Joint training equipment

Abstract

The present invention provides a joint training device. The joint training device includes: a base; a motor bracket, the motor bracket is fixedly connected to the base; a motor, the motor is arranged on the motor bracket, the motor includes a first rotation output end and a second rotation output end arranged relatively along a horizontal central axis; and two adapter assemblies, the two adapter assemblies are respectively connectable to the first rotation output end and the second rotation output end, wherein the motor has a first working mode and a second working mode, the motor is used to drive the adapter assembly connected to the first rotation output end and the second rotation output end to rotate around the horizontal central axis in the first working mode, and the motor is also used to drive the adapter assembly connected to the first rotation output end and the second rotation output end to swing within a preset angle range in the second working mode. The joint training device can achieve different training for the joints that need to be trained through the two working modes of the motor.

Description

Technical Field

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

[0002] Currently, limited joint mobility is a common phenomenon due to various reasons. To restore motor function, rehabilitation training is necessary for the restricted joints. Clinically, joint training equipment can be used to treat patients with this condition.

[0003] The ankle joint has a complex anatomy, consisting of the distal tibia and fibula, the talus, and the surrounding ligaments (the deltoid ligament, lateral ligament, and syndesmosis). Postoperative rehabilitation training can promote blood circulation, prevent joint stiffness, and strengthen the muscles surrounding the ankle joint, facilitating rapid recovery and reducing the risk of re-injury.

[0004] However, existing ankle training equipment has relatively limited functions. However, as described above, ankle training involves multiple aspects, such as ankle flexion and extension training to prevent joint stiffness, as well as muscle strength training. This requires patients to switch back and forth between different training devices. Moreover, the more types of training equipment there are, the more space they occupy, resulting in higher costs and making it difficult for training equipment to be used at home. In practice, these factors may affect the rehabilitation effect. Summary of the Invention

[0005] In order to at least partially solve the problems existing in the prior art, the present invention provides a joint training device. The joint training device includes: a base; a motor bracket, the motor bracket is fixedly connected to the base; a motor, the motor is arranged on the motor bracket, the motor includes a first rotation output end and a second rotation output end arranged relative to each other along a horizontal central axis; and two adapter assemblies, the two adapter assemblies are respectively connectable to the first rotation output end and the second rotation output end, wherein the motor has a first working mode and a second working mode, the motor is used to drive the adapter assemblies connected to the first rotation output end and the second rotation output end to rotate around the horizontal central axis in the first working mode, and the motor is also used to drive the adapter assemblies connected to the first rotation output end and the second rotation output end to swing within a preset angle range in the second working mode.

[0006] The joint training device with this setting can realize different training for the joints that need to be trained through the two working modes of the motor, achieving the effect of one device with multiple uses. Compared with existing joint training devices, users do not need to switch back and forth between multiple training devices when conducting training with different contents. This joint training device is not only convenient for users to use but also solves the problem of multiple devices taking up a lot of space. In addition, the joint training device has two adapter components, which can simultaneously perform rehabilitation training on two joints that need to be trained, thereby improving training efficiency. Moreover, the training device can also use the healthy side to drive the rehabilitation side for training, so that multiple training methods can be combined.

[0007] Exemplarily, each of the two adapter assemblies includes a first adapter and a second adapter detachably connected to the corresponding rotation output end, wherein when the first adapter is connected to the corresponding rotation output end, the motor is configured to operate in a first operating mode; and when the second adapter is connected to the corresponding rotation output end, the motor is configured to operate in a second operating mode.

[0008] Exemplarily, each of the two adapter assemblies includes an adapter component, a plurality of pivot members and a locking component. For each of the two adapter assemblies, the plurality of pivot members include a first pivot member and a second pivot member. The first pivot member is pivotally connected to the corresponding rotation output end around a horizontal center axis, the second pivot member is pivotally connected to the first pivot member around a horizontal eccentric axis, the horizontal eccentric axis is parallel to the horizontal center axis, the adapter component is installed to the second pivot member, the locking component is arranged on the first pivot member or the second pivot member, and the locking component can be switched between the first position and the second position. A locking component mating portion is provided on each of the first pivot member and the second pivot member, wherein when the locking component is in the first position, it cooperates with the locking component mating portion on the pivot member where it is located, and the second pivot member is in an unlocked state pivotable relative to the first pivot member, and the motor is used to operate in the first working mode; and when the locking component is in the second position, it cooperates with the locking component mating portion on the pivot member where it is not located, and the second pivot member is in a locked state fixed with the first pivot member, and the motor is used to operate in the second working mode.

[0009] Exemplarily, the locking member includes a first magnetic member, and each locking member mating portion includes a second magnetic member. When the locking member is mated with any locking member mating portion, the first magnetic member is attracted to the second magnetic member of the corresponding locking member mating portion.

[0010] Exemplarily, the first magnetic member is a permanent magnet, and / or the second magnetic member is a permanent magnet.

[0011] Illustratively, the locking member is pivotally connected to the pivot member on which it is located between the first station and the second station.

[0012] Exemplarily, the first pivot member has a first side and a second side opposite to each other along a horizontal central axis, the first side faces the motor, the second side faces the second pivot member, and a first accommodating groove is provided on the second side. The locking member is pivotally connected to the first pivot member, and the locking member is completely accommodated in the first accommodating groove when it is in the first position and extends out of the first accommodating groove to cooperate with the locking member matching portion on the second pivot member when it is in the second position.

[0013] Exemplarily, the first receiving groove includes one end of a locking member pivotally connected to the first end of the first receiving groove, and when the locking member is in the first position, there is a gap between the other end of the locking member and the second end of the first receiving groove for inserting a finger.

[0014] Exemplarily, the locking member mating portion on the second pivot member includes a second accommodating groove arranged on the side of the second pivot member, and the second accommodating groove passes through the second pivot member along a direction parallel to the horizontal center axis. When the locking member is in the second position, it engages with the second accommodating groove.

