power connection block in the middle.

[0032] In the figure: 1 pull slider, 2 pull cylinder, 201 guide through groove, 3 traction rope, 4 gravity block, 5 fixed plate, 51 empty groove, 52 limit through groove, 6 drive motor, 7 threaded rotating shaft, 8 control slider, 9 touch switch, 10 wire, 11 electromagnet, 12 DC power supply, 13 upper power connection block, 14 lower power connection block, 15 push rod, 16 elastic pressing block, 17 iron plate, 18 magnetic plate, 19 elastic convex block, 20 elastic pulling block, 21 massage plate, 22 support spring, 23 vibrating plate, 231 vibration groove, 24 steam box, 25 heating element, 26 connecting hose, 27 sealing plate, 28 support rod, 29 guide slider, 30 lower mounting plate, 31 upper mounting plate, 32 fixing bolt, 33 limit rod, 34 limit baffle, 35 deflecting wheel, 36 sliding connecting rod, 37 convex block connecting plate, 38 vibrating plate connecting plate, 39 insulating plate. Specific embodiments

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] Please refer to Figure 1-12 , the present invention provides a technical solution:

[0035] Embodiment 1:

[0036] A servo multi-axis force applicator for muscle strength rehabilitation, comprising a pull slider 1 with a grip at the right end. The pull slider 1 is slidably arranged in a horizontally placed pull cylinder 2. Specifically, the pull cylinder 2 is arranged in the left-right direction, and the pull slider 1 is slidably arranged in the left-right direction within the pull cylinder 2. A left-right oriented guiding through groove 201 is formed in the upper wall of the pull cylinder 2, and the guiding through groove 201 penetrates the upper wall of the pull cylinder 2. A guiding slider 29 that slides upward and extends out of the guiding through groove 201 is fixedly connected to the upper end of the pull slider 1, and the upper end of the guiding slider 29 extends outward and abuts against the outer wall of the pull cylinder 2. Through the cooperation of the guiding slider 29 and the guiding through groove 201, the pull slider 1 is suspended and slidably arranged in the pull cylinder 2. A fixing plate 5 is fixedly connected to the left end of the pull cylinder 2. During use, the fixing plate 5 is fixed to the ground to keep the pull cylinder 2 stable. A traction rope 3 is fixedly connected to the left end of the pull slider 1, and the traction rope 3 extends leftward out of the pull cylinder 2 and the fixing plate 5 and then extends downward. Specifically, a deflecting wheel 35 is fixedly connected to the side wall of the fixing plate 5 away from the pull cylinder 2. The traction rope 3 bypasses the deflecting wheel 35 and then extends downward, and a weight-bearing tray 4 with several gravity blocks 4 is fixedly connected to the lower end of the traction rope 3. The weight-bearing tray 4 is slidably arranged up and down on the left end face of the fixing plate 5 to improve the stability during the up and down sliding process of the weight-bearing tray 4 and avoid the problem that the weight-bearing tray shakes during the up and down sliding process and affects the arm exercise of the patient. During training, first select an appropriate training intensity by adding or reducing gravity blocks 4 on the weight-bearing tray 4, then the patient inserts the arm into the pull cylinder 2 from the right end of the pull cylinder 2 and holds the grip, and then pulls the pull slider 1 to the right, so that the pull slider 1 drives the weight-bearing tray 4 to move upward through the traction rope 3. The patient's arm overcomes the stable gravity exerted by the gravity blocks 4 and the weight-bearing tray 4 during the process of pulling the pull slider 1 to the right. Compared with using a spring to apply a continuously changing pulling force, it avoids the problems that too small a pulling force cannot achieve the training effect, too large a pulling force causes arm injury, and it is difficult to grasp the continuously changing pulling force;

