A dynamic joint mobilization device for knee joint

Abstract

The present invention discloses a dynamic joint loosening device for a knee joint, comprising a plurality of vertical supporting feet which are distributed in a matrix shape and all of which are equipped with universal wheels at the lower ends, a supporting frame and a control box installed on the supporting frame, and also comprising a sitting board for fixing a thigh, a supporting board rotatably connected to the sitting board through a horizontal first rotating shaft, a guide shaft fixed parallel to the supporting board and perpendicular to the first rotating shaft, a movable board for fixing a calf which can slide back and forth along the axial direction of the guide shaft and / or can rotate back and forth with the guide shaft as the axis, a reciprocating traction mechanism for driving the movable board to slide back and forth, a reciprocating rotation unit for driving the movable board to rotate back and forth, and a support plate driving mechanism for driving the support board to rotate back and forth, so as to replace manual operations of passively bending the knee joint, separating traction and rotating the knee joint; single or multiple therapeutic movements can be selected according to the patient's condition through the control box; and the therapist can complete more treatments with less effort.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a dynamic joint mobilization device for a knee joint. Background Art

[0002] Joint mobilization technique is a highly targeted manual manipulation technique performed by the therapist within the range of joint movement. It belongs to the category of passive movement. Its operation speed is slower than that of massage. When applied, physiological movement and accessory movement of joints are often selected as treatment methods. Physiological movement of joints refers to the movement of joints within the physiological range, which can be completed actively or passively. The accessory movement of joints is the movement completed within the range allowed by the joint itself and its surrounding tissues, which is called accessory movement. It is an indispensable movement to maintain normal joint movement. Generally, it cannot be completed actively and requires the help of other people or the opposite limbs to complete, such as joint separation, lateral movement of the patella, etc.

[0003] Arthroscopic surgery of the cruciate ligament and collateral ligament of the knee joint is very common now, and sports injuries of the knee joint are also very common. Medical technology is very good now, and the probability of successful surgery is very high, but postoperative rehabilitation is very important. Among the postoperative rehabilitation techniques for the knee joint, there is a knee joint loosening technique, which includes joint separation and traction. Separation is when external force causes the surfaces of the two bones that constitute the joint to separate at right angles to each other, which is called separation or intra-articular traction. Traction is when external force acts on the long axis of the bone to cause the joint to shift remotely, which is called long-axis traction.

[0004] The therapist helps the patient recover by flexing, extending and rotating the knee joint. Because the recovery conditions of different patients are different, the therapist needs to perform treatment operations one-on-one. The bending angle of the knee joint, the traction distance and strength, etc. all need to be controlled. The treatment operation takes a long time and the therapist's physical strength will be quickly consumed during long-term treatment. Therefore, it is necessary to design a dynamic joint loosening device for the knee joint. Summary of the invention

[0005] In view of the above technical problems, the purpose of the present invention is to overcome the problem of great physical exertion of therapists during long-term treatment operations in the prior art.

[0006] In order to achieve the above-mentioned objectives, the present invention provides a dynamic joint loosening device for the knee joint, comprising a plurality of vertical supporting feet distributed in a matrix shape and equipped with universal wheels at the lower ends, a horizontal supporting frame fixed on the tops of the plurality of supporting feet and a control box installed on the supporting frame, and also comprising a sitting board for fixing the thigh installed horizontally on the supporting frame, a supporting plate rotatably connected to the middle part of one side of the sitting board through a horizontal first rotating shaft, a guide shaft fixed parallel to the supporting plate and perpendicular to the first rotating shaft, a movable plate for fixing the calf which can slide back and forth along the axial direction of the guide shaft and / or can rotate back and forth with the guide shaft as the axis, a reciprocating traction mechanism installed on the lower surface of the supporting plate for driving the movable plate to slide back and forth, a reciprocating rotation unit installed on the lower surface of the supporting plate for driving the movable plate to rotate back and forth, and a support plate driving mechanism installed on the supporting feet for driving the support plate to rotate back and forth.

[0007] Preferably, the movable plate is equipped with an arc-shaped slide seat which is coaxial with the guide shaft and slidably connected to the reciprocating traction mechanism. The lower surfaces of the movable plate and the support plate are respectively fixedly equipped with a guide rod and a second rotating shaft which are parallel to the guide shaft. A connecting arm is rotatably arranged on the second rotating shaft. One end of the connecting arm is recessed with a first limiting slide groove for the guide rod to slide through, and the other end is recessed with a second limiting slide groove for the output end of the reciprocating rotating unit to slide through.