[0015] Exemplarily, when the locking member is in the second position, it extends out of the second receiving groove in a direction parallel to the horizontal central axis.

[0016] Exemplarily, the locking member is provided with a first rotating shaft and a second rotating shaft extending in opposite directions, and the pivot member where the locking member is located is provided with a first mounting groove and a second mounting groove. The joint training device also includes a pressure plate, which is connected to the pivot member where the locking member is located by a threaded fastener, and a third mounting groove and a fourth mounting groove are provided on the surface of the pressure plate. The first mounting groove and the third mounting groove together form a first axial hole, and the second mounting groove and the fourth mounting groove together form a second axial hole. The first rotating shaft and the second rotating shaft are pivotally connected to the first axial hole and the second axial hole respectively.

[0017] Exemplarily, the pressing plate includes a first pressing plate and a second pressing plate on both sides of the locking member, the third mounting groove is provided on the first pressing plate, and the fourth mounting groove is provided on the second pressing plate.

[0018] Exemplarily, the motor is a permanent magnet synchronous motor.

[0019] Exemplarily, the joint training device further includes an input device and a controller, wherein the input device is used to receive instructions from a user, and the controller is used to control the motor to switch between the first working mode and the second working mode according to the instructions.

[0020] Illustratively, in the first working mode, the controller is configured to compare the current of the motor with a first preset current and adjust the speed of the motor to a target speed according to the comparison result.

[0021] Illustratively, in the second working mode, the controller is configured to compare the current of the motor with a second preset current and control the direction of the motor according to the comparison result.

[0022] Exemplarily, the joint training device further includes a leg support assembly, which is connected to the base. The motor bracket has an end surface inclined upward from bottom to top toward the leg support assembly, and the motor is height-adjustably arranged on the end surface.

[0023] Exemplarily, the joint training device further comprises a seat, the leg support assembly is arranged between the motor bracket and the seat, and the distance between the seat and the leg support assembly is adjustable along a horizontal direction perpendicular to the horizontal central axis.

[0024] This summary introduces a series of simplified concepts that will be further described in the detailed description. This summary is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0025] The advantages and features of the present invention are described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The following drawings of the present invention are hereby incorporated into the present invention for understanding the present invention. The drawings show embodiments of the present invention and their descriptions, and are used to explain the principles of the present invention. In the drawings,

[0027] Figure 1 is a perspective view of a joint training device according to an exemplary embodiment of the present invention;

[0028] Figure 2 for Figure 1 Exploded view of the joint training equipment in;

[0029] Figure 3 for Figure 1 A perspective view of a plurality of pivot members of an exemplary embodiment shown in FIG, wherein the locking member is in an unlocked state;

[0030] Figure 4 for Figure 1 A perspective view of a plurality of pivot members of another exemplary embodiment shown in , wherein the locking member is in a locked state;

[0031] Figure 5 for Figure 4 a front view of the plurality of pivot members shown;

[0032] Figure 6 for Figure 4 a right side view of the plurality of pivot members shown;

[0033] Figure 7 for Figure 5 a cross-sectional view of the plurality of pivot members shown;

[0034] Figure 8 for Figure 4 Another perspective view of the plurality of pivot members shown, wherein the locking member is in an unlocked state;

[0035] Figure 9 for Figure 8 a front view of the plurality of pivot members shown;

[0036] Figure 10 for Figure 8 a right side view of the plurality of pivot members shown; and

[0037] Figure 11 for Figure 9 A cross-sectional view of the various pivot members shown.

[0038] The above drawings include the following reference numerals:

[0039] 1. Joint training device; 10. Base; 20. Motor bracket; 30. Motor; 40. Adapter assembly; 120. Adapter component; 130. First pivot member; 140. Second pivot member; 150. Locking member; 160. Locking member mating portion; 131, 131', first receiving groove; 132, gap; 134, first side; 135, second side; 136, first mounting groove; 137, second mounting groove; 140, second Pivoting member; 150, locking member; 151, first magnetic member; 152, first rotating shaft; 153, second rotating shaft; 160, locking member mating portion; 161, second magnetic member; 162, second accommodating groove; 170, pressure plate; 171, first pressure plate; 172, second pressure plate; 173, fastener; 174, third mounting slot; 175, fourth mounting slot; 200, leg support assembly; 300, seat; 400, input device. DETAILED DESCRIPTION

[0040] In the following description, a large amount of detail is provided to facilitate a thorough understanding of the present invention. However, it will be appreciated by those skilled in the art that the following description merely illustrates preferred embodiments of the present invention, and that the present invention may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well known in the art have not been described in detail.

[0041] The present invention provides a joint training device 1, such as Figure 1 shown.

[0042] The joint training device 1 may include a base 10 , a motor bracket 20 , a motor 30 and two adapter assemblies 40 .

[0043] The motor bracket 20 can be fixedly connected to the base 10. The motor 30 can be mounted on the motor bracket 20. The motor 30 can include a first rotation output end and a second rotation output end arranged opposite each other along a horizontal center axis MN. In some embodiments, the first rotation output end and the second rotation output end can include output shafts of the motor. Two adapter assemblies 40 can be connected to the first rotation output end and the second rotation output end, respectively. In some embodiments, the adapter assembly 40 can be used to be fixed to the user's foot. The motor 30 can have a first operating mode and a second operating mode. In the first operating mode, the first and second rotation output ends of the motor 30 can rotate about the horizontal center axis MN, thereby driving the adapter assembly 40 connected to the first and second rotation output ends to rotate. In the second operating mode, the first and second rotation output ends of the motor 30 can swing about the horizontal center axis MN within a preset angle range, thereby driving the adapter assembly 40 connected to the first and second rotation output ends to swing.

