Wearable skeleton rehabilitation device

Abstract

The invention discloses a wearable skeleton rehabilitation device, and relates to the field of skeleton rehabilitation, the wearable skeleton rehabilitation device comprises leg guards and a cooperative training device, the cooperative training device comprises a base plate, a hip seat plate with the bottom connected with the upper surface of the base plate through an arc-shaped supporting plate, and a thigh training part arranged on one side of the hip seat plate; the shank training component is arranged on the base plate and located on the side, away from the hip sitting plate, of the thigh training component, and the liquid supply component is arranged on the base plate and located in the arc-shaped supporting plate; each leg guard comprises a protective sleeve, a magnetic attraction part and a zipper which are arranged on the outer wall of the protective sleeve, a liquid storage bag arranged on the outer wall of the protective sleeve in a sleeving manner, and an inflatable auxiliary fixing part arranged on the inner wall of the protective sleeve; the liquid supply part is used for supplying liquid to the liquid storage bag or extracting liquid from the liquid storage bag, and the leg guard can attract and fix the thigh supporting plate or the shank supporting plate through the magnetic attraction part. According to the rehabilitation device, the exercise ability of the to-be-rehabilitated limbs can be conveniently trained to be consistent with the exercise ability of the intact limbs.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of bone rehabilitation, and specifically to a wearable bone rehabilitation device. Background Art

[0002] As the saying goes, "It takes a hundred days to heal a broken bone." This shows that bone rehabilitation is difficult and takes a long time. Patients with bone injuries need to rest in the early stage, rehabilitation training in the middle stage, and gradually return to normal in the later stage. During the rest period, the patient's affected part cannot move, and the motor ability of the affected part drops sharply. During rehabilitation training, incoordination between the affected limb and the normal limb often occurs. Training the motor ability of the patient's affected limb to a normal level during rehabilitation training can effectively ensure the patient's limb coordination after recovery and help the patient return to normal life as soon as possible.

[0003] According to a rehabilitation exoskeleton provided by the patent document with application number CN202210250402.1, the product includes a healthy side exoskeleton, an affected side exoskeleton, a first sensor, a control unit and a driving device. The first sensor is used to detect the pressure on the sole and generate a first electrical signal. The control unit is used to determine whether to generate a first control signal based on the first electrical signal. The driving device is used to drive the affected side exoskeleton based on the first control signal. If the sole does not land stably, the affected side exoskeleton will not drive the affected side to take steps, thereby avoiding the problem of the affected side taking steps without the healthy side standing firmly. The product has the advantages of good limb coordination control and high safety of use.

[0004] The product in the above patent has the advantages of good limb coordination control and high safety of use, but it is not convenient to train the motor ability of the limb to be rehabilitated to be consistent with the motor ability of the intact limb. Summary of the invention

[0005] Based on this, the purpose of the present invention is to provide a wearable bone rehabilitation device to solve the technical problems raised in the above background technology.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a wearable bone rehabilitation device, comprising a leg guard and a coordinated training device, wherein the coordinated training device comprises a base plate, the bottom of which is connected to a hip seat plate on the upper surface of the base plate through an arc-shaped support plate, a thigh training component arranged on one side of the hip seat plate, a calf training component arranged on the base plate and located on the side of the thigh training component away from the hip seat plate, and a liquid supply component arranged on the base plate and located in the arc-shaped support plate; The thigh training component includes two thigh support plates, one end of which is hinged to the end of the hip seat plate through a first shaft rod, and the other end is slidably connected to the inner wall of the first arc slide rail through a second shaft rod, a first driving component arranged on the inner wall of the arc support plate and used to assist the rotation of the first shaft rod, and a first exercise intensity monitoring component arranged on the inner wall of the first arc slide rail, and the bottom of the first arc slide rail is connected to the upper surface of the base plate through a support frame; The calf training component includes a clutch component arranged on the top of the base plate, two vertical rods arranged at the execution end of the clutch component, a calf support plate with one end hinged to the top of the vertical rod through a third shaft rod and the other end slidably connected to the inner wall of the second arc-shaped slide rail through a fourth shaft rod, a second driving component arranged on the outer wall of the vertical rod and used to assist the rotation of the third shaft rod, and a second exercise intensity monitoring component arranged on the inner wall of the second arc-shaped slide rail, and the second arc-shaped slide rail is arranged at the execution end of the clutch component; The leg guard includes a protective sleeve, a magnetic attraction component and a zipper arranged on the outer wall of the protective sleeve, a liquid storage bag sleeved on the outer wall of the protective sleeve, and an inflatable auxiliary fixing component arranged on the inner wall of the protective sleeve; The liquid supply component is used to supply liquid to or extract liquid from the liquid storage bag, and the leg guard can be fixed to the thigh support plate or the calf support plate by adsorbing the magnetic component.

[0007] Preferably, the first driving component includes a driving motor disposed on the inner wall of the arc-shaped support plate, a driving shaft disposed on the execution end of the driving motor, a first gear sleeved on the outer wall of the driving shaft and connected to the driving shaft through a disconnecting assembly, and a second gear sleeved on the outer wall of the first shaft and meshing with the first gear, and the second driving component has the same structure as the first driving component. In this preferred embodiment, the first driving component can assist the thigh support plate to rotate, and the second driving component can assist the calf support plate to rotate, so as to assist in traction of the limb to be rehabilitated.