[0008] Preferably, the reciprocating rotation unit includes a rotation driving mechanism for driving the connecting arm to rotate about the second rotation axis; wherein,

[0009] The rotation drive mechanism includes: a first connecting shaft parallel to the guide rod and capable of rotating about its own central axis, a turntable fixedly sleeved on the end of the first connecting shaft close to the connecting arm, a sliding arm eccentrically arranged with the turntable and sliding through a second limiting sliding groove, a worm connected to the support plate through a plurality of first shaft seats and perpendicular to the guide rod, a worm wheel coaxially fixedly sleeved on the end of the first connecting shaft away from the turntable and meshing with the worm, and a first stepper motor fixedly mounted on the support plate and driving the worm to rotate through a transmission mechanism.

[0010] Preferably, the transmission mechanism includes: a third connecting shaft axially connected to the support plate through a plurality of fourth shaft seats and parallel to the worm, the third connecting shaft is connected to the end of the worm through two mutually meshing gears, and the third connecting shaft is connected to the output shaft of the first stepper motor through two mutually meshing second bevel teeth.

[0011] Preferably, the second limiting sliding groove is in the shape of a strip arranged along the length direction of the connecting arm, and the reciprocating rotating unit further comprises an adjusting driving mechanism for driving the first connecting shaft to drive the sliding arm to slide along the length direction of the second limiting sliding groove; wherein,

[0012] The adjusting drive mechanism includes a first sliding block which slides with the support plate in a direction perpendicular to the guide rod and is axially connected to the first connecting shaft through a bearing, a rotating joint fixedly connected to the first sliding block, a threaded rod which is parallel to the sliding direction of the first sliding block and passes through the rotating joint and is axially connected to the support plate through a plurality of second shaft seats, a second stepping motor fixedly mounted on the support plate, and a second connecting shaft which is axially connected to the support plate through a plurality of third shaft seats and is coaxially fixedly connected to the output shaft of the second stepping motor, wherein the second connecting shaft is connected to the end of the threaded rod through two mutually meshing first bevel teeth.

[0013] Preferably, the reciprocating traction mechanism includes a screw slide fixedly mounted on a support plate and having an output end that slides along the axial direction of the guide shaft, a connecting rod that is parallel to the guide shaft and has one end fixedly connected to the output end of the screw slide, a tension detector fixedly connected to the end of the connecting rod away from the screw slide, a second sliding block that is slidably connected to the arc slide with the guide shaft as the axis, a connecting piece that is fixedly connected to one end of the tension detector away from the connecting rod, and a tension spring that is respectively fixedly connected to the connecting piece and the second sliding block at both ends, the arc slide is coaxially recessed with an arc groove that slides with the second sliding block, a limiting rod that is fixedly connected to the connecting piece that is parallel to the guide shaft and slides through the arc groove, and at least two limiting rings that are respectively located on both sides of the arc slide are fixedly sleeved on the limiting rod.

[0014] Preferably, the side of the seat plate away from the first rotating shaft is rotatably connected to a back plate via a second rotating shaft parallel to the first rotating shaft, and a first electric push rod for driving the back plate to rotate is installed on the support frame.

[0015] Preferably, handrail guardrails are installed on both sides of the seat plate located on the movable plate, and the handrail guardrail includes at least one vertical half-tube sleeve fixedly connected to the movable plate, a connecting cylinder coaxially arranged with the half-tube sleeve and located inside the half-tube sleeve, a hinge bolt which is consistent with the radial direction of the half-tube sleeve and hinged to the half-tube sleeve, and a guardrail body fixedly connected to the upper end of the connecting cylinder, the connecting cylinder is recessed with a strip slide groove which is consistent with the axial direction for the hinge bolt to pass through, and the end of the connecting cylinder away from the guardrail body is an arc-shaped arc which is adapted to the half-tube sleeve and coaxial with the end of the strip slide groove away from the guardrail body.

[0016] Preferably, the seat board is provided with at least one first strap for fixing the thigh, the movable board is provided with at least one second strap for fixing the calf, and the upper surfaces of the back board, seat board, support board and movable board are all provided with soft pads.

[0017] Preferably, a storage bag is also installed on the support frame, and the control box is connected to an emergency stop controller which can be placed in the storage bag via a first connecting line.