[0044] By way of example, the motor 30 may comprise any of a conventional motor, a servo motor, or a stepper motor. For ease of description, the first and second rotating output terminals are collectively referred to as output terminals. In embodiments where the motor 30 is a conventional motor, power is applied to the motor to enter a first operating mode. In the first operating mode, the output terminal rotates about a horizontal central axis MN. To achieve oscillating motion of the output terminal of a conventional motor, proximity switches can be provided. In some embodiments, the output terminal may be provided with a contact member that rotates with it, and the proximity switches may be provided in the path along which the contact member rotates with the output terminal. When the contact member contacts the proximity switches, the current reverses, causing the output terminal to rotate in the opposite direction of the current rotation. To achieve oscillation of the output terminal within a preset angular range, a proximity switch may be provided at each end of the desired output terminal rotation range, thereby enabling the motor to operate in a second operating mode. In embodiments where the motor is a servo motor or a stepper motor, an encoder within the motor may detect the rotation angle of the output terminal. When the rotation angle reaches the preset angle, the motor reverses rotation, enabling the motor to operate in the second operating mode. The above are merely exemplary embodiments. Those skilled in the art can implement the conversion of the motor between the first working mode and the second working mode in various ways, which will not be described in detail.

[0045] In some embodiments, when the motor is in a first operating mode, the foot attached to the adapter assembly 40 can rotate with the two adapter assemblies 40 about the horizontal center axis MN, allowing the user to perform pedaling exercises similar to pedaling a bicycle. When the motor is in a second operating mode, the foot attached to the adapter assembly 40 can swing with the two adapter assemblies 40, allowing the user to perform ankle flexion and extension exercises. Of course, those skilled in the art can also use this joint training device for rehabilitation training of other joints.

[0046] It can be seen from this that the joint training device with this setting can realize different training for the joints that need to be trained through the two working modes of the motor, achieving the effect of one machine with multiple uses. Compared with existing joint training devices, users do not need to switch back and forth between multiple training devices when conducting training with different contents. This joint training device is not only convenient for users to use but also solves the problem of multiple devices taking up a lot of space. In addition, the joint training device has two adapter components, which can perform rehabilitation training on two joints that need to be trained at the same time, improving the training efficiency. Moreover, the training device can also use the healthy side to drive the rehabilitation side for training, so that multiple training methods can be combined.

[0047] Exemplarily, each of the two adapter assemblies 40 may include a first adapter and a second adapter detachably connected to the corresponding rotation output end. When the first adapter is connected to the corresponding rotation output end, the motor can be used to operate in a first operating mode. When the second adapter is connected to the corresponding rotation output end, the motor can be used to operate in a second operating mode. In other words, the adapter assembly 40 may have multiple sets with different functions. Adapters with different functions can be adapted to the different operating modes of the motor, thereby satisfying the training requirements of the motor for the desired joints in this operating mode. For example, the first adapter may have a pivotable pedal. When the motor is in the first operating mode, the user can use the first adapter to perform pedaling movements similar to pedaling a bicycle. The pedal of the second adapter cannot be pivoted. When the motor is in the second operating mode, the user can use the second adapter to perform flexion and extension training of the ankle joint. With this arrangement, the user can achieve a variety of training methods by replacing adapters in accordance with the operating mode of the motor.

[0048] For example, the motor may be a permanent magnet synchronous motor, which can directly output power to the first rotation output end and the second rotation output end without providing a transmission component therebetween, thereby improving power transmission efficiency and reducing product size.

[0049] For example, Figure 2-4As shown, each of the two adapter assemblies 40 can include an adapter component 120, a plurality of pivot members, and a locking member 150. For each of the two adapter assemblies 40, the plurality of pivot members can include a first pivot member 130 and a second pivot member 140. The first pivot member 130 can be pivotally connected to the corresponding rotation output end about a horizontal center axis MN. The second pivot member 140 can be pivotally connected to the first pivot member 130 about a horizontal eccentric axis OP. The horizontal eccentric axis OP is parallel to the horizontal center axis MN. The adapter component 120 can be mounted to the second pivot member 140,

[0050] The locking member 150 can be provided on the first pivot member 130 or the second pivot member 140. The locking member 150 can be switched between the first station and the second station. The switching method can be various. For example, the locking member 150 can be switched by rotation, translation, telescoping, folding, etc., which are not limited here. A locking member mating portion 160 can be provided on each of the first pivot member 130 and the second pivot member 140. Among them, when the locking member 150 is in the first station, it can be mated with the locking member mating portion 160 on the pivot member where it is located. The structure of the locking member mating portion 160 is various, as long as it has a structure that can cooperate with the locking member 150, which is not limited here. In some embodiments, the locking member 150 can be a buckle, and the locking member mating portion 160 is a slot. In other embodiments, the locking member can be a pin shaft, and the locking member mating portion is a pin hole. When the second pivot member 140 is in an unlocked state, pivotable relative to the first pivot member 130, the motor 30 can be used to operate in the first operating mode. When the locking member 150 is in the second position, it can engage with the locking member engagement portion 160 on the pivot member that is not in the position. When the second pivot member 140 is in a locked state fixed to the first pivot member 130, the motor 30 can be used to operate in the second operating mode.

[0051] like Figure 3 As shown, when the locking member 150 is in the first position, the locking member 150 cooperates with the locking member engaging portion 160 on the pivot member where it is located, and the second pivot member 140 is in an unlocked state pivotable relative to the first pivot member 130. In the embodiment where the locking member 150 is provided on the first pivot member 130, when the locking member 150 is in the first position, when the locking member 150 cooperates with the locking member engaging portion 160 on the first pivot member 130, the second pivot member 140 and the first pivot member 130 are in an unlocked state. When the locking member 150 cooperates with the locking member engaging portion 160 on the first pivot member 130, the second pivot member 140 can pivot relative to the first pivot member 130. At this time, as shown in FIG. Figure 2As shown, the adapter component 120 can pivot relative to the motor 30 along with the first pivot member 130 around the first axis MN. At the same time, the adapter component 120 can also pivot relative to the first pivot member 130 around the second axis OP along with the second pivot member 140. The applicable scenarios of the joint training device at this time are as follows: the patient can perform passive training through the joint training device 1, the patient's foot is fixed or limited on the adapter component 120, the motor 30 drives the first pivot member 130 to rotate, and the patient's foot can follow the first pivot member 130 to rotate around the first axis MN. At the same time, the adapter component 120 together with the second pivot member 140 can also rotate around the second axis OP to ensure the comfort of the ankle joint. This training is similar to riding a bicycle, and can train muscle strength and ankle joint flexibility at the same time. Of course, this bicycle training can also be an active training performed by the user, and the motor 30 can provide resistance during the training process.

