Resistance adjustment unit and active rehabilitation training device for ankle and wrist joints

Abstract

This invention discloses a resistance adjustment unit and an active rehabilitation training device for the ankle and wrist joint. The resistance adjustment unit includes a thrust bearing, a fixed plate, a rotating plate, a pulley system, a rope, an elastic element, and a winding device. The fixed plate is located inside the thrust bearing, and the rotating plate is located on the outer turntable of the thrust bearing. The pulley system includes multiple outer pulleys and multiple inner pulleys. The elastic element and the winding device are mounted on the rotating plate. One end of the rope is connected to the elastic element, and the other end is connected to the winding device. The rope simultaneously passes through multiple pulley systems in a U-shape or V-shape. The tension of the rope is adjusted by the deformation of the elastic element, and the initial deformation of the elastic element is adjusted by the unwinding and rewinding of the rope by the winding device. In this invention, the resistance adjustment unit, with three sets of fixed plates and rotating plates arranged coaxially, changes the torsional stiffness of the branch chain rotation joint through the resistance adjustment unit, providing an adjustable human-machine interactive force for the active rehabilitation training device of the ankle and wrist joint.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a resistance adjustment unit and an active rehabilitation training device for the ankle and wrist joints. Background Technology

[0002] In the field of rehabilitation medicine, rehabilitation training for the extremities has always been a focus of medical device research and development. The extremities include joints such as the ankle and wrist, and rehabilitation training for damaged joints is crucial for patients' quality of life and functional recovery. Currently, traditional rehabilitation training mainly relies on the experience of physical therapists, which suffers from problems such as high workload for therapists, inconsistent treatment effects, and difficulty in quantifying treatment plans. With the development of technology, more and more active rehabilitation training devices have appeared on the market, but these devices often lack sufficient flexibility and personalized training programs. Furthermore, existing joint rehabilitation equipment also has the following problems:

[0003] 1. Existing multi-degree-of-freedom joint rehabilitation training devices often have the problem that their rotation center deviates from the physiological joint axis of the human body, which will cause redundant interactive forces and sudden changes in motion trajectory, which is not conducive to safe and effective rehabilitation training.

[0004] 2. Existing joint rehabilitation equipment has problems such as non-adjustable human-machine interaction resistance or narrow resistance adjustment range and complex control logic, which makes it difficult to meet the actual needs of resistance changes in various stages of active rehabilitation training and reduces the effectiveness of rehabilitation training.

[0005] 3. Existing joint rehabilitation training devices are mostly designed for single joint diseases and lack training devices that take into account the active resistance rehabilitation needs of patients' ankles, wrists and other joints. Therefore, it is difficult to share a set of equipment for rehabilitation training of different cases, resulting in redundancy of rehabilitation equipment and poor economic efficiency. At the same time, existing joint rehabilitation equipment mostly uses complex mechanical structures and control algorithms to realize the rehabilitation movement of human joints, which leads to high equipment manufacturing and maintenance costs and also limits its market promotion and application. Summary of the Invention

[0006] The purpose of this invention is to provide a resistance adjustment unit and an active rehabilitation training device for the ankle and wrist joints to solve the problems existing in the prior art.

[0007] To achieve the above objectives, the present invention provides the following solution:

[0008] This invention discloses a resistance adjustment unit, comprising:

[0009] A thrust bearing, comprising a first turntable and a second turntable capable of rotating relative to each other;

[0010] A fixed plate, wherein the fixed plate is disposed inside the thrust bearing;

[0011] A rotating disk, the rotating disk being fixed on the first rotating disk;

[0012] A fixed pulley assembly, comprising a plurality of outer fixed pulleys mounted on the rotating disk and a plurality of inner fixed pulleys mounted on the fixed disk;

[0013] A rope that simultaneously passes over multiple outer fixed pulleys and multiple inner fixed pulleys, such that when the rotating disk rotates relative to the fixed disk, the rope catches the inner fixed pulleys in a U-shape or V-shape.

[0014] An elastic element is mounted on the rotating disk and connected to the first end of the rope. When the first rotating disk rotates, the elastic element is deformed by the rope to adjust the tension of the rope through the deformation of the elastic element.

[0015] A winding device, mounted on the rotary disk and connected to the second end of the rope, is used to wind and unwind the rope to adjust the initial deformation of the elastic element.