[0008] Preferably, the disconnection assembly includes an electromagnetic ring sleeved on the outer wall of the drive shaft, a positioning hole passed through the first gear, and a shaft tube provided on the inner wall of the positioning hole and sleeved on the outer wall of the electromagnetic ring. In this preferred embodiment, the disconnection assembly facilitates the disconnection and connection between the drive shaft and the first gear, realizes the normal operation of the motor during auxiliary traction, and avoids the uninterrupted opening and closing of the motor.

[0009] Preferably, the first motion intensity monitoring component includes a plurality of pressure sensors arranged on the inner ring of the first arc-shaped slide rail, and the distance between any two adjacent pressure sensors is the same, and the second motion intensity monitoring component has the same structure as the first motion intensity monitoring component. In this preferred embodiment, the first motion intensity monitoring component is used to monitor the swing speed of the limbs, so as to understand the motion intensity during limb rehabilitation training.

[0010] Preferably, the clutch component includes a slide rail frame arranged on the base plate, two sliders symmetrically arranged in the slide rail frame and slidably connected to the slide rail frame, two power motors symmetrically arranged at both ends of the slide rail frame, and a screw rod arranged at the execution end of the power motor and connected to the slider nut, and the top of the slider is connected to the bottom of the vertical rod and the outer wall of the second arc-shaped slide rail. In this preferred embodiment, the clutch component is used to achieve the mutual approach or separation of the two sliders, so as to achieve the switching between thigh rehabilitation training or calf rehabilitation training of the device.

[0011] Preferably, the inflatable auxiliary fixation component includes an air bag whose outer wall is attached to the inner wall of the protective sleeve by Velcro, and an air source tube whose one end is connected to the air bag and the other end sequentially passes through the protective sleeve and the liquid storage bag and extends to the outside of the liquid storage bag. In this preferred embodiment, the inflatable auxiliary fixation component facilitates the fixation between the protective sleeve and the patient's limb.

[0012] Preferably, the magnetic attraction component includes a positioning plate provided on the outer wall of the protective sleeve, a plurality of iron blocks provided on the outer wall of the positioning plate, a plurality of positioning grooves embedded in the top of the thigh support plate and the calf support plate, and a first electromagnetic block embedded in the bottom of the inner wall of the positioning groove. In this preferred embodiment, the magnetic attraction component facilitates the leg guard to absorb and fix the thigh support plate or the calf support plate.

[0013] Preferably, the liquid supply component includes a liquid storage tank disposed on the base plate and located inside the arc-shaped support plate, a vacuum pump and a booster pump disposed on the inner wall of the arc-shaped support plate and connected to the liquid storage tank through a pipeline at the execution end, and a liquid supply pipe connected to the liquid storage tank at one end. In this preferred embodiment, the liquid supply component facilitates the supply or suction of liquid into the liquid storage bag.

[0014] Preferably, the base plate is provided with a temperature control component sleeved on the outer wall of the liquid supply pipe, and the temperature control component includes two positioning tubes connected to the upper surface of the base plate through a bracket and sleeved on the outside of the liquid supply pipe, a heat-conducting ring sleeved on the outer wall of the liquid supply pipe and located inside the positioning tube, a resistive heater provided on the inner wall of one of the positioning tubes and abutting against the heat-conducting ring, and a semiconductor cooling sheet provided on the inner wall of the other positioning tube and abutting against the heat-conducting ring. In this preferred embodiment, the temperature control component facilitates the control of the liquid supply temperature so that the user's limbs are in a rehabilitation training environment with a suitable temperature.

[0015] Preferably, a magnetic linkage component is provided between the two thigh support plates and the two calf support plates, and the magnetic linkage component includes an extension block provided on the outer wall of the thigh support plate, and a second electromagnetic block provided on the outer wall of the extension block. In this preferred embodiment, the magnetic linkage component facilitates linkage between the two thigh support plates or the two calf support plates, so that the user can use the intact limb to drive the rehabilitation training limb movement.