[0018] According to the above technical scheme, the beneficial effects of the present invention compared with the prior art are: it replaces manual passive bending of the knee joint, separation traction and rotation of the knee joint; through the control box, single or multiple therapeutic movements can be selected according to the patient's condition; therapists can use the present invention to complete more treatments while saving effort and saving medical resources; the control box can be used to record data for easy summary and analysis, and timely adjust treatment measures according to patient effects; data statistics can be used for scientific research analysis.

[0019] Other features and advantages of the present invention will be described in detail in the subsequent specific implementation mode; and the parts not involved in the present invention are the same as the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0021] Figure 1 The three-dimensional structure diagram of a dynamic joint loosening device for knee joint provided by the present invention is shown in FIG. Figure 1 ;

[0022] Figure 2 The three-dimensional structure diagram of a dynamic joint loosening device for knee joint provided by the present invention is shown in FIG. Figure 2 ;

[0023] Figure 3 It is a partial three-dimensional structural schematic diagram of a dynamic joint loosening device for a knee joint provided by the present invention;

[0024] Figure 4 It is a three-dimensional structural view of a reciprocating rotating unit of a dynamic joint loosening device for a knee joint provided by the present invention;

[0025] Figure 5 It is a top view of a reciprocating rotating unit of a dynamic joint loosening device for a knee joint provided by the present invention;

[0026] Figure 6 It is a three-dimensional structural schematic diagram of a reciprocating traction mechanism and an arc-shaped slide seat of a dynamic joint loosening device for a knee joint provided by the present invention;

[0027] Figure 7 The invention provides a dynamic joint loosening device for the knee joint. Figure 1 Magnified view at A in the middle;

[0028] Figure 8 The invention provides a dynamic joint loosening device for the knee joint. Figure 1 A magnified schematic diagram of point B in the middle.

[0029] Description of Reference Numerals

[0030] 1. Universal wheel; 2. Support foot; 3. Support frame; 4. Control box; 5. Seat; 6. Support plate; 7. Guide shaft; 8. Movable plate; 9. Reciprocating traction mechanism; 10. Reciprocating rotation unit; 11. Support plate driving mechanism; 12. Arc slide; 13. Guide rod; 14. Connecting arm; 15. First limit slide; 16. First binding belt; 17. Second binding belt; 18. First slider; 19. First connecting shaft; 20. Turntable; 21. Sliding arm; 22. Worm; 23. Worm wheel; 24. First stepper motor; 25. Second limit slide; 26. Screw-on part; 27, threaded rod; 28, second stepper motor; 29, second connecting shaft; 30, third connecting shaft; 31, gear; 32, second bevel gear; 33, screw slide; 34, connecting rod; 35, tension detector; 36, second slider; 37, connecting part; 38, tension spring; 39, limit rod; 40, limit ring; 41, support plate; 42, first electric push rod; 43, handrail guardrail; 44, half-pipe sleeve; 45, hinged bolt; 46, guardrail body; 47, strip slide; 48, storage bag; 49, emergency stop controller; 50, connecting cylinder. DETAILED DESCRIPTION

[0031] The specific implementation of the present invention is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present invention, and is not used to limit the present invention.

[0032] In the present invention, unless otherwise stated, directional words such as "upper, lower, inside, outside" contained in a term merely represent the orientation of the term in normal usage, or are common names understood by those skilled in the art, and should not be regarded as limitations on the term.

[0033] like Figure 1-8 As shown, a dynamic joint loosening device for the knee joint comprises a plurality of vertical supporting feet 2 which are arranged in a matrix shape and each of which is equipped with a universal wheel 1 at the lower end, a horizontal supporting frame 3 fixed on the top of the plurality of supporting feet 2 and a control box 4 installed on the supporting frame 3, and also comprises a sitting board 5 for fixing the thigh which is horizontally installed on the supporting frame 3, a supporting plate 6 which is rotatably connected to the middle part of one side of the sitting board 5 through a horizontal first rotating shaft, a guide shaft 7 which is parallelly fixed on the supporting plate 6 and perpendicular to the first rotating shaft, a movable plate 8 for fixing the calf which can slide back and forth along the axial direction of the guide shaft 7 and / or can rotate back and forth with the guide shaft 7 as the axis, a reciprocating traction mechanism 9 installed on the lower surface of the supporting plate 6 for driving the movable plate 8 to slide back and forth, a reciprocating rotation unit 10 installed on the lower surface of the supporting plate 6 for driving the movable plate 8 to rotate back and forth, and a supporting plate driving mechanism 11 installed on the supporting foot 2 for driving the supporting plate 6 to rotate back and forth.