[0052] refer to Figure 4 When the locking member 150 is in the second position, the locking member 150 engages with the locking member engagement portion 160 on the pivot member that is not in the position, and the second pivot member 140 is in a locked state fixed to the first pivot member 130. In the embodiment where the locking member 150 is disposed on the first pivot member 130, the pivot member that is not in the position is the second pivot member 140. When the adapter component 120 is required to pivot only about the first axis MN, the locking member 150 can be placed in the second position. The locking member 150 engages with the locking member engagement portion 160 on the second pivot member 140, and the second pivot member 140 is in a locked state fixed to the first pivot member 130, that is, the second pivot member 140 cannot move relative to the first pivot member 130. The adapter component 120 can only rotate about the first axis MN along with the first pivot member 130. At this time, the joint training device 1 can be used in the following scenarios: the driver of the joint training device 1 can help patients perform passive training on their joints, and the first pivot member 130 is driven to move under the action of the driver. Under normal circumstances, the driver can drive the first pivot member 130 to pivot within a certain angle range. The first axis MN can be roughly collinear with the ankle joint. When the first pivot member 130 rotates, it can change the angle between the calf and the foot, thereby allowing the ankle joint to perform flexion and extension training. The aforementioned certain angle range can correspond to the range in which the ankle joint can flex and extend. The angle range can be set according to the patient's joint limitations.

[0053] The joint training device of the present application is provided with a locking member matching portion 160 on both the first pivot member 130 and the second pivot member 140, and the locking member 150 is used to match different locking member matching portions 160, so that the first pivot member 130 and the second pivot member 140 can be fixed to each other so that the two can pivot together around the first axis MN, or the second pivot member 140 can pivot around the second axis OP while the first pivot member 130 can pivot around the first axis MN. As a result, the adapter component 120 connected to the second pivot member 140 can have two motion modes, thereby providing a variety of different rehabilitation training methods. The joint training device 1 of the present application can meet the patient's various training needs without the patient having to switch to different joint training devices, thereby improving the versatility of the joint training device 1. In addition, the entire operation process only requires switching the locking member 150 between the first station and the second station, that is, it can match different locking member matching portions 160, which saves time and effort. Furthermore, joint training equipment can meet multiple needs with just one device, greatly reducing the space occupied by the venue and facilitating the home use of training equipment.

[0054] Figure 4-11 Another embodiment according to the present invention is shown. Figure 1-3 The basic principles of the embodiments shown are substantially the same. For example, the locking member 150 can cooperate with the locking member engaging portion 160 on the first pivot member 130' and the second pivot member 140, respectively, so that the second pivot member 140 has a locked state (e.g., Figure 4-7 shown) and unlocked state (as shown) Figure 8-11 ). The main difference lies in the specific structures of the locking member 150 and the locking member matching portion 160, which will be described in more detail below.

[0055] For example, in Figure 2-3 The embodiment shown and Figure 4-11 In the embodiment shown, the locking member 150 may include a first magnetic member 151. The specific setting method may include various methods known in the prior art, such as pasting, clamping, welding, or methods that may appear in the future, which are not limited here. The first magnetic member 151 can be a hard magnet or a soft magnet, which is not limited here. In some optional embodiments, the locking member 150 as a whole can be made of magnetic material to serve as the first magnetic member. Figure 3As shown, each locking member mating portion 160 may include a second magnetic member 161. In the illustrated embodiment, one or more of the two locking member mating portions 160 may include a receiving groove. Taking the second pivot member 140 as an example, a second receiving groove 162 to be described later may be provided, and the second magnetic member 161 may be provided in the second receiving groove 162. In other embodiments not shown, the second receiving groove 162 may not be provided, and the second magnetic member 161 may be embedded in the second pivot member 140 or provided on the surface of the second pivot member 140. When the locking member 150 is mated with any locking member mating portion 160, the first magnetic member 151 is attracted to the second magnetic member 161 of the corresponding locking member mating portion 160. It is understandable that the magnetic poles of the first magnetic member 151 and the second magnetic member 161 of the corresponding locking member mating portion 160 are different. That is, when the locking member 150 is engaged with the locking member mating portion 160 on the first pivot member, the first magnetic member 151 on the locking member 150 is attracted to the second magnetic member 161 of the locking member mating portion 160 on the first pivot member. When the locking member 150 is engaged with the locking member mating portion 160 on the second pivot member 140, the first magnetic member 151 on the locking member 150 is also attracted to the second magnetic member 161 of the locking member mating portion 160 on the second pivot member 140. The number of first magnetic members 151 can be one or more. In some optional embodiments, the first magnetic member 151 can pass through two opposite surfaces of the locking member 150, with one end of the first magnetic member 151 being the N pole and located on the first surface of the locking member 150; the other end of the first magnetic member 151 being the S pole and located on the second surface of the locking member 150 opposite to the first surface. In this case, the second magnetic member 161 on the first pivot member 130 and the second pivot member 140 can have opposite polarities. For example, when the locking member 150 is in the first position and the second pivot member 140 is in the unlocked state, the first surface of the first magnetic member 151 abuts against the first pivot member 130, and the magnetic pole of the second magnetic member 161 of the locking member matching portion 160 on the surface of the first pivot member 130 abutted is the S pole; when the locking member 150 is in the second position and the second pivot member 140 is in the locked state, the second surface of the first magnetic member 151 abuts against the second pivot member 140, and the magnetic pole of the second magnetic member 161 of the locking member matching portion 160 on the surface of the second pivot member 140 abutted is the N pole.