[0016] In summary, the present invention mainly has the following beneficial effects: The device of the present invention facilitates training the motor ability of the limb to be rehabilitated to be consistent with the motor ability of the intact limb; In the present invention, the coordinated training device is used to realize the coordinated training of the thigh and calf of the patient who is undergoing bone rehabilitation. The leg guard is used to facilitate the measurement of the difference in motor energy between the injured limb and the intact limb of the patient. The motor energy difference is used as a weight and gradually added to the injured limb to be rehabilitated, so that the motor ability of the injured limb gradually approaches the motor energy of the intact limb. In the collaborative training device, the first motion intensity monitoring component and the second motion intensity monitoring component are used to monitor the swing speed of the limbs, so as to understand the motion intensity during limb rehabilitation training. The first driving component can assist the thigh support plate to rotate, and the second driving component can assist the calf support plate to rotate, so as to assist in traction of the limb to be rehabilitated. The disconnecting component facilitates the disconnection and connection between the drive shaft and the first gear to achieve the normal operation of the motor during auxiliary traction and avoid the uninterrupted opening and closing of the motor. The clutch component is used to achieve the mutual approach or separation of the two sliders to achieve the switching between thigh rehabilitation training or calf rehabilitation training of the device. The magnetic linkage component facilitates the linkage between the two thigh support plates or the two calf support plates, so that the user can use the intact limb to drive the rehabilitation training limb movement; The inflatable auxiliary fixing component in the leg guard facilitates the fixation between the protective sleeve and the patient's limbs, and the magnetic suction component facilitates the leg guard to absorb and fix the thigh support plate or the calf support plate; The liquid supply component facilitates the supply or suction of liquid into the liquid storage bag, and the temperature control component facilitates the control of the liquid supply temperature, so that the user's limbs are in a rehabilitation training environment with a suitable temperature; The leg guard can be placed on the user's intact limb first, and the liquid supply component supplies liquid to increase the weight of the leg guard until the movement ability of the user's affected limb is consistent with that of the intact limb. The total liquid volume is recorded, and then the leg guard is placed on the affected limb. The liquid volume is gradually increased according to the condition of the affected limb, and rehabilitation training is performed until the corresponding movement ability is still maintained after the total liquid volume is reached. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an axonometric diagram of the overall structure of the present invention; Figure 2It is an exploded view of the overall structure of the present invention; Figure 3 It is an exploded view of the structure of the collaborative training device of the present invention; Figure 4 It is an exploded view of the liquid supply component structure of the present invention; Figure 5 An exploded view of the structure of the thigh training component of the present invention; Figure 6 It is a top view of the overall structure of the present invention; Figure 7 It is a cross-sectional view of the overall structure of the present invention; Figure 8 It is a cross-sectional view of the structure of the temperature control component of the present invention; Fig. 9 This is an enlarged view of the structure at A of the present invention; Fig.10 This is an axonometric diagram of the device structure of Example 1 of the present invention; Fig.11 This is a motion diagram of the device structure of Example 1 of the present invention.

[0018] Description of the drawings: 10, leg guard; 11, protective sleeve; 12, magnetic component; 121, positioning plate; 122, iron block; 123, positioning groove; 124, first electromagnetic block; 13, zipper; 14, liquid storage bag; 15, inflatable auxiliary fixing component; 151, air bag; 152, air source tube; 20, collaborative training device; 21, base plate; 22, arc support plate; 23, hip seat; 24, thigh training component; 241, first shaft rod; 242, second shaft rod; 243, first arc slide rail; 244, thigh support plate; 245, first driving component; 2451, driving motor; 2452, driving shaft; 2453, disconnecting assembly; 24531, electromagnetic ring; 24532, positioning hole; 24533, shaft tube; 2454, first gear; 2455, second gear; 246, first exercise intensity monitoring component; 2461, pressure sensor; 25, calf training component; 251, clutch component; 2511, slide rail frame; 2512, slider; 2513, power motor; 2514, screw rod; 252, vertical rod; 253, third shaft rod; 254, fourth shaft rod; 255, second arc-shaped slide rail; 256, calf support plate; 257, second driving component; 258, second exercise intensity monitoring component; 26, liquid supply component; 261, liquid storage tank; 262, vacuum pump; 263, booster pump; 264, liquid supply pipe; 27, temperature control component; 271, positioning tube; 272, heat conductive ring; 273, resistive heater; 274, semiconductor refrigeration plate; 28, magnetic linkage component; 281, extension block; 282, second electromagnetic block. DETAILED DESCRIPTION

[0019] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0020] The following describes an embodiment of the present invention based on its overall structure. Example

[0021] Please refer to the attached Figure 1 , 2 As shown in Figures 6 and 7, in a preferred embodiment of the present invention, a wearable bone rehabilitation device includes a leg guard 10 and a collaborative training device 20, wherein the collaborative training device 20 includes a base plate 21, the bottom of which is connected to a hip seat 23 on the upper surface of the base plate 21 through an arc-shaped support plate 22, a thigh training component 24 provided on one side of the hip seat 23, a calf training component 25 provided on the base plate 21 and located on the side of the thigh training component 24 away from the hip seat 23, and a liquid supply component 26 provided on the base plate 21 and located in the arc-shaped support plate 22; a magnetic linkage component 28 is provided between the two thigh support plates 244 and the two calf support plates 256, and the magnetic linkage component 28 includes an extension block 281 provided on the outer wall of the thigh support plate 244, and a second electromagnetic block 282 provided on the outer wall of the extension block 281.