[0037] There are two empty slots 51 arranged at intervals on the fixed plate 5, and both of the two empty slots 51 penetrate through the left and right side walls of the fixed plate 5. A threaded rotating shaft 7 driven by a driving motor 6 extends vertically in any one of the empty slots 51. The driving motor 6 is fixedly installed on the top wall of the empty slot 51. A control slider 8 extends out of the empty slot 51, and the control slider 8 is provided with a threaded hole for the threaded rotating shaft 7 to pass through. The control slider 8 cannot rotate together with the threaded rotating shaft 7 under the limitation of the empty slot 51, so that the control slider 8 slides up or down when the threaded rotating shaft 7 rotates. Specifically, by changing the rotation direction of the threaded rotating shaft 7 through the driving motor 6, the control slider 8 slides up or down. One end of the control slider 8 close to the weight-bearing support plate is fixedly installed with a touch switch 9, and the touch switch 9 is connected in series with an electromagnet 11, a wiring switch, and a DC power supply 12 through a wire 10. The electromagnet 11 extends out of one end of the control slider 8 close to the weight-bearing support plate. The touch switch 9 is an LFT2000 pressure transmitter that closes and works under external pressure. The wiring switch includes an upper power connection block 13 and a lower power connection block 14 arranged up and down in the control slider 8. An elastic pressing block 16 for pushing it to be electrically connected to the lower power connection block 14 is installed on the upper power connection block 13. The upper power connection block 13 is fixedly connected with a push rod 15 that slides downward and extends out of the control slider 8 and is in extrusion fit with the bottom wall of the empty slot 51. Specifically, the upper power connection block 13 and the push rod 15 are fixedly connected through an insulating plate 39. The setting of the insulating plate 39 improves the safety of the upper power connection block 13 during use, and the insulating plate 39 is fixedly connected above the push rod 15. The elastic pressing block 16 is fixedly connected between the insulating plate 39 and the lower inner wall of the control slider 8, and the push rod 15 slides downward through the elastic pressing block 16. The setting of the push rod 15 provides axial support for the elastic pressing block 16 and improves the stability of the elastic deformation process of the elastic pressing block 16. The weight-bearing support plate is fixedly connected with an iron plate 17 that is magnetically attracted to the electromagnet 11, and a touch block for cooperatively pressing the touch switch 9 is installed on the iron plate 17. Two iron plates 17 are fixedly connected to the weight-bearing support plate, and the two iron plates 17 cooperate with the electromagnets 11 on the two control sliders 8 one by one to improve the stability of the subsequent process of the control slider 8 driving the weight-bearing support plate to move downward;

[0038] In the initial state, the control slider 8 is located at the upper end of the threaded rotating shaft 7 and remains stable under the action of screw self-locking. The push-pull rod 15 is suspended, causing the upper electrical connection block 13 to be electrically connected to the lower electrical connection block 14 under the push of the elastic pressing block 16, closing the wiring switch. The weighted support plate slides down to the lowest position and is located below the control slider 8 without external force pulling. The patient's arm slides the weighted support plate upward by pulling the draw slider 1 to the right. The iron plate 17 slides upward with the weighted support plate. When the iron plate 17 moves to align with the electromagnet 11 along with the weighted support plate, the iron plate 17 slides and abuts against the electromagnet 11, and the pressure block on the iron plate 17 presses on the pressure switch 9, closing the pressure switch 9. As a result, the electromagnet 11 is energized and becomes magnetic, attracting the iron plate 17, making the weighted support plate and the control slider 8 relatively fixed. Then, the driving motor 6 drives the threaded rotating shaft 7 to rotate forward, causing the control slider 8 to overcome the gravity of the weighted support plate and drive the weighted support plate to move downward together, so that the patient's arm does not need to overcome the gravity of the weighted support plate during the reset process, avoiding the problem that the patient's arm is vulnerable to injury when it is difficult to grasp the pulling force exerted by the weighted support plate during stretching and resetting. When the control slider 8 moves to the lower end of the threaded rotating shaft 7, the push-pull rod 15 abuts against the bottom wall of the empty slot 51, causing the push-pull rod 15 to drive the upper electrical connection block 13 to move upward away from the lower electrical connection block 14. The wiring switch is disconnected, causing the electromagnet 11 to lose power and no longer attract the iron plate. Then, the driving motor 6 drives the threaded rotating shaft 7 to rotate in the reverse direction, causing the control slider 8 to move upward to reset and leave the weighted support plate. The pressure switch 9 disengages from the pressure block on the iron plate 17 and switches to the off state. During the upward reset process of the control slider 8, the patient's arm pulls the weighted support plate to slide upward together, keeping the weighted support plate always in the state below the control slider 8. While ensuring that the patient's arm exercises by pulling the draw slider 1 to the right to slide the weighted support plate upward, the exercise efficiency of the patient's arm is improved. Of course, after the control slider 8 moves upward to reset to the upper end of the threaded rotating shaft 7 and remains stable again, the patient's arm can also exercise by pulling the draw slider 1 to the right to slide the weighted support plate upward;