[0056] Normally, the joint training device 1 will generate a certain amount of vibration when in operation. Long-term vibration may cause the locking member 150 and the locking member matching portion 160 to not fit firmly, or even cause the locking member 150 and the locking member matching portion 160 to be instantly separated. By providing magnetic members on the locking member 150 and the locking member matching portion 160, respectively, the locking member 150 and the locking member matching portion 160 can be more firmly matched, so that the unlocking and locking states of the second pivot member 140 relative to the first pivot member 130 are both secure and safe. This avoids the situation where the locking state of the second pivot member 140 relative to the first pivot member 130 suddenly changes to the unlocking state due to loose locking, or the situation where the unlocking state suddenly changes to the locking state. This avoids the sudden change of the training action of the joint training device 1 and the resulting damage to the patient. This improves the safety of the joint training device 1. The locking member 150 and the locking member matching portion 160 are magnetically matched, which makes it very easy for the operator to operate; in addition, the structure of the locking member 150 is simplified, the complicated processing steps are shortened, and the production cost is reduced.

[0057] For example, in some unillustrated embodiments, the locking member 150 may be retractable or foldable, changing its length by retracting or folding, so that the locking member 150 has a first position and a second position. When folded or retracted, the locking member 150 may be in the first position and engage with the locking member engagement portion 160 on the pivot member where it is located. When expanded or extended, the locking member 150 may be in the second position and engage with the locking member engagement portion 160 on the pivot member where it is not located. This structure of the locking member 150 occupies less space.

[0058] For example, in one embodiment, Figure 3 As shown, the first magnetic part 151 can be a permanent magnet. The magnetism of the permanent magnet is natural and permanent, and no additional power or other auxiliary components are required. Moreover, the permanent magnet can be directly processed and set on the locking part 150. With this arrangement, the first magnetic part 151 can be magnetic at any time, and the locking part 150 can have magnetic force at any stage where magnetic force is required, and will not fail due to demagnetization of the first magnetic part 151, which greatly improves the locking reliability of the locking part 150 and the locking part matching part 160. Moreover, the frequency of failure or maintenance of the first magnetic part 151 is reduced, which is equivalent to extending the working time of the joint training device 1.

[0059] For example, Figure 3As shown, the second magnetic member 161 can be a permanent magnet. With this configuration, the second magnetic member 161 maintains magnetism at all times, and the locking member mating portion 160 maintains magnetism at all times, preventing demagnetization of the second magnetic member 161 and causing the locking member 150 to become inoperative. This significantly improves the locking reliability of the locking member 150 and the locking member mating portion 160. Furthermore, the simple structure of the second magnetic member 161 reduces the frequency of malfunction or maintenance required for the second magnetic member 161, further extending the operational life of the joint training device 1.

[0060] Illustratively, locking member 150 is pivotally connected to the pivot member on which it is mounted between the first and second workstations. In some optional embodiments, locking member 150 may be provided with a rotating shaft, and the pivot member on which it is mounted may be provided with an axial hole, so that locking member 150 can be pivotally connected to the pivot member via the rotating shaft. Various pivotal connection methods are available and are not limited here. This arrangement allows for greater flexibility in the movement of locking member 150 relative to the pivot member, simplifies the connection between locking member 150 and the pivot member, and reduces manufacturing costs.

[0061] For example, Figure 2-3 As shown, the first pivot member 130 has a first side 134 and a second side 135 that are opposite to each other along the first axis MN. The first side 134 can face the motor 30. The second side 135 can face the second pivot member 140. The second side 135 can be provided with a first receiving groove 131. The locking member 150 can be pivotally connected to the first pivot member 130. Figure 3 As shown, the locking member 150 can be completely accommodated in the first receiving groove 131 when it is in the first position. The structure of the first receiving groove 131 is varied, as long as it can accommodate the locking member 150, and no further limitation is made here. In some optional embodiments, such as Figure 3 As shown, the first receiving groove 131 may have a structure substantially identical to that of the locking member 150. In other embodiments, such as Figure 4As shown, the first receiving groove 131' can have a different structure than the locking member 150, as long as it can accommodate the locking member 150. When the locking member 150 is in the second position, the locking member 150 can extend out of the first receiving groove and engage with the locking member engagement portion 160 on the second pivot member 140. This arrangement, pivotally connecting the locking member 150 to the first pivot member, allows the locking member 150 to be relatively away from the second pivot member 140 within a certain range, reducing interference factors that need to be considered during design. This prevents the locking member 150 from excessively interfering with the adapting member 120, the area where the patient is secured to the adapting member 120, and adjacent areas of the body when exercising using the joint training device 1, and provides more space for the patient's training activities. By providing the first receiving groove 131 on the second side of the first pivot member 130 facing the second pivot member 140, the spatial span of the locking member 150 when switching between the first and second positions can be shortened. Moreover, the locking member 150 is completely accommodated in the first accommodating groove 131 in the first station, so that the locking member 150 will not contact the second pivot member 140 in the first station, avoiding scratching the second pivot member 140; and it also eliminates the need to set an avoidance portion on the second pivot member 140.