[0022] It should be noted that, in this embodiment, when the user performs bone rehabilitation training, he can sit on the hip seat 23, and select the thigh training component 24 or the calf training component 25 for training according to the rehabilitation training needs. The training method of the calf training component 25 is consistent with the training method of the thigh training component 24. The following will take the thigh training component 24 as an example for description; For users with unilateral affected limbs, it is first necessary to measure the difference in athletic ability between the healthy limb and the affected limb. During the test, the staff can wear the leggings 10 on the healthy limb of the user, and connect the output end of the liquid supply component 26 to the liquid inlet of the liquid storage bag 14 outside the leggings 10. The leggings 10 are automatically magnetically connected to the thigh support plate 244, and the user's affected limb is placed on another thigh support plate 244, and is bound to the user's affected limb through a fixed structure on the thigh support plate 244, such as a Velcro strap. After completion, the user's legs can swing in the same direction or in different directions at the same time. Due to the recuperation of the user's affected limb during the rest period, its athletic ability is different from that of the healthy limb. The two first exercise intensity monitoring components 246 respectively acquire the athletic ability data of the user's legs and transmit them to the controller. After analysis, the controller triggers the liquid supply component 26 to supply liquid to the liquid storage bag 14 to carry out weight-bearing of the healthy limb until the athletic ability of the healthy limb is consistent with that of the affected limb. At this time, the total amount of liquid supplied can be understood as the athletic ability difference. Then you can start rehabilitation training, which can be divided into double-leg training and single-leg training. During double-leg training, the leg guard 10 is still worn on the healthy limb, and the liquid supply component 26 can gradually suck the liquid in the liquid storage bag 14 to gradually release the motor ability of the healthy limb. The two first exercise intensity monitoring components 246 respectively obtain the motor ability data of the user's legs and transmit it to the controller. After analysis, the controller triggers the first driving component 245 to assist in driving the patient's movement, so that the motor ability of the affected limb is consistent with that of the healthy limb, and the affected limb is assisted in exercise. When the patient's affected limb gradually adapts, the liquid supply component 26 can absorb the liquid in the liquid storage bag 14 again, and repeat the training. , until there is no liquid in the liquid storage bag 14, that is, the training is completed. During single-leg training, the leggings 10 are worn on the patient's affected limb, and the liquid supply component 26 can gradually supply liquid to the liquid storage bag 14. After the supply is completed, the user's affected limb swings, and the first exercise intensity monitoring component 246 obtains the exercise capacity data of the user's affected limb and transmits it to the controller. The controller uses the exercise capacity of the leggings 10 carrying the total amount of liquid supply of the user's healthy limb as the standard exercise capacity, and triggers the first driving component 245 to assist the affected limb in exercising. When the affected limb gradually adapts, the liquid supply component 26 can supply liquid to the liquid storage bag 14 again, and repeat the training until the liquid in the liquid storage bag 14 reaches the total amount of liquid supply, that is, the training is completed; For patients with bilateral limb impairment, if the difference in the motor ability of the two limbs is large, the limb with stronger motor ability can be selected as the healthy limb, and exercise can be performed in the same way as the user with unilateral limb impairment. If the difference in the motor ability of the two limbs is not large, both legs of the user can be trained at the same time without the leg guard 10. During training, the two first exercise intensity monitoring components 246 respectively obtain the motor ability data of the user's legs and transmit it to the controller. After analysis, the controller triggers the first driving component 245 to assist in driving the limb with weaker motor ability to ensure that the exercise intensity of the two limbs is consistent. When the first driving component 245 no longer assists in driving and the motor abilities of the two limbs reach the set level, the training is completed. Furthermore, the magnetic linkage component 28 can magnetically fix the two thigh support plates 244 or the two calf support plates 256. Users with unilaterally affected limbs can drive the affected limb to move through the healthy limb in this way. When the magnetic linkage component 28 is working, the two second electromagnetic blocks 282 are adsorbed and fixed to each other after being energized.

[0023] Please refer to the attached Figure 2 , 3As shown in Figures 4, 5 and 7, in another preferred embodiment of the present invention, the thigh training component 24 includes two thigh support plates 244, one end of which is hinged to the end of the hip seat 23 through a first shaft 241 and the other end is slidably connected to the inner wall of the first arcuate slide rail 243 through a second shaft 242, a first driving component 245 provided on the inner wall of the arcuate support plate 22 and used to assist the rotation of the first shaft 241, and a first motion intensity monitoring component 246 provided on the inner wall of the first arcuate slide rail 243, and the bottom of the first arcuate slide rail 243 is connected to the upper surface of the base plate 21 through a support frame; the calf training component 25 includes a clutch component 251 provided on the top of the base plate 21, and a clutch component 252 provided on the inner wall of the base plate 21. The first driving component 245 comprises a driving motor 2451 provided on the inner wall of the arc support plate 22, a driving shaft 2452 provided on the driving motor 2451 and a driving shaft 2452 provided on the driving shaft 2452. The first gear 2454 is connected to the outer wall of the first shaft 241 and connected to the driving shaft 2452 through the disconnecting assembly 2453, and the second gear 2455 is sleeved on the outer wall of the first shaft rod 241 and meshed with the first gear 2454. The second driving component 257 has the same structure as the first driving component 245. The disconnecting assembly 2453 includes an electromagnetic ring 24531 sleeved on the outer wall of the driving shaft 2452, a positioning hole 24532 penetrated through the first gear 2454, and a shaft tube 24533 provided on the inner wall of the positioning hole 24532 and sleeved on the outer wall of the electromagnetic ring 24531. The first exercise intensity monitoring component 246 includes a plurality of pressure-sensitive adhesives provided on the inner ring of the first arc slide rail 243. force sensor 2461, the distance between any two adjacent pressure sensors 2461 is the same, the second motion intensity monitoring component 258 has the same structure as the first motion intensity monitoring component 246, the clutch component 251 includes a slide rail frame 2511 arranged on the base plate 21, two sliders 2512 symmetrically arranged in the slide rail frame 2511 and slidingly connected to the slide rail frame 2511, two power motors 2513 symmetrically arranged at both ends of the slide rail frame 2511, and a screw rod 2514 arranged at the execution end of the power motor 2513 and connected to the nut of the slider 2512, the top of the slider 2512 is connected to the bottom of the vertical rod 252 and the outer wall of the second arc-shaped slide rail 255.