[0039] A lower space inside the draw tube 2 is provided with a massage plate 21 having a number of massage protrusions, and a number of support springs 22 are fixedly connected between the massage plate 21 and the bottom wall of the draw tube 2. One end of the massage plate 21 close to the fixed plate 5 is fixedly connected with a vibration plate connecting plate 38 extending towards the fixed plate 5. One end of the vibration plate 23 far from the massage plate 21 is fixedly connected with the vibration plate connecting plate 38 below, and the vibration plate 23 slides downward and extends out of the draw tube 2. A magnetic plate 18 that approaches the vibration plate 23 under the magnetic push of the electromagnet 11 is slidably arranged inside the control slider 8. One end of the magnetic plate 18 close to the vibration plate 23 is fixedly connected with an elastic protrusion 19. A number of vibration grooves 231 for the elastic protrusion 19 to extend into are spaced from top to bottom on the vibration plate 23. The elastic protrusion 19 is connected with an elastic pull block 20 that pulls it away from the vibration groove 231. When the control slider 8 drives the weight bearing plate to move downward together, the electromagnet 11 is energized. The magnetic plate 18 drives the elastic protrusion 19 to move towards the vibration plate 23 together under the magnetic action of the electromagnet 11, so that the elastic protrusion 19 extends into the vibration groove 231. Thus, during the downward movement of the control slider 8, the elastic protrusion 19 extends into and leaves a plurality of vibration grooves 231 in sequence. Through the cooperative setting of the elastic protrusion 19 and the vibration groove 231, during the downward sliding of the control slider 8, the vibration plate 23 vibrates up and down. The vibration plate 23 drives the massage plate 21 to vibrate up and down together through the vibration plate connecting plate 38. The massage plate 21 vibrates up and down and massages the reset and relaxed patient's arm, relieving the fatigue of the patient's arm. During the upward movement and reset process of the control slider 8, the weight bearing plate is always located below the control slider 8. The touch switch 9 is disconnected to cut off the power supply of the electromagnet 11. The elastic protrusion 19 moves in the direction away from the vibration plate 23 and resets and leaves the vibration groove 231 under the pull of the elastic pull block 20, so that the vibration plate 23 does not drive the massage plate 21 to vibrate together during the upward movement of the control slider 8, avoiding affecting the patient's arm in a taut state due to pulling the draw slider 1, and preventing the problem that the patient's arm is accidentally loosened from the draw slider 1 and damaged.

[0040] Embodiment 2:

[0041] Example 2 adds an institution for physical therapy of the patient's arm on the basis of Example 1, that is: a steam box 24 for storing physical therapy liquid medicine is fixedly connected below the drawing cylinder 2, and a heating element 25 for heating the physical therapy liquid medicine is arranged in the steam box 24. The heating element 25 heats the physical therapy liquid medicine, and the liquid medicine steam formed by heating is used to steam the patient's arm. A plurality of steam spraying grooves penetrating up and down are formed on the massage plate 21, and the steam box 24 is communicated with the lower end of the steam spraying grooves through a connecting hose 26. A support rod 28 that slides upward and extends out of the massage plate 21 is fixedly connected to the inner bottom wall of the drawing cylinder 2, and a sealing plate 27 that cooperates to block the upper end of the steam spraying grooves is fixedly connected to the upper end of the support rod 28. Further, it is set that a rubber plate is fixedly connected to the lower end of the sealing plate 27. The rubber plate improves the blocking tightness of the upper end of the steam spraying grooves. The sealing plate 27 is kept stable under the support of the support rod 28. The massage plate 21 is abutted against the lower side of the sealing plate 27 under the support of the support spring 22, so that the upper end of the steam spraying grooves is blocked by the sealing plate 27. During the downward movement of the control slider 8, the vibrating plate 23 drives the massage plate 21 to vibrate up and down. When the massage plate 21 vibrates downward, it leaves the sealing plate 27, so that the sealing plate 27 no longer blocks the upper end of the steam spraying grooves. The liquid medicine steam in the steam box 24 passes through the connecting hose 26 and sprays out from the upper end of the steam spraying grooves. The sprayed steam adheres to the reset and relaxed patient's arm for steam therapy, accelerating the recovery time of the patient's arm.