[0016] The rotating disk is used to connect to an external structure to provide resistance to the rotation of the external structure.

[0017] Preferably, the fixed pulley group includes several mating groups, each mating group including one inner fixed pulley and two outer fixed pulleys; when the rope passes through the mating group, it first passes around one outer fixed pulley from the outside, then passes around the inner fixed pulley from the inside, and then passes around the other outer fixed pulley from the outside.

[0018] Preferably, the fixed pulley group further includes a direction-changing group, which includes two outer fixed pulleys for changing the direction of the rope; the first end of the rope passes over one of the outer fixed pulleys from the inside and is connected to the elastic element, and the second end of the rope passes over the other outer fixed pulley from the inside and is connected to the elastic element.

[0019] Preferably, the elastic element is a tension spring, which is disposed inside a spring mounting sleeve, which is mounted on the rotating disk; each end of the tension spring is formed with a hook, one hook being hung on a cylindrical pin inside the spring mounting sleeve, and the other hook being connected to the first end of the rope.

[0020] Preferably, the winding device is an electric pre-tensioning winch, including a motor and a pre-tensioning winch fixed to the output shaft of the motor, the second end of the rope is fixed to the pre-tensioning winch, and the motor is capable of forward and reverse rotation.

[0021] Preferably, the rotating disk includes a cylindrical body, an annular bottom, and a hinge handle; the annular bottom is connected to one end of the cylindrical body, the outer fixed pulley is mounted on the annular bottom and located inside the cylindrical body, the hinge handle is connected to the outer surface of the cylindrical body, and the hinge handle is used for hinged with the external structure; the fixed disk passes through the cylindrical body and the annular bottom, and the elastic element and the winding device are mounted on the cylindrical body or the hinge handle.

[0022] This invention also discloses an active rehabilitation training device for the ankle and wrist joint, including the aforementioned resistance adjustment unit, as well as a platform, connecting rods, a cover plate, and a base; the platform has a mounting position in the middle for mounting a footrest assembly or a handle assembly; the number of connecting rods and the number of resistance adjustment units are three; the three resistance adjustment units are stacked and coaxial, and the fixed plates of the three resistance adjustment units are fixedly connected; the cover plate is connected to the base by fasteners, which pass through multiple fixed plates to clamp the three resistance adjustment units in the middle; the first end of the connecting rod is hinged to the platform, and the rotating disks of each of the multiple resistance adjustment units are hinged to the second end of one of the connecting rods; the rotation axes of the hinged ends of the three connecting rods point to the same position, thus forming a spherical parallel mechanism composed of the three connecting rods and the three rotating disks.

[0023] Preferably, there are three connecting rods and three resistance adjustment units; on the platform, multiple hinge points for hinged to the first end of the connecting rod are evenly distributed along the circumferential direction of the resistance adjustment unit; the rotation axes of the multiple first ends of the connecting rods intersect perpendicularly with the axis of the resistance adjustment unit.

[0024] Preferably, a transition flange is provided between the fixed plates of two adjacent resistance adjustment units, and the transition flange is fixedly connected to the fixed plates on both sides respectively.

[0025] Preferably, the base is provided with a hollowed-out groove for weight reduction.

[0026] The present invention achieves the following technical effects compared to the prior art:

[0027] 1. The resistance adjustment unit of the present invention can provide adjustable resistance human-machine interaction force by adjusting the preload of the elastic element to change the torsional stiffness of the branch rotating pair.

[0028] 2. The ankle and wrist joint active rehabilitation training device of the present invention introduces a resistance adjustment unit into the spherical parallel mechanism branch rotating joint. By adjusting the preload of the elastic element, the torsional stiffness of the branch rotating joint is changed, providing the patient with adjustable human-machine interactive force during the active resistance rehabilitation stage, which is beneficial to promoting the recovery of joint muscle strength in patients.

[0029] 3. The active rehabilitation training device for the ankle and wrist joints of the present invention, by installing a footrest assembly or a handle assembly on the platform, can address the rehabilitation needs of both the ankle and wrist joints, thus expanding the clinical application scenarios of this joint rehabilitation device. Furthermore, the simple structure and control system of the present invention reduce manufacturing costs and facilitate market promotion.