[0024] It should be noted that, in this embodiment, after the execution end of the clutch component 251 drives the two calf support plates 256 to separate from each other, the user can perform training through the thigh training component 24. When the execution end of the clutch component 251 drives the two calf support plates 256 to approach each other, the user can perform training through the calf training component 25. The training method of the calf training component 25 is consistent with the training method of the thigh training component 24. The thigh training component 24 will be taken as an example below. When in use, the thigh support plate 244 rotates with the first shaft 241 as the rotation point, and the second shaft 242 slides in the first arc-shaped slide rail 243. When the second shaft 242 slides over the pressure sensor 2461, the pressure sensor 2461 obtains pressure data and transmits the pressure data to the PLC controller. Since the distance between two adjacent pressure sensors 2461 is equal, the PLC controller can record the time value between the two pressure data obtained, and at the same time record the number of the returned pressure data, that is, the sensor position, so as to determine the user's limb swing speed and swing amplitude, and judge the athletic ability by the swing speed and swing amplitude; Furthermore, when the first driving component 245 is working, the execution end of the driving motor 2451 drives the driving shaft 2452 to rotate. When auxiliary driving is required, the electromagnetic ring 24531 passes through the electromagnetic suction shaft tube 24533. At this time, the driving shaft 2452 can drive the first gear 2454 to rotate, and the first gear 2454 drives the second gear 2455 to rotate to perform auxiliary driving. When auxiliary driving is not needed, the electromagnetic ring 24531 is powered off, and the shaft tube 24533 and the electromagnetic ring 24531 can rotate relative to each other. When the driving motor 2451 is working normally, no auxiliary driving will be performed, thereby avoiding the driving motor 2451 from constantly starting and stopping.

[0025] Please refer to the attached Figure 2 , 4As shown in Figures 8 and 9, in another preferred embodiment of the present invention, the leggings 10 include a protective sleeve 11, a magnetic component 12 and a zipper 13 provided on the outer wall of the protective sleeve 11, a liquid storage bag 14 sleeved on the outer wall of the protective sleeve 11, and an inflatable auxiliary fixing component 15 provided on the inner wall of the protective sleeve 11; the liquid supply component 26 is used to supply liquid to or extract liquid from the liquid storage bag 14, and the leggings 10 can fix the thigh support plate 244 or the calf support plate 256 by adsorbing the magnetic component 12, and the inflatable auxiliary fixing component 15 can be used to fix the thigh support plate 244 or the calf support plate 256. The air-assisted fixing component 15 includes an air bag 151 whose outer wall is attached to the inner wall of the protective sleeve 11 through Velcro, and an air source tube 152 whose one end is connected to the air bag 151 and the other end sequentially penetrates the protective sleeve 11 and the liquid storage bag 14 and extends to the outside of the liquid storage bag 14. The magnetic attraction component 12 includes a positioning plate 121 arranged on the outer wall of the protective sleeve 11, a plurality of iron blocks 122 arranged on the outer wall of the positioning plate 121, and is embedded in the top of the thigh support plate 244 and the calf support plate 256. The plurality of positioning grooves 123 of the upper part and the first electromagnetic block 124 embedded in the bottom of the inner wall of the positioning groove 123, the liquid supply component 26 includes a liquid storage tank 261 provided on the base plate 21 and located in the arc-shaped support plate 22, a vacuum pump 262 and a booster pump 263 provided on the inner wall of the arc-shaped support plate 22 and the execution end of which is connected to the liquid storage tank 261 through a pipeline, and a liquid supply pipe 264 connected to the liquid storage tank 261 at one end, and the base plate 21 is provided with a sleeve on the outer wall of the liquid supply pipe 264 The temperature control component 27 includes two positioning tubes 271 connected to the upper surface of the base plate 21 through a bracket and sleeved on the outside of the liquid supply tube 264, a heat-conducting ring 272 sleeved on the outer wall of the liquid supply tube 264 and located inside the positioning tube 271, a resistive heater 273 provided on the inner wall of one of the positioning tubes 271 and abutting against the heat-conducting ring 272, and a semiconductor cooling plate 274 provided on the inner wall of the other positioning tube 271 and abutting against the heat-conducting ring 272.