[0034] The width of the support plate 6 is smaller than that of the seat plate 5, and the seat plate 5 is centrally arranged relative to the support plate 6. When the left leg needs to be treated, sit on the seat plate 5 from the right side of the support plate 6, and fix the thigh and calf of the left leg on the seat plate 5 and the movable plate 8 respectively. When the right leg needs to be treated, sit on the seat plate 5 from the left side of the support plate 6, and fix the thigh and calf of the right leg on the seat plate 5 and the movable plate 8 respectively.

[0035] The support plate driving mechanism 11 is a second electric push rod. A first connecting frame is fixedly arranged on the two supporting feet 2 close to the support plate 6. The second electric push rod is installed on the first connecting frame through a first hinge support. The piston rod of the second electric push rod is fixedly connected to the lower surface of the seat plate 5 through a second hinge support. The length direction of the second electric push rod is perpendicular to the length direction of the first rotating shaft.

[0036] The device has three rehabilitation movements: the support plate 6 reciprocates around the first rotating shaft, the movable plate 8 slides reciprocatingly along the guide shaft 7, and the movable plate 8 reciprocates around the guide shaft 7. One, two or all of the movements can be selected through the control box 4.

[0037] The movable plate 8 is provided with an arc-shaped slide seat 12 which is coaxially arranged with the guide shaft 7 and is slidably connected with the reciprocating traction mechanism 9. A guide rod 13 and a second rotating shaft which are parallel to the guide shaft 7 are fixedly installed on the lower surfaces of the movable plate 8 and the support plate 6 respectively. A connecting arm 14 is rotatably arranged on the second rotating shaft. One end of the connecting arm 14 is recessed with a first limiting slide groove 15 for the guide rod 13 to slide through, and the other end is recessed with a second limiting slide groove 25 for the output end of the reciprocating rotating unit 10 to slide through.

[0038] When the movable plate 8 slides along the guide shaft 7 and the movable plate 8 rotates around the guide shaft 7, the reciprocating traction mechanism 9 drives the movable plate 8 to slide on the guide shaft 7 through the arc slide 12. When the movable plate 8 rotates around the guide shaft 7, the reciprocating traction mechanism 9 also slides on the arc slide 12. Through the connection of the arc slide 12, the movable plate 8 can also rotate while sliding; when the reciprocating rotation unit 10 is started, it will drive the connecting arm 14 to reciprocate around the second rotating shaft. The first limiting slide groove 15 is a strip in the same length direction as the connecting arm 14. When the connecting arm 14 rotates, the movable plate 8 is driven to rotate around the guide shaft 7 through the first limiting slide groove 15 and the guide rod 13. When the guide rod 13 rotates around the guide shaft 7, it will slide in the first limiting slide groove 15. When the movable plate 8 slides along the length direction of the guide shaft 7, the second limiting slide groove 25 also slides on the guide rod 13 along the axial direction of the guide rod 13, so that the movable plate 8 can also slide while rotating.

[0039] The reciprocating rotation unit 10 includes a rotation driving mechanism for driving the connecting arm 14 to rotate around the second rotation axis; wherein,

[0040] The rotation drive mechanism includes: a first connecting shaft 19 parallel to the guide rod 13 and capable of rotating about its own central axis, a turntable 20 fixedly sleeved on the end of the first connecting shaft 19 close to the connecting arm 14, a sliding arm 21 eccentrically arranged with the turntable 20 and sliding through a second limiting sliding groove 25, a worm 22 axially connected to the support plate 6 through a plurality of first shaft seats and perpendicular to the guide rod 13, a worm wheel 23 coaxially fixedly sleeved on the end of the first connecting shaft 19 away from the turntable 20 and meshing with the worm 22, and a first stepper motor 24 fixedly mounted on the support plate 6 and driving the worm 22 to rotate through a transmission mechanism.