[0042] Example 3:

[0043] Example 3 discloses the structure of the weight-bearing plate on the basis of Example 1, that is: the weight-bearing plate includes an upper mounting plate 31 and a lower mounting plate 30 arranged at intervals up and down, and the upper mounting plate 31 and the lower mounting plate 30 are fixedly connected by fixing bolts 32. The fixing bolts 32 fix the upper mounting plate 31 and the lower mounting plate 30 while blocking the gravity block 4 to prevent the problem of the gravity block 4 falling. The gravity block 4 is placed on the lower mounting plate 30, and the iron plate 17 is fixedly connected to one end of the lower mounting plate 30 close to the fixing plate 5, and the lower end of the traction rope 3 is fixedly connected to the upper mounting plate 31;

[0044] The fixing plate 5 is provided with a limiting through groove 52 opening on its left and right side walls, and the upper mounting plate 31 is fixedly connected with a limiting rod 33 sliding through the limiting through groove 52. Two limiting baffles 34 respectively sliding and abutted against the left and right side walls of the fixing plate 5 are fixedly connected at intervals on the rod body of the limiting rod 33. Through the arrangement of the limiting baffles 34 and the limiting rod 33, the upper mounting plate 31 is slidably arranged on the fixing plate 5 up and down, thereby avoiding the problem of the weight-bearing plate shaking during the up and down movement.

[0045] Example 4:

[0046] Embodiment 4 discloses the internal structure of the control slider 8 on the basis of Embodiment 1, that is: a through hole is provided in the control slider 8 and is arranged in the left-right direction, and the through hole penetrates through the left and right end faces of the control slider 8. The magnetic plate 18 is placed slidably in the through hole in the left-right direction. The electromagnet 11 is fixedly connected to the inner wall of the through hole and extends out from the left end of the through hole, facilitating the contact between the electromagnet 11 and the iron plate 17. The elastic bump 19 is located between the vibrating plate 23 and the control slider 8, and a bump connecting plate 37 is fixedly connected to one end of the elastic bump 19 close to the control slider 8. The elastic pulling block 20 is fixedly connected between the bump connecting plate 37 and the control slider 8. The magnetic plate 18 is located between the electromagnet 11 and the bump connecting plate 37, and the magnetic plate 18 and the electromagnet 11 are magnetically repulsive. The magnetic plate 18 is fixedly connected with a sliding connecting rod 36 that extends out of the control slider 8 and is fixedly connected to the bump connecting plate 37. When the electromagnet 11 is energized, the magnetic plate 18 slides to the right under the magnetic repulsive force of the electromagnet 11, so that the magnetic plate 18 drives the elastic bump 19 to slide to the right through the sliding connecting rod 36 and the bump connecting plate 37, and further enables the elastic bump 19 to extend into the vibration groove 231.