[0062] For example, Figure 8 and Figure 9 As shown, the first receiving groove 131' may include a first end and a second end. One end of the locking member 150 may be pivotally connected to the first end (eg, the lower end in the figure) of the first receiving groove 131'. Figure 8As shown, when the locking member 150 is in the first position, a gap 132 is defined between the other end of the locking member 150 (e.g., the upper end in the figure) and the second end of the first receiving slot 131'. Typically, a finger can be inserted into this gap 132. In other words, the spacing between the two ends of the first receiving slot 131' can be greater than the maximum dimension of the locking member 150 along the direction from the first end to the second end. In an embodiment where the first receiving slot 131' is a rectangular slot, the locking member 150 can be rectangular, with one short side of the rectangular slot being the first end and the other short side being the second end (of course, one long side of the rectangular slot can also be the first end and the other long side can be the second end). Thus, by providing the gap 132, a hand can be inserted into the gap 132 and apply force from the other end of the locking member 150, providing a point of force and operating space for operating the locking member 150, making it easier for the operator to apply force to the locking member 150. Furthermore, the end where the gap 132 is located is opposite to the end where the locking member 150 is pivotally connected to the first receiving groove 131'. Based on the principle of leverage, a small force applied to the gap 132 can pry this end of the locking member 150 open. In other words, a small force can be applied to pivot the end of the locking member 150 located at the gap 132 relative to one end of the locking member 150, saving time and effort. This saving of time and effort is particularly significant when the operator is a patient.

[0063] For example, Figure 4 and Figure 8 As shown, the locking member matching portion 160 on the second pivot member 140 may include a second accommodating groove 162. The structure of the second accommodating groove 162 can be various, as long as it can cooperate with the locking member 150. The second accommodating groove 162 can be set on the side of the second pivot member 140. It should be noted that the side here refers to the surface of the second pivot member 140 that roughly surrounds the second axis OP when looking at the second pivot member 140 along the direction of the second axis OP. The second accommodating groove 162 can pass through the second pivot member 140 in a direction parallel to the first axis MN. The locking member 150 can be engaged with the second accommodating groove 162 when it is in the second working position. When the locking member 150 is engaged with the second accommodating groove 162, the second pivot member 140 is in a locked state relative to the first pivot member 130, and the two do not have relative movement. By providing the second receiving slot 162, the locking member 150 engages more securely with the second receiving slot 162 when the first pivoting member 130 pivots relative to the motor 30, providing a more reliable locking mechanism. Furthermore, the second receiving slot 162 simplifies the structure of the locking member engagement portion 160 on the second pivoting member 140, facilitating fabrication. Furthermore, the location near the side provides a wider operating area, further facilitating fabrication.

[0064] For example, Figure 4 and Figure 6As shown, when the locking member 150 is in the second position, it can extend out of the second receiving groove 162 in a direction parallel to the first axis MN. With this arrangement, the operator can use the portion of the locking member 150 extending out of the second receiving groove 162 as a fulcrum to operate the locking member 150, further facilitating the switching of the locking member 150 from the second position to the first position.

[0065] For example, Figure 7 and Figure 11 As shown, the locking member 150 may be provided with a first rotating shaft 152 and a second rotating shaft 153. The first rotating shaft 152 and the second rotating shaft 153 may extend in opposite directions. The first rotating shaft 152 and the second rotating shaft 153 may be connected together or independent of each other, which is not limited here. In some optional embodiments, the first rotating shaft 152 and the second rotating shaft 153 may be an integral structure. The pivot member on which the locking member 150 is located may be provided with a first mounting groove 136 and a second mounting groove 137. The joint training device 1 may further include a pressure plate 170. The pressure plate 170 may be connected to the pivot member on which the locking member 150 is located via a fastener 173. A third mounting groove 174 and a fourth mounting groove 175 may also be provided on the surface of the pressure plate 170. The first mounting groove 136 and the third mounting groove 174 may together form a first axial hole. The second mounting groove 137 and the fourth mounting groove 175 may together form a second axial hole. The first rotating shaft 152 may be pivotally connected to the first axial hole. The second rotating shaft 153 can be pivotally connected to the second axial hole. The pressure plate 170 can also be provided with an avoidance portion for avoiding the locking member 150 when pivoting. The avoidance portion can match the structure of the portion of the locking member 150 that interferes with the pressure plate 170. When installing the locking member 150 to the corresponding pivot member, the first rotating shaft 152 and the second rotating shaft 153 are first placed in the first mounting groove 136 and the second mounting groove 137 respectively, and then the third mounting groove 174 of the pressure plate 170 is aligned with the first mounting groove 136 and the fourth mounting groove 175 is aligned with the second mounting groove 137. Finally, the pressure plate 170 is connected to the pivot member where the locking member 150 is located by a fastener 173 such as a screw. In this way, the first axial hole formed by the encirclement can be used to support and limit the first rotating shaft 152, and the second axial hole formed by the encirclement can be used to support and limit the second rotating shaft 153. Thus, the joint training device of the present application, by providing the structure of the pressure plate 170 and the mounting slot, does not require the operator (e.g., a worker) to repeatedly calibrate the hole positions during installation, and can simply and quickly connect the locking member 150 to the pivot member. Furthermore, during installation, the operator has a better installation viewing angle, and there is no need to open an excessively long through hole in the pivot member, thereby damaging the pivot member, thereby improving the strength of the pivot member on which the locking member 150 is located.

[0066] For example, Figure 4 、 Figure 5、 Figure 7 、 Figure 9 and Figure 11 As shown, the pressure plate 170 may include a first pressure plate 171 and a second pressure plate 172. The first pressure plate 171 and the second pressure plate 172 may be located on either side of the locking member 150, respectively. A third mounting groove 174 may be provided on the first pressure plate 171. A fourth mounting groove 175 may be provided on the second pressure plate 172. With such a configuration, the space through which the locking member 150 of the present application pivots may not require a pressure plate, that is, the first pressure plate 171 and the second pressure plate 172 may be spaced apart, and the spaced apart space is used to avoid the locking member 150, without the need to specifically provide a structure for avoiding the locking member 150 on the entire pressure plate 170. In this way, the first pressure plate 171 and the second pressure plate 172 do not need to be processed with a structure that is compatible with the locking member 150, and the structures of the first pressure plate 171 and the second pressure plate 172 are simpler, easier to process, and have lower manufacturing costs.

[0067] For example, the joint training device may further include an input device 400 and a controller. The input device 400 may be used to receive instructions from the user. The controller may be used to control the motor 30 to switch between the first working mode and the second working mode according to the instructions. Figure 1 In the illustrated embodiment, the input device 400 may be a touch screen.