[0041] When the reciprocating rotation mechanism is needed to drive the connecting arm 14 to reciprocate around the second rotating axis, the rotation drive mechanism is started, and the first stepper motor 24 drives the worm 22 to rotate through the transmission mechanism. The rotation of the worm 22 drives the worm wheel 23 to rotate, and the worm wheel 23 drives the first connecting shaft 19 to rotate about its own axis. The first connecting shaft 19 drives the turntable 20 and the sliding arm 21 to rotate. Since the sliding arm 21 is set off-axis with the first connecting shaft 19, the sliding arm 21 will drive the connecting arm 14 to reciprocate around the second rotating axis when it revolves around the first connecting shaft 19.

[0042] The transmission mechanism includes: a third connecting shaft 30 axially connected to the support plate 6 through a plurality of fourth shaft seats and parallel to the worm 22, the third connecting shaft 30 is connected to the end of the worm 22 through two mutually meshing gears 31, and the third connecting shaft 30 is connected to the output shaft of the first stepper motor 24 through two mutually meshing second bevel teeth 32.

[0043] The first stepper motor 24 is started to drive the third connecting shaft 30 to rotate through the two second bevel teeth 32. The third connecting shaft 30 drives the worm 22 to rotate through the two gears 31. The worm 22 drives the worm wheel 23 to rotate. The rotation of the worm wheel 23 drives the connecting arm 14 to reciprocate around the second rotating shaft.

[0044] The second limiting slide groove 25 is in the shape of a strip arranged along the length direction of the connecting arm 14, and the reciprocating rotating unit 10 further includes an adjusting driving mechanism for driving the first connecting shaft 19 to drive the sliding arm 21 to slide along the length direction of the second limiting slide groove 25; wherein,

[0045] The adjustment drive mechanism includes a first slider 18 that slides with the support plate 6 in a direction perpendicular to the guide rod 13 and is axially connected to the first connecting shaft 19 through a bearing, a screw-on component 26 fixedly connected to the first slider 18, a threaded rod 27 that is parallel to the sliding direction of the first slider 18 and threadedly penetrates the screw-on component 26 and is axially connected to the support plate 6 through a plurality of second shaft seats, a second stepper motor 28 fixedly mounted on the support plate 6, and a second connecting shaft 29 that is axially connected to the support plate 6 through a plurality of third shaft seats and coaxially fixedly connected to the output shaft of the second stepper motor 28, and the second connecting shaft 29 is connected to the end of the threaded rod 27 through two mutually meshing first bevel teeth.

[0046] When it is necessary to adjust the angle of rotation of the movable plate 8 around the guide shaft 7, the adjustment drive mechanism is started, the second stepping motor 28 drives the second connecting shaft 29 to rotate, the second connecting shaft 29 drives the threaded rod 27 to rotate through the two first bevel teeth, and the threaded rod 27 drives the first slider 18 to slide on the support plate 6 to adjust the distance with the second rotating shaft through the screw-on part 26. When the first connecting shaft 19 slides, the worm gear 23 engages and moves on the worm 22 along the axial direction of the worm 22. As long as the worm gear 23 engages with the worm 22, the rotation of the worm 22 can drive the worm gear 23 to rotate about its own axis.

[0047] The eccentric distance between the slide arm 21 and the first connecting shaft 19 is fixed. When the first slider 18 drives the first connecting shaft 19 to move away from the second rotating shaft, the distance between the slide arm 21 and the second rotating shaft increases, and when the second slide arm 21 rotates around the first connecting shaft 19, the rotation angle of the connecting arm 14 is reduced; when the first slider 18 drives the first connecting shaft 19 to move close to the second rotating shaft, the distance between the slide arm 21 and the second rotating shaft is reduced, and when the second slide arm 21 rotates around the first connecting shaft 19, the rotation angle of the connecting arm 14 is increased.

[0048] The reciprocating traction mechanism 9 includes a screw slide 33 fixedly mounted on the support plate 6 and having an output end that slides along the axial direction of the guide shaft 7, a connecting rod 34 that is parallel to the guide shaft 7 and one end of which is fixedly connected to the output end of the screw slide 33, a tension detector 35 fixedly connected to the end of the connecting rod 34 away from the screw slide 33, a second slider 36 that is slidably connected to the arc slide 12 with the guide shaft 7 as the axis, a connecting piece 37 that is fixedly connected to one end of the tension detector 35 away from the connecting rod 34, and a tension spring 38 that is fixedly connected to the connecting piece 37 and the second slider 36 at both ends, respectively; an arc slide groove coaxially recessed on the arc slide 12 that slides with the second slider 36, a limit rod 39 that is parallel to the guide shaft 7 and slides through the arc slide groove is fixedly connected to the connecting piece 37, and at least two limit rings 40 that are respectively located on both sides of the arc slide 12 are fixedly sleeved on the limit rod 39.