[0026] It should be noted that, in the present embodiment, when the leggings 10 are used, the zipper 13 is opened to open the leggings 10, the leggings 10 are put on the outside of the user's limbs and the zipper 13 is closed, the air source tube 152 is connected to the air source system or the manual inflatable ball, and the pressurized gas enters the air bag 151 through the air source tube 152. After the air bag 151 is inflated, auxiliary fixation is performed, and the iron block 122 is placed in the positioning groove 123. After the first electromagnetic block 124 is energized, the iron block 122 is magnetically attracted to complete the fixation between the leggings 10 and the thigh support plate 244 or the calf support plate 256; Furthermore, when the liquid supply component 26 is working, the vacuum pump 262 can reduce the pressure in the liquid storage tank 261, and the liquid storage tank 261 can suck the liquid storage bag 14 through the liquid supply pipe 264, and the booster pump 263 can increase the pressure in the liquid storage tank 261, and the liquid storage tank 261 can supply liquid to the liquid storage bag 14 through the liquid supply pipe 264; Furthermore, when the liquid passes through the temperature control component 27, the temperature control component 27 can control the temperature of the liquid. During the control, the resistive heater 273 or the semiconductor cooling plate 274 is turned on according to the heating or cooling requirements. The heat is transferred to the liquid flowing through the heat conductive ring 272 and the liquid supply pipe 264 to heat or cool the liquid.

[0027] Example 1, please refer to the attached Fig.10 , 11 As shown, when the patient needs rehabilitation training for the hip joint, the thighs can be placed on the two thigh training components 24, and the legs can perform separation and closing movements. The rehabilitation training steps are consistent with the steps of the back and forth swinging training of the thigh training component 24 and the back and forth swinging training of the calf training component 25.