[0030] 4. In the active rehabilitation training device for ankle and wrist joints of the present invention, the rotational coupling motion provided by the spherical parallel mechanism can match the physiological movement trajectory of human joints, thus meeting the multi-directional rehabilitation training needs of patients for ankle joints (toe flexion / dorsiflexion, inversion / eversion, internal rotation / external rotation) and wrist joints (palmar flexion / dorsiflexion, ulnar deviation / radial deviation); in addition, the rotation center of the spherical parallel mechanism in the present invention is close to the physiological joint axis of the human body, reducing the additional torque problem caused by misalignment of the rotation center and ensuring the safety of training. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of the active rehabilitation training device for the ankle and wrist joint according to an embodiment of the present invention;

[0033] Figure 2 for Figure 1 A sectional view of the middle structure;

[0034] Figure 3 for Figure 1 A schematic diagram showing the positions of the components of a spherical parallel mechanism;

[0035] Figure 4 for Figure 3 Schematic diagram of the center position of the spherical parallel mechanism;

[0036] Figure 5 for Figure 1 Explosion diagram of the middle section;

[0037] Figure 6 for Figure 2 A schematic diagram of the structure of the first resistance adjustment unit;

[0038] Figure 7 This is a schematic diagram showing the positional relationship between the first resistance adjustment unit and the cover plate.

[0039] Figure 8 for Figure 6 A schematic diagram omitting the first rotating disk;

[0040] Figure 9 for Figure 8 A schematic diagram of the structure after the winding device mounting base is installed;

[0041] Figure 10 for Figure 2 A schematic diagram of the structure of the second resistance adjustment unit;

[0042] Figure 11 for Figure 2 Another structural schematic diagram of the second resistance adjustment unit;

[0043] Figure 12 for Figure 2 Schematic diagram showing the positional relationship between the third resistance adjustment unit and the base;

[0044] Figure 13 for Figure 12 The diagram omitting the third rotating disk;

[0045] Figure 14 for Figure 13 A magnified view of a portion of the central structure;

[0046] Figure 15 This is a schematic diagram of the ankle and wrist joint active rehabilitation training device after the foot support component has been installed according to an embodiment of the present invention;

[0047] Figure 16 This is a schematic diagram of the ankle and wrist joint active rehabilitation training device after the handle assembly has been installed according to an embodiment of the present invention;

[0048] Figure 17 This is a schematic diagram of the initial state of the active rehabilitation training device for the ankle and wrist joint according to an embodiment of the present invention;

[0049] Figure 18 This is a schematic diagram of the active rehabilitation training device for the ankle and wrist joint in an embodiment of the present invention after it has been rotated to the first position;

[0050] Figure 19 This is a schematic diagram of the active rehabilitation training device for the ankle and wrist joint in an embodiment of the present invention after it has been rotated to the second position;

[0051] Figure 20 This is a schematic diagram of the active rehabilitation training device for the ankle and wrist joint in an embodiment of the present invention after it has been rotated to the third position;

[0052] Figure 21 This is a schematic diagram of the active rehabilitation training device for the ankle and wrist joint in an embodiment of the present invention after it has been rotated to the fourth position.

[0053] Explanation of reference numerals in the attached drawings: 1-Platform; 2-Spherical parallel mechanism; 3-Resistance adjustment unit; 4-Base; 5-Foot support assembly; 6-Handle assembly; 21-First link; 22-Second link; 23-Third link; 24-First rotating disk; 25-Second rotating disk; 26-Third rotating disk; 31-First resistance adjustment unit; 32-Second resistance adjustment unit; 33-Third resistance adjustment unit; 34-First adapter flange; 35-Second adapter flange; 3101-Cover plate; 3102-First thrust bearing; 3103-First rope; 3104-First fixing plate; 3105-First spring mounting sleeve; 3106-First tension spring; 3107-First motor; 3108-First pre-tensioned winch; 3109-First outer fixing plate Pulleys; 3110 - First directional pulley; 3111 - First inner fixed pulley; 3201 - Second fixed disc; 3202 - Second rope; 3203 - Second pre-tensioned winch; 3204 - Second motor; 3205 - Second spring mounting sleeve; 3206 - Second tension spring; 3207 - Second directional pulley; 3208 - Second outer fixed pulley; 3209 - Second inner fixed pulley; 3210 - Second thrust bearing; 3301 - Third tension spring; 3302 - Third spring mounting sleeve; 3303 - Third motor; 3304 - Third pre-tensioned winch; 3305 - Third rope; 3306 - Third directional pulley; 3307 - Third outer fixed pulley; 3308 - Third inner fixed pulley; 3309 - Third thrust bearing. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] Reference Figures 1 to 21 This embodiment provides a resistance adjustment unit 3, which includes a thrust bearing, a fixed disk, a rotating disk, a fixed pulley block, a rope, an elastic element, and a winding device.