[0049] The tension detector 35 is connected to the control box 4 through a second connecting line to transmit the detected tension to the control box 4. When the movable plate 8 needs to slide away from the seat plate 5 along the axial direction of the guide shaft 7, the screw slide 33 is started to drive the connecting rod 34 to move away from the seat plate 5 along the axial direction of the guide shaft 7. The connecting rod 34 pulls the tension spring 38 through the tension detector 35 and the connecting piece 37. The tension spring 38 pulls the second slider 36. The second slider 36 drives the movable plate 8 to slide on the guide shaft 7 through the arc slide 12. The function of the tension spring 38 is to play an elastic connection to avoid damage caused by strong pulling. When the tension spring 38 is stretched, the limit rod 39 will slide in the arc slide groove. When the limit ring 40 away from the connecting piece 37 contacts the arc slide 12, the tension spring 38 can no longer be stretched.

[0050] When the two bone surfaces of the knee joint need to be brought closer after being separated, the output end of the screw slide 33 moves close to the seat plate 5, and the connecting rod 34, the tension sensor, and the connecting piece 37 move close to the seat plate 5. At this time, the stretched tension spring 38 recovers first, the tension spring 38 shortens, the distance between the connecting piece 37 and the arc slide 12 shortens, and the limit rod 39 slides in the arc slide groove. At this time, the limit ring 40 close to the connecting piece 37 abuts on the arc slide 12. Because the tension spring 38 cannot transmit pressure, the pressure is transmitted by the limit ring 40 abutting on the arc slide 12, driving the arc slide 12 to move close to the seat plate 5, and driving the two bone surfaces of the knee joint closer.

[0051] When the movable plate 8 rotates around the guide shaft 7 , the second sliding block 36 slides in the arc-shaped sliding groove, so that the movable plate 8 can slide along the guide shaft 7 while rotating.

[0052] The side of the seat plate 5 away from the first rotating shaft is rotatably connected to a backing plate 41 via a second rotating shaft parallel to the first rotating shaft, and a first electric push rod 42 for driving the backing plate 41 to rotate is installed on the support frame 3.

[0053] A second connecting frame is also fixedly provided on the support frame 3, the first electric push rod 42 is fixedly connected to the second connecting frame via a third hinge support, the piston rod of the first electric push rod 42 is connected to the backrest plate 41 via a fourth hinge support, when the first electric push rod 42 drives the backrest plate 41 to rotate upward around the second rotation, the patient can lean on the backrest plate 41, and when the backrest plate 41 is parallel to the seat plate 5, the patient can lie on the backrest plate 41 and the seat plate 5.

[0054] The seat plate 5 is provided with handrail guardrails 43 on both sides of the movable plate 8, and the handrail guardrail 43 includes at least one vertical half-tube sleeve 44 fixedly connected to the movable plate 8, a connecting cylinder 50 coaxially arranged with the half-tube sleeve 44 and located inside the half-tube sleeve 44, a hinge bolt 45 which is consistent with the radial direction of the half-tube sleeve 44 and hinged to the half-tube sleeve 44, and a guardrail body 46 fixedly connected to the upper end of the connecting cylinder 50, the connecting cylinder 50 is recessed with a strip slide groove 47 which is consistent with the axial direction for the hinge bolt 45 to pass through, and the end of the connecting cylinder 50 away from the guardrail body 46 is an arc-shaped that is adapted to the half-tube sleeve 44 and coaxial with the end of the strip slide groove 47 away from the guardrail body 46.

[0055] The handrail guardrail 43 has two states: use and storage. The outer diameter of the connecting cylinder 50 is consistent with the inner diameter of the half-tube sleeve 44. When the handrail guardrail 43 needs to be stored, the guardrail body 46 is held and lifted upward, driving the connecting cylinder 50 to slide upward in the half-tube sleeve 44, and the lower end of the strip slide groove 47 slides to the hinge, and the guardrail body 46 is rotated around the hinge bolt 45, and the connecting cylinder 50 rotates around the hinge bolt 45, and the guardrail body 46 is stored under the seat plate 5; when the handrail guardrail 43 needs to be used, the guardrail body 46 is held and rotated around the hinge bolt 45, and the connecting cylinder 50 rotates around the hinge bolt 45 until the guardrail body 46 is in a vertical state and is located above the seat plate 5. At this time, the strip slide groove 47 is also in a vertical state, and the guardrail body 46 is pressed downward, and the connecting cylinder 50 slides vertically downward in the half-tube sleeve 44 until the upper end of the strip slide groove 47 is located at the hinge bolt 45.