[0028] The working principle of the present invention is: The electrical components in the present invention are all triggered to operate by the PLC controller; When the user performs bone rehabilitation training, he can sit on the hip seat 23 and select the thigh training component 24 or the calf training component 25 for training according to the rehabilitation training needs. The training method of the calf training component 25 is the same as that of the thigh training component 24. The following description will take the thigh training component 24 as an example. For users with unilateral affected limbs, it is first necessary to measure the difference in athletic ability between the healthy limb and the affected limb. During the test, the staff can wear the leggings 10 on the healthy limb of the user, and connect the output end of the liquid supply component 26 to the liquid inlet of the liquid storage bag 14 outside the leggings 10. The leggings 10 are automatically magnetically connected to the thigh support plate 244, and the user's affected limb is placed on another thigh support plate 244, and is bound to the user's affected limb through a fixed structure on the thigh support plate 244, such as a Velcro strap. After completion, the user's legs can swing in the same direction or in different directions at the same time. Due to the recuperation of the user's affected limb during the rest period, its athletic ability is different from that of the healthy limb. The two first exercise intensity monitoring components 246 respectively acquire the athletic ability data of the user's legs and transmit them to the controller. After analysis, the controller triggers the liquid supply component 26 to supply liquid to the liquid storage bag 14 to carry out weight-bearing of the healthy limb until the athletic ability of the healthy limb is consistent with that of the affected limb. At this time, the total amount of liquid supplied can be understood as the athletic ability difference. Then you can start rehabilitation training, which can be divided into double-leg training and single-leg training. During double-leg training, the leg guard 10 is still worn on the healthy limb, and the liquid supply component 26 can gradually suck the liquid in the liquid storage bag 14 to gradually release the motor ability of the healthy limb. The two first exercise intensity monitoring components 246 respectively obtain the motor ability data of the user's legs and transmit it to the controller. After analysis, the controller triggers the first driving component 245 to assist in driving the patient's movement, so that the motor ability of the affected limb is consistent with that of the healthy limb, and the affected limb is assisted in exercise. When the patient's affected limb gradually adapts, the liquid supply component 26 can absorb the liquid in the liquid storage bag 14 again, and repeat the training. , until there is no liquid in the liquid storage bag 14, that is, the training is completed. During single-leg training, the leggings 10 are worn on the patient's affected limb, and the liquid supply component 26 can gradually supply liquid to the liquid storage bag 14. After the supply is completed, the user's affected limb swings, and the first exercise intensity monitoring component 246 obtains the exercise capacity data of the user's affected limb and transmits it to the controller. The controller uses the exercise capacity of the leggings 10 carrying the total amount of liquid supply of the user's healthy limb as the standard exercise capacity, and triggers the first driving component 245 to assist the affected limb in exercising. When the affected limb gradually adapts, the liquid supply component 26 can supply liquid to the liquid storage bag 14 again, and repeat the training until the liquid in the liquid storage bag 14 reaches the total amount of liquid supply, that is, the training is completed; For patients with bilateral limb impairment, if the difference in the motor ability of the two limbs is large, the limb with stronger motor ability can be selected as the healthy limb, and exercise can be performed in the same way as the user with unilateral limb impairment. If the difference in the motor ability of the two limbs is not large, both legs of the user can be trained at the same time without the leg guard 10. During training, the two first exercise intensity monitoring components 246 respectively obtain the motor ability data of the user's legs and transmit it to the controller. After analysis, the controller triggers the first driving component 245 to assist in driving the limb with weaker motor ability to ensure that the exercise intensity of the two limbs is consistent. When the first driving component 245 no longer assists in driving and the motor abilities of the two limbs reach the set level, the training is completed. The magnetic linkage component 28 can magnetically fix the two thigh support plates 244 or the two calf support plates 256. In this way, the user with a single limb can drive the affected limb to move through the healthy limb. When the magnetic linkage component 28 is working, the two second electromagnetic blocks 282 are energized and fixed to each other. After the execution end of the clutch component 251 drives the two calf support plates 256 to separate from each other, the user can perform training through the thigh training component 24. When the execution end of the clutch component 251 drives the two calf support plates 256 to approach each other, the user can perform training through the calf training component 25. The training method of the calf training component 25 is the same as that of the thigh training component 24. The thigh training component 24 will be taken as an example below. When in use, the thigh support plate 244 rotates with the first shaft 241 as the rotation point, and the second shaft 242 slides in the first arc-shaped slide rail 243. When the second shaft 242 slides over the pressure sensor 2461, the pressure sensor 2461 obtains pressure data and transmits the pressure data to the PLC controller. Since the distance between two adjacent pressure sensors 2461 is equal, the PLC controller can record the time value between the two pressure data obtained, and at the same time record the number of the returned pressure data, that is, the sensor position, so as to determine the user's limb swing speed and swing amplitude, and judge the athletic ability by the swing speed and swing amplitude; When the first driving component 245 is working, the execution end of the driving motor 2451 drives the driving shaft 2452 to rotate. When auxiliary driving is required, the electromagnetic ring 24531 passes through the electromagnetic suction shaft tube 24533, and the driving shaft 2452 can drive the first gear 2454 to rotate, and the first gear 2454 drives the second gear 2455 to rotate to perform auxiliary driving. When auxiliary driving is not required, the electromagnetic ring 24531 is powered off, and the shaft tube 24533 and the electromagnetic ring 24531 can rotate relative to each other. When the driving motor 2451 is working normally, auxiliary driving will not be performed, thereby avoiding the driving motor 2451 from constantly starting and stopping. When the leggings 10 are used, the zipper 13 is opened to open the leggings 10, and the leggings 10 are put on the outside of the user's limbs and the zipper 13 is closed, and the air source pipe 152 is connected to the air source system or the manual inflation ball, and the pressurized gas enters the air bag 151 through the air source pipe 152. After the air bag 151 is inflated, auxiliary fixation is performed, and the iron block 122 is placed in the positioning groove 123. After the first electromagnetic block 124 is energized, the iron block 122 is magnetically attracted to complete the fixation between the leggings 10 and the thigh support plate 244 or the calf support plate 256; When the liquid supply component 26 is working, the vacuum pump 262 can reduce the pressure in the liquid storage tank 261, and the liquid storage tank 261 can suck the liquid storage bag 14 through the liquid supply pipe 264. The booster pump 263 can increase the pressure in the liquid storage tank 261, and the liquid storage tank 261 can supply liquid to the liquid storage bag 14 through the liquid supply pipe 264. When the liquid passes through the temperature control component 27, the temperature control component 27 can control the temperature of the liquid. During the control, the resistive heater 273 or the semiconductor cooling plate 274 is turned on according to the heating or cooling requirements. The heat is transferred to the liquid flowing through the heat conductive ring 272 and the liquid supply pipe 264 to heat or cool the liquid.

[0029] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in a suitable manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiments without creative contributions as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A wearable bone rehabilitation device, comprising a leg guard (10) and a collaborative training device (20), characterized in that: The collaborative training device (20) comprises a base plate (21), a buttocks seat plate (23) connected to the upper surface of the base plate (21) at the bottom via an arc-shaped support plate (22), a thigh training component (24) arranged on one side of the buttocks seat plate (23), a calf training component (25) arranged on the base plate (21) and located on the side of the thigh training component (24) away from the buttocks seat plate (23), and a liquid supply component (26) arranged on the base plate (21) and located in the arc-shaped support plate (22); The thigh training component (24) comprises two thigh support plates (244) one end of which is hinged to the end of the hip seat plate (23) via a first shaft (241) and the other end of which is slidably connected to the inner wall of the first arc-shaped slide rail (243) via a second shaft (242), a first driving component (245) provided on the inner wall of the arc-shaped support plate (22) and used to assist the rotation of the first shaft (241), and a first exercise intensity monitoring component (246) provided on the inner wall of the first arc-shaped slide rail (243), and the bottom of the first arc-shaped slide rail (243) is connected to the upper surface of the base plate (21) via a support frame; The calf training component (25) comprises a clutch component (251) arranged on the top of the base plate (21), two vertical rods (252) arranged on the execution end of the clutch component (251), a calf support plate (256) having one end hinged to the top of the vertical rod (252) via a third shaft rod (253) and the other end slidably connected to the inner wall of the second arc-shaped slide rail (255) via a fourth shaft rod (254), a second driving component (257) arranged on the outer wall of the vertical rod (252) and used to assist the rotation of the third shaft rod (253), and a second exercise intensity monitoring component (258) arranged on the inner wall of the second arc-shaped slide rail (255), wherein the second arc-shaped slide rail (255) is arranged on the execution end of the clutch component (251); The leg guard (10) comprises a protective sleeve (11), a magnetic attraction component (12) and a zipper (13) arranged on the outer wall of the protective sleeve (11), a liquid storage bag (14) sleeved on the outer wall of the protective sleeve (11), and an inflatable auxiliary fixing component (15) arranged on the inner wall of the protective sleeve (11); The liquid supply component (26) is used to supply liquid to or extract liquid from the liquid storage bag (14), and the leg guard (10) can be fixedly attached to the thigh support plate (244) or the calf support plate (256) by the magnetic attraction component (12).