[0056] The thrust bearing includes a first turntable and a second turntable that can rotate relative to each other. A fixed disc is disposed inside the thrust bearing. A rotating disc is used to fix the first turntable. The pulley block includes multiple outer fixed pulleys mounted on the rotating disc and multiple inner fixed pulleys mounted on the fixed disc. The rope passes over both the outer and inner fixed pulleys simultaneously, so that when the rotating disc rotates relative to the fixed disc, the rope catches the inner fixed pulleys in a U-shape or V-shape. An elastic element is mounted on the rotating disc and connected to the first end of the rope. When the first turntable rotates, the elastic element is deformed by the rope to adjust the rope tension by the deformation of the elastic element. A winding device is mounted on the rotating disc and connected to the second end of the rope for winding and unwinding the rope to adjust the initial deformation of the elastic element, thereby controlling the initial tension of the rope. The rotating disc is used to connect to an external structure to provide resistance to the rotational movement of the external structure.

[0057] The working principle of the resistance adjustment unit 3 in this embodiment is as follows:

[0058] When an external force from the external structure acts on the rotating disk, causing it to rotate and drive the first rotating disk to rotate, the two ends of the rope are indirectly connected to the rotating disk through elastic elements and winding devices, respectively. Therefore, the rotating disk will drive the rope to rotate as well. Furthermore, since the rope simultaneously passes over multiple outer and inner fixed pulleys, while the inner fixed pulleys remain stationary, they exert resistance on the rope, thus hindering the rotation of the rotating disk.

[0059] When the external force increases, the first end of the rope pulls the elastic element, causing it to deform, thus allowing the rope and the rotating disk to continue rotating. As the rotating disk rotates, the deformation of the elastic element gradually increases, and the rotational resistance of the rotating disk also gradually increases. When the external force decreases, the rotating disk gradually returns to its original position under the elastic force of the elastic element.

[0060] The winding device controls the initial deformation of the elastic element by controlling the length of the rope in its initial state, thereby adjusting the initial resistance during the rotation of the rotating disk to meet actual requirements. Once the winding device has been adjusted, it is locked, meaning it no longer rotates.

[0061] There are various ways to arrange the fixed pulley blocks and the direction of the ropes, which can be flexibly selected by those skilled in the art.

[0062] As a possible example, in this embodiment, the fixed pulley group includes several mating groups, each consisting of an inner fixed pulley and two outer fixed pulleys. When the rope passes through the mating group, it first goes around one outer fixed pulley from the outside, then around the inner fixed pulley from the inside, and then around the other outer fixed pulley from the outside. Thus, when the rotating disk rotates, because the rope at the mating group catches the inner fixed pulley in a U-shape or V-shape, the inner fixed pulley can apply resistance to the rotation of the rope and the rotating disk. It should be noted that in this embodiment, the "inner side" (e.g., the inner side of the inner fixed pulley) refers to the side closest to the axis of the resistance adjustment unit 3. The "outer side" refers to the side away from the axis of the resistance adjustment unit 3. In this embodiment, the axis of the resistance adjustment unit 3 is the axis of the thrust bearing, which is also the rotation axis of the rotating disk.

[0063] However, the actual implementation is not limited to this. For example, there can be multiple inner fixed pulleys in the assembly, and the rope can pass around multiple inner fixed pulleys simultaneously from the inside in a U-shape or V-shape. This scheme can also make the rope catch the inner fixed pulleys, thereby applying resistance to the rotation of the rope and the rotating disk through the inner fixed pulleys.