[0056] The seat plate 5 is provided with at least one first strap 16 for fixing the thigh, the movable plate 8 is provided with at least one second strap 17 for fixing the calf, and the upper surfaces of the backrest 41, the seat plate 5, the support plate 6 and the movable plate 8 are all provided with soft pads.

[0057] The soft pad is of prior art and is not shown in the figure. There are two first straps 16 and two second straps 17. The two second straps 17 respectively bind the upper and lower parts of the thighs, and the two second straps 17 bind the upper and lower parts of the calves, which can better fix the thighs and calves.

[0058] A storage bag 48 is also installed on the support frame 3, and the control box 4 is connected to an emergency stop controller 49 which can be placed in the storage bag 48 via a first connecting line.

[0059] When the patient is receiving treatment, the emergency stop controller 49 is taken out of the storage bag 48 and handed over to the patient. When the patient feels uncomfortable, the device can be stopped immediately by the emergency stop controller 49 to avoid secondary damage to the patient due to improper adjustment of the control box 4 by the therapist.

[0060] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0061] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0062] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A dynamic joint loosening device for a knee joint, comprising a plurality of vertical support legs (2) arranged in a matrix and each having a universal wheel (1) mounted at the lower end, a horizontal support frame (3) fixed on the top of the plurality of support legs (2), and a control box (4) mounted on the support frame (3), characterized in that: It also includes a seat plate (5) mounted horizontally on the support frame (3) for fixing the thigh, a support plate (6) rotatably connected to the middle part of one side of the seat plate (5) via a horizontal first rotating shaft, a guide shaft (7) fixed parallel to the support plate (6) and perpendicular to the first rotating shaft, a movable plate (8) for fixing the calf that can slide reciprocatingly along the axial direction of the guide shaft (7) and / or can rotate reciprocatingly around the guide shaft (7), a reciprocating traction mechanism (9) mounted on the lower surface of the support plate (6) for driving the movable plate (8) to slide reciprocatingly, a reciprocating rotation unit (10) mounted on the lower surface of the support plate (6) for driving the movable plate (8) to rotate reciprocatingly, and a support plate driving mechanism (11) mounted on the support foot (2) for driving the support plate (6) to rotate reciprocatingly; The movable plate (8) is provided with an arc-shaped slide seat (12) which is coaxially arranged with the guide shaft (7) and slidably connected with the reciprocating traction mechanism (9); a guide rod (13) parallel to the guide shaft (7) and a second rotating shaft are fixedly installed on the lower surfaces of the movable plate (8) and the support plate (6), respectively; a connecting arm (14) is rotatably arranged on the second rotating shaft; one end of the connecting arm (14) is recessed with a first limiting slide groove (15) for the guide rod (13) to slide through, and the other end of the connecting arm (14) is recessed with a second limiting slide groove (25) for the output end of the reciprocating rotating unit (10) to slide through; The reciprocating rotation unit (10) comprises a rotation driving mechanism for driving the connecting arm (14) to rotate about the second rotation axis; wherein: The rotation drive mechanism comprises: a first connecting shaft (19) parallel to the guide rod (13) and capable of rotating about its own central axis, a rotating disk (20) fixedly sleeved on the end of the first connecting shaft (19) close to the connecting arm (14), a sliding arm (21) eccentrically arranged with the rotating disk (20) and slidingly passing through a second limiting sliding groove (25), a worm (22) axially connected to the support plate (6) through a plurality of first shaft seats and perpendicular to the guide rod (13), a worm wheel (23) coaxially fixedly sleeved on the end of the first connecting shaft (19) away from the rotating disk (20) and meshing with the worm (22), and a first stepper motor (24) fixedly mounted on the support plate (6) and driving the worm (22) to rotate through a transmission mechanism.

2. A dynamic joint mobilization device for a knee joint according to claim 1, characterized in that: The transmission mechanism comprises: a third connecting shaft (30) axially connected to the support plate (6) via a plurality of fourth shaft seats and parallel to the worm (22); the third connecting shaft (30) is connected to the end of the worm (22) via two mutually meshing gears (31); and the third connecting shaft (30) is connected to the output shaft of the first stepper motor (24) via two mutually meshing second bevel teeth (32).