[0068] For example, in the first working mode, the controller can be used to compare the current of the motor 30 with the first preset current, and adjust the speed of the motor 30 to the target speed according to the comparison result.

[0069] In some embodiments, the first preset current may be a fixed value, that is, a current preset in the controller. Of course, in other embodiments, the first preset current may also be a current calculated by the controller based on parameters input by a user into the controller. The parameters input into the controller may include rated voltage, motor frequency, load, desired speed, etc.

[0070] In an embodiment in which the joint training device actively drives the user to simulate pedaling a bicycle, the user can input the desired speed into the controller. The controller can calculate the first preset current for controlling the operation of the motor under the input parameters, and control the rotation of the motor through the first preset current. When the user's body functions normally, the user can move along the motion trajectory of the adapter assembly 40, and the motor 30 can work normally under the first preset current. At this time, the current current of the motor can be equal to the first preset current or within an acceptable fluctuation range.

[0071] For example, consider the case where a user experiences a cramp during exercise. This may be caused by the motor rotating too fast at the preset first current, preventing the user's body functions from matching the current exercise intensity. When a cramp occurs, a part of the user's body stiffens, causing the user to pause at a certain point in their movement. This increases the reaction force exerted on the motor. When the motor is forced to slow down or stop, the current flowing through the motor increases. After comparing the current current with the first preset current, the controller can reduce the motor's speed to a target speed to ensure the user can maintain the exercise intensity at the target speed. It should be noted that the motor's target speed is adjusted by the first preset current. That is, when the first preset current is reduced, the motor's speed under normal operation is also reduced. If the user's body can tolerate the exercise intensity after the speed reduction, the cramp will resolve as the motor rotates, and the motor's current will now match the adjusted first preset current. If the user's cramps persist, the controller can further reduce the first preset current to further lower the motor's target speed, or even reverse the motor's rotation to alleviate the user's cramps.

[0072] It is understandable that the above description is only based on the situation where the user has a spasm during exercise. If the user's motor function is enhanced during exercise, or when inputting parameters to the controller, the parameters such as the motor speed are mistakenly input too small, then the corresponding preset current value is also reduced accordingly. Under this smaller preset current value, the motor actively driving the user's movement may be transformed into the user actively driving the motor to rotate, and then the current current flowing through the motor may also be smaller than the preset current. After comparing the current current with the preset current, the controller can increase the motor speed to a target speed greater than the current speed, so that the motor speed matches the user's movement.

[0073] It can be seen from this that the joint training equipment provided in the embodiment of the present invention adjusts the motor speed based on the detection result of the current. Compared with the existing technology, by setting devices such as sensors for detecting the speed on the motor or the training mechanism, the operation speed of the controller can be improved because the process of converting the parameters detected by the sensor is reduced. In addition, since the sensor is not installed, the influence of the sensor's own accuracy or installation accuracy is also reduced. For the product, the installation of sensors is reduced, the structural settings for installing sensors can be reduced, the design cycle is shortened, the production efficiency is improved, and the cost of the product is reduced.

[0074] For example, in the second operating mode, the controller can also be configured to compare the current current of the motor 30 with a second preset current and control the motor's rotation direction based on the comparison result. In the second operating mode, in embodiments where the joint training device actively drives the user to perform downward stretching and upward bending movements, the second preset current can be the current value when the user's ankle joint reaches its maximum bending angle. In this way, the motor can rotate in the opposite direction based on the second preset current value, thereby achieving a swinging motion. A joint training device with this configuration can indirectly limit the motor's rotation angle by comparing the current current with the second preset current, even without a limiter, preventing the motor from rotating beyond the ankle joint's maximum rotation angle and potentially causing injury to the user. Compared to existing technologies, incorporating devices such as position sensors on the motor or joint training device can improve the controller's computing speed by reducing the need to convert the parameters detected by the sensors. Furthermore, since no sensors are installed, the impact of the sensors' own accuracy or installation accuracy is reduced. For products, this reduced sensor installation reduces the structural requirements for sensor installation, shortens the design cycle, improves production efficiency, and reduces product costs.

[0075] Exemplarily, the joint training device may further include a leg support assembly 200. The leg support assembly 200 may be connected to the base 10. The motor bracket 20 may have an end face that is tilted from bottom to top toward the leg support assembly 200. The motor height is adjustable on the end face. When using the joint training device, the user can place the legs on the leg support assembly 200, and the feet are fixedly connected to the adapter. When different users are training, they can adjust the height of the motor or the distance from the leg support assembly 200 to the motor according to their respective height, leg length and other parameters to meet the usage needs of different users. When the motor and the leg support frame are adjusted to the correct position, the joint training device can bring the best training effect to the user.

[0076] For example, the joint training device may further include a seat 300. The leg support assembly 200 may be disposed between the motor bracket 20 and the seat 300. The distance between the seat 300 and the leg support assembly 200 may be adjustable along a horizontal direction perpendicular to the horizontal central axis. The provision of the seat 300 may further enhance the user's experience during training.

[0077] In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "front", "back", "up", "down", "left", "right", "horizontal", "vertical", "vertical", "horizontal", "top", "bottom", etc. are usually based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention; the directional words "inside" and "outside" refer to the inside and outside relative to the outline of each component itself.

[0078] For ease of description, area-relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the regional positional relationship between one or more components or features shown in the figures and other components or features. It should be understood that area-relative terms include not only the orientation of the components as described in the figures, but also different orientations in use or operation. For example, if the components in the drawings are inverted as a whole, the situation where the components are "above other components or features" or "above other components or features" will include the situation where the components are "below other components or structures" or "below other components or structures". Thus, the exemplary term "above" may include both the orientations "above" and "below". In addition, these components or features may also be positioned at other different angles (e.g., rotated 90 degrees or other angles), and this document is intended to include all of these situations.

[0079] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, parts, components and / or combinations thereof.