[0064] As a possible example, in this embodiment, the fixed pulley group further includes a reversing group, which includes two outer fixed pulleys for changing the direction of the rope. A first end of the rope passes over one of the outer fixed pulleys from the inside and is then connected to an elastic element, and a second end of the rope passes over the other outer fixed pulley from the inside and is then connected to the elastic element.

[0065] By setting up a reversing group, the direction of the rope near both ends can be changed to adapt to the actual placement of the elastic element and the winding device.

[0066] There are various types of elastic elements, such as clock springs, which can be selected by those skilled in the art according to actual needs.

[0067] As a possible example, in this embodiment, the elastic element is a tension spring, which is disposed within a spring mounting sleeve, which is mounted on a rotating disk. Each end of the tension spring has a hook formed thereon; one hook is attached to a cylindrical pin inside the spring mounting sleeve, and the other hook is connected to the first end of a rope. The spring mounting sleeve improves safety by preventing the tension spring from pinching clothing or human tissue.

[0068] As a possible example, in this embodiment, the winding device is an electric pre-tensioning winch, including a motor (preferably a DC motor) and a pre-tensioning winch fixed to the motor's output shaft, with the second end of the rope fixed to the pre-tensioning winch. The motor can rotate forward and reverse, and its operation can be controlled by a control circuit, thereby improving ease of operation. After the motor completes the rope length adjustment, it locks, and its output shaft no longer rotates. It is understood that other types of winding devices can also be used, such as omitting the motor and manually rotating the pre-tensioning winch.

[0069] Those skilled in the art can choose the specific shape of the rotating disk according to actual needs.

[0070] As one possible example, in this embodiment, the rotating disk includes a cylindrical body, an annular base, and a hinged handle. The annular base is connected to one end of the cylindrical body, an outer fixed pulley is mounted on the annular base and located inside the cylindrical body, and the hinged handle is connected to the outer surface of the cylindrical body for hinged connection to an external structure. A fixed disk passes through the cylindrical body and the annular base, and an elastic element and a winding device are mounted on the cylindrical body or the hinged handle. The annular base is used to rest on the first rotating disk of the thrust bearing and to provide the mounting position for the outer fixed pulley.

[0071] As a possible example, in this embodiment, the fixed pulley assembly further includes a reversing pulley mounted on the winding device. The second end of the rope passes sequentially around an outer fixed pulley in the reversing pulley assembly and the reversing pulley before being connected to the winding device. The reversing pulley changes the direction of extension of the portion of the rope near the second end.

[0072] Reference Figures 1 to 21 This embodiment also provides an active rehabilitation training device for the ankle and wrist joint, including the resistance adjustment unit 3 mentioned above, as well as a platform 1, a connecting rod, a cover plate 3101 and a base 4.

[0073] Platform 1 has a mounting position in the middle for mounting the footrest assembly 5 or the handle assembly 6; this mounting position can be a threaded hole. There are three connecting rods and three resistance adjustment units 3. The three resistance adjustment units 3 are stacked and coaxial, and their fixing plates are fixedly connected. The cover plate 3101 is connected to the base 4 by fasteners passing through the three fixing plates to clamp the three resistance adjustment units 3 in the middle. The first end of the connecting rod is hinged to platform 1, and the rotating disks of each of the three resistance adjustment units 3 are hinged to the second end of one connecting rod. The rotation axes of the hinged ends of the three connecting rods point to the same position, thus forming a spherical parallel mechanism 2 composed of the three connecting rods and the three rotating disks.

[0074] The working principle of the active rehabilitation training device for the ankle and wrist joint in this embodiment is as follows:

[0075] Based on the principle of the spherical parallel mechanism, platform 1 can rotate and swing around the center of the spherical parallel mechanism 2 (i.e., the point where the rotation axes of the hinged ends of multiple links intersect). After installing the footrest assembly 5 in the mounting position on platform 1, the patient places their foot in the footrest assembly 5 and moves the platform 1 through ankle movement to perform active ankle joint rehabilitation training. After installing the handle assembly 6 in the mounting position on platform 1, the patient holds the handle assembly 6 and moves the platform 1 through wrist movement to perform active wrist joint rehabilitation training.