3. A dynamic joint mobilization device for a knee joint according to claim 1, characterized in that: The second limiting sliding groove (25) is in the shape of a strip arranged along the length direction of the connecting arm (14), and the reciprocating rotating unit (10) further comprises an adjusting driving mechanism for driving the first connecting shaft (19) to drive the sliding arm (21) to slide along the length direction of the second limiting sliding groove (25); wherein: The adjustment drive mechanism comprises a first slider (18) which slides with the support plate (6) in a direction perpendicular to the guide rod (13) and is axially connected to the first connecting shaft (19) via a bearing, a rotating member (26) fixedly connected to the first slider (18), a threaded rod (27) which is parallel to the sliding direction of the first slider (18) and is axially connected to the support plate (6) via a plurality of second shaft seats and passes through the rotating member (26), a second stepping motor (28) fixedly mounted on the support plate (6), and a second connecting shaft (29) which is axially connected to the support plate (6) via a plurality of third shaft seats and is coaxially fixedly connected to the output shaft of the second stepping motor (28), wherein the second connecting shaft (29) is connected to the end of the threaded rod (27) via two mutually meshing first bevel teeth.

4. The dynamic joint mobilization device for knee joint according to claim 1, characterized in that: The reciprocating traction mechanism (9) comprises a screw slide (33) fixedly mounted on the support plate (6) and having an output end that slides along the axial direction of the guide shaft (7), a connecting rod (34) parallel to the guide shaft (7) and having one end fixedly connected to the output end of the screw slide (33), a tension detector (35) fixedly connected to an end of the connecting rod (34) away from the screw slide (33), a second sliding block (36) slidably connected to the arc-shaped sliding seat (12) with the guide shaft (7) as an axis, and a connecting rod (34) that is parallel to the guide shaft (7) and has one end fixedly connected to the output end of the screw slide (33), A connecting piece (37) fixedly connected at one end of the guide shaft (34) and a tension spring (38) fixedly connected at both ends to the connecting piece (37) and the second slider (36), the arc-shaped slide seat (12) is coaxially recessed with an arc-shaped slide groove for sliding with the second slider (36), the connecting piece (37) is fixedly connected to a limit rod (39) parallel to the guide shaft (7) and sliding through the arc-shaped slide groove, and the limit rod (39) is fixedly sleeved with at least two limit rings (40) respectively located on both sides of the arc-shaped slide seat (12).

5. The dynamic joint mobilization device for knee joint according to claim 1, characterized in that: The side of the seat plate (5) away from the first rotating shaft is rotatably connected to a backing plate (41) via a second rotating shaft parallel to the first rotating shaft, and a first electric push rod (42) for driving the backing plate (41) to rotate is installed on the support frame (3).

6. The dynamic joint mobilization device for knee joint according to claim 1, characterized in that: The seat plate (5) is provided with handrail guardrails (43) on both sides of the movable plate (8). The handrail guardrail (43) comprises at least one vertical half-tube sleeve (44) fixedly connected to the movable plate (8), a connecting cylinder (50) coaxially arranged with the half-tube sleeve (44) and located inside the half-tube sleeve (44), a hinge bolt (45) which is consistent with the radial direction of the half-tube sleeve (44) and hinged to the half-tube sleeve (44), and a guardrail body (46) fixedly connected to the upper end of the connecting cylinder (50), the connecting cylinder (50) is recessed with a strip-shaped slide groove (47) which is consistent with the axial direction and is used for the hinge bolt (45) to pass through, and the end of the connecting cylinder (50) away from the guardrail body (46) is an arc shape which is matched with the half-tube sleeve (44) and coaxial with the end of the strip-shaped slide groove (47) away from the guardrail body (46).

7. The dynamic joint mobilization device for knee joint according to claim 5, characterized in that: At least one first strap (16) for fixing the thigh is installed on the seat plate (5), at least one second strap (17) for fixing the calf is installed on the movable plate (8), and the upper surfaces of the backrest plate (41), the seat plate (5), the support plate (6) and the movable plate (8) are all installed with soft pads.

8. The dynamic joint mobilization device for knee joint according to claim 1, characterized in that: A storage bag (48) is also mounted on the support frame (3), and the control box (4) is connected to an emergency stop controller (49) that can be placed in the storage bag (48) via a first connecting line.

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