[0080] It should be noted that the terms "first," "second," and the like in the specification and claims of this application and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0081] The present invention has been described through the above-described embodiments. However, it should be understood that the above-described embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the above-described embodiments and that various variations and modifications may be made based on the teachings of the present invention, all of which fall within the scope of the present invention. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A joint training device, characterized in that: The joint training device comprises: base; A motor bracket, the motor bracket is fixedly connected to the base; a motor, the motor being disposed on the motor bracket, the motor comprising a first rotation output end and a second rotation output end being disposed opposite to each other along a horizontal central axis; and and a locking member configured to engage a first pivot point and a second pivot point, wherein the locking member is configured to engage a first pivot point and a second pivot point, wherein the first pivot point is pivotally connected to the corresponding rotation output end about a horizontal center axis, and the second pivot point is pivotally connected to the first pivot point about a horizontal eccentric axis, the horizontal eccentric axis being parallel to the horizontal center axis, the adapter being mounted on the second pivot point, the locking member being provided on the first pivot point or the second pivot point, the locking member being switchable between a first position and a second position, and a locking member mating portion being provided on each of the first pivot point and the second pivot point; In which, the motor has a first working mode and a second working mode, and the motor is used to drive the adapter assembly connected to the first rotation output end and the second rotation output end to perform rotational movement around the horizontal center axis in the first working mode, and the motor is also used to drive the adapter assembly connected to the first rotation output end and the second rotation output end to perform swinging movement within a preset angle range in the second working mode; when the locking member is in the first station, it cooperates with the locking member cooperation portion on the pivot member where it is located, and the second pivot member is in an unlocked state pivotable relative to the first pivot member, and the motor is used to work in the first working mode; and when the locking member is in the second station, it cooperates with the locking member cooperation portion on the pivot member where it is not located, and the second pivot member is in a locked state fixed to the first pivot member, and the motor is used to work in the second working mode.

2. The joint training device according to claim 1, characterized in that: Each of the two adapter assemblies includes a first adapter and a second adapter detachably connected to the corresponding rotation output end, wherein When the first adapter is connected to the corresponding rotation output end, the motor is configured to operate in the first operating mode; and When the second adapter is connected to the corresponding rotation output end, the motor is configured to operate in the second operating mode.

3. The joint training device according to claim 1, characterized in that: The locking member includes a first magnetic member, and each locking member matching portion includes a second magnetic member. When the locking member matches with any locking member matching portion, the first magnetic member is attracted to the second magnetic member of the corresponding locking member matching portion.

4. The joint training device according to claim 3, characterized in that: The first magnetic component is a permanent magnet, and / or the second magnetic component is a permanent magnet.

5. The joint training device according to claim 3, characterized in that: The locking member is pivotally connected to the pivot member on which it is located between the first station and the second station.

6. The joint training device according to claim 5, characterized in that: The first pivot member has a first side and a second side opposite to each other along the horizontal central axis, the first side faces the motor, and the second side faces the second pivot member. A first accommodating groove is provided on the second side, and the locking member is pivotally connected to the first pivot member. When the locking member is in the first position, it is completely accommodated in the first accommodating groove and when it is in the second position, it extends out of the first accommodating groove and cooperates with the locking member matching portion on the second pivot member.

7. The joint training device according to claim 6, characterized in that: The first receiving groove includes one end of the locking member pivotally connected to the first end of the first receiving groove, and when the locking member is in the first position, there is a gap between the other end of the locking member and the second end of the first receiving groove for inserting a finger.

8. The joint training device according to claim 6, characterized in that: The locking member mating portion on the second pivot member includes a second accommodating groove arranged on the side of the second pivot member, and the second accommodating groove passes through the second pivot member along a direction parallel to the horizontal center axis. When the locking member is in the second working position, it engages with the second accommodating groove.

9. The joint training device according to claim 8, characterized in that: When the locking member is in the second position, the locking member extends out of the second receiving groove in a direction parallel to the horizontal central axis.

10. The joint training device according to claim 5, characterized in that: The locking member is provided with a first rotating shaft and a second rotating shaft extending in opposite directions, and the pivot member where the locking member is located is provided with a first mounting slot and a second mounting slot. The joint training device also includes a pressure plate, which is connected to the pivot member where the locking member is located by a threaded fastener, and a third mounting slot and a fourth mounting slot are provided on the surface of the pressure plate. The first mounting slot and the third mounting slot together form a first axial hole, and the second mounting slot and the fourth mounting slot together form a second axial hole. The first rotating shaft and the second rotating shaft are pivotally connected to the first axial hole and the second axial hole respectively.

11. The joint training device according to claim 10, characterized in that: The pressing plate includes a first pressing plate and a second pressing plate on both sides of the locking member, the third mounting groove is provided on the first pressing plate, and the fourth mounting groove is provided on the second pressing plate.

12. The joint training device according to claim 1, characterized in that: The motor is a permanent magnet synchronous motor.

13. The joint training device according to claim 1, characterized in that: The joint training device further includes an input device and a controller, wherein the input device is used to receive instructions from a user, and the controller is used to control the motor to switch between the first working mode and the second working mode according to the instructions.

14. The joint training device according to claim 13, characterized in that: In the first working mode, the controller is configured to compare a current current of the motor with a first preset current and adjust a rotational speed of the motor to a target rotational speed according to a comparison result.

15. The joint training device according to claim 13, characterized in that: In the second working mode, the controller is used to compare the current of the motor with a second preset current and control the direction of the motor according to the comparison result.

16. The joint training device according to claim 1, characterized in that The joint training device also includes a leg support assembly connected to the base. The motor bracket has an end surface inclined upward from bottom to top toward the leg support assembly. The motor is height-adjustably arranged on the end surface.

17. The joint training device according to claim 16, characterized in that: The joint training device further comprises a seat, the leg support assembly is arranged between the motor bracket and the seat, and the distance between the seat and the leg support assembly is adjustable along a horizontal direction perpendicular to the horizontal central axis.

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