[0047] Working principle: During training, first select an appropriate training intensity by adding or removing gravity blocks 4 on the weight-bearing support plate. Then, the patient inserts the arm into the draw tube 2 from the right end of the draw tube 2 and holds the grip, and then pulls the draw slider 1 to the right, so that the draw slider 1 drives the weight-bearing support plate to move upward through the traction rope 3. The patient's arm exercises against the stable gravity exerted by the weight-bearing support plate, and the iron plate 17 slides upward with the weight-bearing support plate;

[0048] Until the iron plate 17 moves to align with the electromagnet 11, the iron plate 17 slides and abuts against the electromagnet 11. The pressure contact block on the iron plate 17 presses the pressure contact switch 9 to close, so that the electromagnet 11 is energized to have magnetism and attracts the iron plate 17. Then, the drive motor 6 drives the threaded rotating shaft 7 to rotate forward, so that the control slider 8 overcomes the gravity of the weight-bearing support plate and drives the weight-bearing support plate to move downward together, so that the patient's arm does not need to overcome the gravity of the weight-bearing support plate during the reset process. And the magnetic plate 18 drives the elastic bump 19 to move in the direction close to the vibrating plate 23 under the magnetic action of the electromagnet 11, so that the elastic bump 19 extends into the vibration groove 231. Thus, during the downward movement of the control slider 8, the elastic protrusion 19 extends into and leaves a plurality of vibration grooves 231 in sequence, so that the vibrating plate 23 vibrates up and down during the downward sliding of the control slider 8. The vibrating plate 23 drives the massage plate 21 to vibrate up and down together, and the massage plate 21 vibrates up and down to massage the reset and relaxed patient's arm;

[0049] Until the control slider 8 moves to the lower end of the threaded rotating shaft 7, the push-pull rod 15 abuts against the bottom wall of the empty slot 51, causing the push-pull rod 15 to drive the upper power connection block 13 to move upward away from the lower power connection block 14. The wiring switch is disconnected, causing the electromagnet 11 to lose power and no longer attract the iron plate. Then, the driving motor 6 drives the threaded rotating shaft 7 to rotate reversely, causing the control slider 8 to move upward to reset and leave the weighted support plate. The touch switch 9 disengages from the touch block on the iron plate 17 and switches to the off state. During the upward reset process of the control slider 8, the patient's arm pulls the weighted support plate to slide upward together, keeping the weighted support plate always below the control slider 8. The patient's arm continues to slide the weighted support plate upward by pulling the draw slider 1 to the right for exercise.

[0050] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A servo multi-axis force applicator for muscle strength rehabilitation, comprising a pull slider (1) with a grip, characterized in that, The draw slider (1) is slidably arranged in the horizontally placed draw cylinder (2), and a traction rope (3) that extends out of the draw cylinder (2) and extends downward is fixedly connected to one end of the draw slider (1) away from the handle. The lower end of the traction rope (3) is fixedly connected to a weight-bearing tray with a number of gravity blocks (4) built in. One end of the draw cylinder (2) close to the weight-bearing tray is fixedly connected to a fixing plate (5), and the weight-bearing tray is slidably arranged up and down on the fixing plate (5). The fixing plate (5) is provided with at least two empty slots (51) that are open on both side walls. A threaded rotating shaft (7) driven by a driving motor (6) extends up and down in any empty slot (51), and a control slider (8) that slides up and down and is in threaded cooperation with the threaded rotating shaft (7) extends out of the empty slot (51). A touch switch (9) is fixedly installed at one end of the control slider (8) close to the weight-bearing tray, and the touch switch (9) is connected in series with an electromagnet (11), a wiring switch, and a DC power supply (12) through a wire (10). The wiring switch includes an upper power connection block (13) and a lower power connection block (14) that are arranged up and down in the control slider (8). An elastic pressing block (16) that pushes it into electrical connection with the lower power connection block (14) is installed on the upper power connection block (13). The upper power connection block (13) is fixedly connected to a push rod (15) that extends downward out of the control slider (8) and is in pressing cooperation with the bottom wall of the empty slot (51). The weight-bearing tray is fixedly connected to an iron plate (17) that is magnetically attracted to the electromagnet (11), and a touch block that cooperates to press the touch switch (9) is installed on the iron plate (17). A massage plate (21) with a number of massage protrusions is arranged below the draw cylinder (2), and a support spring (22) is fixedly connected between the massage plate (21) and the bottom wall of the draw cylinder (2). The massage plate (21) is fixedly connected to a vibrating plate (23) that slides downward and extends out of the draw cylinder (2). A magnetic plate (18) that approaches the vibrating plate (23) under the magnetic push of the electromagnet (11) is slidably arranged in the control slider (8). An elastic convex block (19) is fixedly connected to one end of the magnetic plate (18) close to the vibrating plate (23). A number of vibrating grooves (231) for the elastic convex block (19) to extend into are arranged at intervals from top to bottom on the vibrating plate (23), and the elastic convex block (19) is connected to an elastic pull block (20) that pulls it away from the vibrating groove (231).

2. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, wherein: A steam box (24) for storing physiotherapy liquid medicine is fixedly connected below the draw cylinder (2), and a heating element (25) for heating the physiotherapy liquid medicine is arranged in the steam box (24). A number of steam spraying grooves that penetrate up and down are arranged on the massage plate (21), and the steam box (24) and the lower end of the steam spraying grooves are connected through a connecting hose (26). A support rod (28) that slides upward and extends out of the massage plate (21) is fixedly connected to the inner bottom wall of the draw cylinder (2), and a sealing plate (27) that cooperates to block the upper end of the steam spraying groove is fixedly connected to the upper end of the support rod (28).

3. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, characterized in that: A guiding through groove (201) parallel to the sliding direction of the pulling slider (1) is formed in the upper wall of the pulling cylinder (2). The upper end of the pulling slider (1) is fixedly connected with a guiding slider (29) that slides upward and extends out of the guiding through groove (201), and the upper end of the guiding slider (29) extends outward and abuts against the outer wall of the pulling cylinder (2).

4. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, characterized in that: The weighted support plate includes an upper mounting plate (31) and a lower mounting plate (30) that are spaced up and down. The upper mounting plate (31) and the lower mounting plate (30) are fixedly connected by fixing bolts (32). The gravity block (4) is placed on the lower mounting plate (30), and the lower end of the traction rope (3) is fixedly connected to the upper mounting plate (31).

5. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 4, wherein: The fixing plate (5) is provided with a limiting through groove (52) that opens on both side walls thereof. The upper mounting plate (31) is fixedly connected with a limiting rod (33) that slides through the limiting through groove (52). Two limiting baffles (34) that respectively slide and abut against the two side walls of the fixing plate (5) are fixedly connected at intervals on the rod body of the limiting rod (33).

6. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, characterized in that: A deflecting wheel (35) for guiding the traction rope (3) to extend downward is fixedly connected to the side wall of the fixing plate (5) away from the pulling cylinder (2).

7. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, characterized in that: A through hole for slidably placing a magnetic plate (18) is formed in the control slider (8). The through hole penetrates through the two end faces of the control slider (8) along the sliding direction of the pulling slider (1). The electromagnet (11) is fixedly connected to the inner wall of the through hole and extends out from one end of the through hole away from the vibrating plate (23). The elastic convex block (19) is located between the vibrating plate (23) and the control slider (8). One end of the elastic convex block (19) close to the control slider (8) is fixedly connected with a convex block connecting plate (37), and an elastic pulling block (20) is fixedly connected between the convex block connecting plate (37) and the control slider (8). The magnetic plate (18) is located between the electromagnet (11) and the convex block connecting plate (37). The magnetic plate (18) and the electromagnet (11) are magnetically repulsive. The magnetic plate (18) is fixedly connected with a sliding connecting rod (36) that extends out of the control slider (8) and is fixedly connected with the convex block connecting plate (37).

8. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, characterized in that: One end of the massage plate (21) close to the fixing plate (5) is fixedly connected with a vibrating plate connecting plate (38) that extends toward the fixing plate (5). The vibrating plate (23) is fixedly connected below one end of the vibrating plate connecting plate (38) away from the massage plate (21).

9. The servo multi-axis force applicator for muscle strength rehabilitation according to claim 1, wherein: The upper power connection block (13) and the push rod (15) are fixedly connected by an insulating plate (39). The insulating plate (39) is fixedly connected above the push rod (15). The elastic pressing block (16) is fixedly connected between the insulating plate (39) and the lower inner wall of the control slider (8). The push rod (15) slides downward through the elastic pressing block (16).

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