2. A wearable bone rehabilitation device according to claim 1, characterized in that: The first driving component (245) comprises a driving motor (2451) arranged on the inner wall of the arc-shaped supporting plate (22), a driving shaft (2452) arranged on the execution end of the driving motor (2451), a first gear (2454) sleeved on the outer wall of the driving shaft (2452) and connected to the driving shaft (2452) via a disconnecting assembly (2453), and a second gear (2455) sleeved on the outer wall of the first shaft (241) and meshing with the first gear (2454). The second driving component (257) has the same structure as the first driving component (245).

3. A wearable bone rehabilitation device according to claim 2, characterized in that: The disconnecting assembly (2453) comprises an electromagnetic ring (24531) sleeved on the outer wall of the driving shaft (2452), a positioning hole (24532) passing through the first gear (2454), and a shaft tube (24533) arranged on the inner wall of the positioning hole (24532) and sleeved on the outer wall of the electromagnetic ring (24531).

4. A wearable bone rehabilitation device according to claim 1, characterized in that: The first exercise intensity monitoring component (246) comprises a plurality of pressure sensors (2461) arranged on the inner ring of the first arc-shaped slide rail (243), and the distance between any two adjacent pressure sensors (2461) is the same. The second exercise intensity monitoring component (258) has the same structure as the first exercise intensity monitoring component (246).

5. The wearable bone rehabilitation device according to claim 1, characterized in that: The clutch component (251) comprises a slide rail frame (2511) arranged on the base plate (21), two sliders (2512) symmetrically arranged in the slide rail frame (2511) and slidably connected to the slide rail frame (2511), two power motors (2513) symmetrically arranged at both ends of the slide rail frame (2511), and a screw rod (2514) arranged at the execution end of the power motor (2513) and connected to the screw nut of the slider (2512), and the top of the slider (2512) is connected to the bottom of the vertical rod (252) and the outer wall of the second arc-shaped slide rail (255).

6. A wearable bone rehabilitation device according to claim 1, characterized in that: The inflatable auxiliary fixing component (15) comprises an air bag (151) whose outer wall is attached to the inner wall of the protective sleeve (11) by Velcro, and an air source tube (152) whose one end is connected to the air bag (151) and whose other end sequentially passes through the protective sleeve (11) and the liquid storage bag (14) and extends to the outside of the liquid storage bag (14).

7. A wearable bone rehabilitation device according to claim 1, characterized in that: The magnetic attraction component (12) comprises a positioning plate (121) arranged on the outer wall of the protective sleeve (11), a plurality of iron blocks (122) arranged on the outer wall of the positioning plate (121), a plurality of positioning grooves (123) embedded in the top of the thigh support plate (244) and the calf support plate (256), and a first electromagnetic block (124) embedded in the bottom of the inner wall of the positioning groove (123).

8. The wearable bone rehabilitation device according to claim 1, characterized in that: The liquid supply component (26) comprises a liquid storage tank (261) disposed on the base plate (21) and located inside the arc-shaped support plate (22), a vacuum pump (262) and a booster pump (263) disposed on the inner wall of the arc-shaped support plate (22) and connected to the liquid storage tank (261) at an execution end via a pipeline, and a liquid supply pipe (264) having one end connected to the liquid storage tank (261).

9. A wearable bone rehabilitation device according to claim 8, characterized in that: The base plate (21) is provided with a temperature control component (27) sleeved on the outer wall of the liquid supply pipe (264), and the temperature control component (27) includes two positioning tubes (271) connected to the upper surface of the base plate (21) through a bracket and sleeved on the outside of the liquid supply pipe (264), a heat-conducting ring (272) sleeved on the outer wall of the liquid supply pipe (264) and located inside the positioning tube (271), a resistive heater (273) provided on the inner wall of one of the positioning tubes (271) and abutting against the heat-conducting ring (272), and a semiconductor cooling plate (274) provided on the inner wall of the other positioning tube (271) and abutting against the heat-conducting ring (272).

10. The wearable bone rehabilitation device according to claim 1, characterized in that: A magnetic linkage component (28) is provided between the two thigh support plates (244) and the two calf support plates (256), and the magnetic linkage component (28) comprises an extension block (281) provided on the outer wall of the thigh support plate (244), and a second electromagnetic block (282) provided on the outer wall of the extension block (281).

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