[0076] The aforementioned ankle or wrist movement is influenced by the resistance provided by the resistance adjustment unit 3. The initial magnitude of this resistance can be adjusted by the unwinding and rewinding of the rope through the winding device to meet the rehabilitation training needs of different patients and the same patient at different rehabilitation stages. By adjusting the individual torsional stiffness of the rotating pairs in the spherical parallel mechanism 2, the overall torsional stiffness of the mechanism can be adjusted, thereby controlling the magnitude of the interaction torque between the mechanism and the human body.

[0077] Patients with ankle (wrist) injuries can actively exert force to control their ankle (wrist) on platform 1 to perform single and compound rehabilitation exercises such as toe flexion / dorsiflexion, inversion / eversion, and internal / external rotation (palmar flexion / dorsiflexion, ulnar deviation / radial deviation). During this process, the spherical parallel mechanism 2 of the device can cooperate with the human joint to complete various rotational movements.

[0078] As a possible example, in this embodiment, there are three connecting rods and three resistance adjustment units 3. On platform 1, multiple hinge points for hinged connection to the first end of the connecting rods are evenly distributed along the circumferential direction of the resistance adjustment unit 3, i.e., adjacent hinge points are spaced 120° apart in the circumferential direction. The rotation axes of the first ends of the multiple connecting rods intersect perpendicularly with the axis of the resistance adjustment unit 3. Depending on the actual needs, those skilled in the art can also choose other numbers of connecting rods and resistance adjustment units 3, as long as they can form a spherical parallel mechanism 2.

[0079] Specifically, the three links are the first link 21, the second link 22, and the third link 23, and the three resistance adjustment units 3 are the first resistance adjustment unit 31, the second resistance adjustment unit 32, and the third resistance adjustment unit 33. The first link 21 corresponds to the first resistance adjustment unit 31, the second link 22 corresponds to the second resistance adjustment unit 32, and the third link 23 corresponds to the third resistance adjustment unit 33.

[0080] The first resistance adjustment unit 31 includes a first thrust bearing 3102, a first fixed disk 3104, a first rotating disk 24, a first fixed pulley group, a first rope 3103, a first elastic element, and a first winding device. The first fixed pulley group includes a first outer fixed pulley 3109, a first inner fixed pulley 3111, and a first reversing pulley 3110. The first elastic element includes a first tension spring 3106 and a first spring mounting sleeve 3105. The first winding device includes a first motor 3107 and a first pre-tensioned winch 3108.

[0081] The second resistance adjustment unit 32 includes a second thrust bearing 3210, a second fixed disk 3201, a second rotating disk 25, a second fixed pulley group, a second rope 3202, a second elastic element, and a second winding device. The second fixed pulley group includes a second outer fixed pulley 3208, a second inner fixed pulley 3209, and a second reversing pulley 3207. The second elastic element includes a second tension spring 3206 and a second spring mounting sleeve 3205. The second winding device includes a second motor 3204 and a second pre-tensioned winch 3203.

[0082] The third resistance adjustment unit 33 includes a third thrust bearing 3309, a third fixed disc, a third rotating disc 26, a third fixed pulley block, a third rope 3305, a third elastic element, and a third winding device. The third fixed pulley block includes a third outer fixed pulley 3307, a third inner fixed pulley 3308, and a third reversing pulley 3306. The third elastic element includes a third tension spring 3301 and a third spring mounting sleeve 3302. The third winding device includes a third motor 3303 and a third pre-tensioning winch 3304.

[0083] As a possible example, in this embodiment, a transition flange is provided between the fixed plates of two adjacent resistance adjustment units 3, and the transition flange is fixedly connected to the fixed plates on both sides respectively.

[0084] Specifically, the transition flange between the first fixed plate 3104 and the second fixed plate 3201 is the first transition flange 34, and the transition flange between the second fixed plate 3201 and the third fixed plate is the second transition flange 35.

[0085] As a possible example, in this embodiment, the base 4 is provided with a hollowed-out groove for weight reduction, so as to reduce the weight of the base 4, save materials and facilitate transportation.

[0086] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A resistance adjustment unit, characterized in that, include: A thrust bearing, comprising a first turntable and a second turntable capable of rotating relative to each other; A fixed plate, wherein the fixed plate is disposed inside the thrust bearing; A rotating disk, the rotating disk being fixed on the first rotating disk; A fixed pulley assembly, comprising a plurality of outer fixed pulleys mounted on the rotating disk and a plurality of inner fixed pulleys mounted on the fixed disk; A rope that simultaneously passes over multiple outer fixed pulleys and multiple inner fixed pulleys, such that when the rotating disk rotates relative to the fixed disk, the rope catches the inner fixed pulleys in a U-shape or V-shape. An elastic element is mounted on the rotating disk and connected to the first end of the rope. When the first rotating disk rotates, the elastic element is deformed by the rope to adjust the tension of the rope through the deformation of the elastic element. A winding device, mounted on the rotary disk and connected to the second end of the rope, is used to wind and unwind the rope to adjust the initial deformation of the elastic element. The rotating disk is used to connect to an external structure to provide resistance to the rotation of the external structure.

2. The resistance adjustment unit according to claim 1, characterized in that: The fixed pulley group includes several cooperation groups, each cooperation group including one inner fixed pulley and two outer fixed pulleys; when the rope passes through the cooperation group, it first goes around one outer fixed pulley from the outside, then around the inner fixed pulley from the inside, and then around the other outer fixed pulley from the outside.

3. The resistance adjustment unit according to claim 2, characterized in that: The fixed pulley assembly further includes a direction-changing assembly, which includes two outer fixed pulleys for changing the direction of the rope; the first end of the rope passes over one of the outer fixed pulleys from the inside and is connected to the elastic element, and the second end of the rope passes over the other outer fixed pulley from the inside and is connected to the elastic element.

4. The resistance adjustment unit according to claim 1, characterized in that: The elastic element is a tension spring, which is disposed inside a spring mounting sleeve, which is mounted on the rotating disk. Each end of the tension spring has a hook formed thereon. One hook is attached to a cylindrical pin inside the spring mounting sleeve, and the other hook is connected to the first end of the rope.

5. The resistance adjustment unit according to claim 1, characterized in that: The winding device is an electric pre-tensioning winch, which includes a motor and a pre-tensioning winch fixed to the output shaft of the motor. The second end of the rope is fixed to the pre-tensioning winch, and the motor can rotate forward and reverse.

6. The resistance adjustment unit according to claim 1, characterized in that: The rotating disk includes a cylindrical body, an annular bottom, and a hinge handle; the annular bottom is connected to one end of the cylindrical body, the outer fixed pulley is mounted on the annular bottom and located inside the cylindrical body, the hinge handle is connected to the outer surface of the cylindrical body, and the hinge handle is used to hinge with the external structure; the fixed disk passes through the cylindrical body and the annular bottom, and the elastic element and the winding device are mounted on the cylindrical body or the hinge handle.

7. An active rehabilitation training device for the ankle and wrist joint, characterized in that, The system includes the resistance adjustment unit as described in any one of claims 1 to 6, and further includes a platform, connecting rods, a cover plate, and a base; the platform has a mounting position in the middle for mounting a footrest assembly or a handle assembly; the number of connecting rods and resistance adjustment units is three; the three resistance adjustment units are stacked and coaxial, and the fixing plates of the three resistance adjustment units are fixedly connected; the cover plate is connected to the base by fasteners, which pass through multiple fixing plates to clamp the three resistance adjustment units in the middle; the first end of the connecting rod is hinged to the platform, and the rotating disks of each of the multiple resistance adjustment units are hinged to the second end of one of the connecting rods; the rotation axes of the two hinged positions of the three connecting rods point to the same position, thereby forming a spherical parallel mechanism composed of the three connecting rods and the three rotating disks.

8. The active rehabilitation training device for ankle and wrist joints according to claim 7, characterized in that: The number of connecting rods and the number of resistance adjustment units are both three; on the platform, multiple hinge points for hinged to the first end of the connecting rod are evenly distributed along the circumferential direction of the resistance adjustment unit; the rotation axes of the multiple first ends of the connecting rods intersect perpendicularly with the axis of the resistance adjustment unit.

9. The active rehabilitation training device for ankle and wrist joints according to claim 7, characterized in that: A transition flange is provided between the fixed plates of two adjacent resistance adjustment units, and the transition flange is fixedly connected to the fixed plates on both sides respectively.

10. The active rehabilitation training device for the ankle and wrist joint according to claim 7, characterized in that: The base is provided with a hollowed-out groove for weight reduction.

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