Shoulder joint rehabilitation training device

Abstract

The present invention relates to the technical field of shoulder joint training devices, specifically to a shoulder joint rehabilitation training device, including a drive group and a controller for controlling the drive group to provide rotational motion, the drive group is composed of a permanent magnet motor, a torque sensor and an angle sensor; a rocker arm group is installed on the drive group, a support box is sleeved below the controller, and an adjustment part for adjusting the swing angle and height of the support box is arranged below the support box. The present invention obtains the force applied by the patient in active training through the torque sensor provided, and obtains the number of circles of the patient's passive or active training through the angle sensor provided; the range of the rocker arm can be adjusted by pressing down the push rod column to drive a pair of positioning pins to disengage from the pipe hole and the positioning hole; the swing angle and height of the support box can be adjusted simultaneously by pressing the pedal to drive the lock column and a pair of lock pins to respectively unlock the angle ring and the support pipe group, so that the rocker arm trajectory surface of the rocker arm group caters to the rocker arm operation and use of patients with different postures.

Description

Technical Field

[0001] The invention relates to the technical field of shoulder joint training devices, in particular to a shoulder joint rehabilitation training activity device. Background Art

[0002] The shoulder joint is the joint with the largest range of motion and the most flexible in the human body. It can perform movements such as flexion, extension, adduction, abduction, internal rotation, external rotation and circumduction. Although the structural characteristics of the shoulder joint ensure its flexibility, its firmness and stability are poorer than other joints. It is the least stable joint among the large joints in the body. Therefore, the shoulder joint needs to be exercised frequently to maintain its flexibility and stretchability.

[0003] Application No. 202022068250.2 discloses a portable shoulder joint activity assisting device, as shown in the attached Figure 1 As shown, it includes a tripod bracket, a box body, a driving motor, and a pull rod. The tripod bracket includes an intermediate rod, and the intermediate rod is connected to the box body by an adjustable connecting assembly. The driving motor is fixedly installed inside the box body, and the output shaft of the driving motor extends out from one end of the intermediate rod and is fixedly connected to a connecting block. The pull rod is L-shaped, and the main rod body of the pull rod is fixedly connected to the connecting block. The main rod body and the output shaft of the driving motor are perpendicular to each other. The auxiliary rod body of the pull rod is extended from one end of the main rod body, and a spherical handle is provided on the auxiliary rod body, which has portability and stability. The entire device can be stably supported by the tripod bracket, and the pull rod is driven to rotate by the driving motor, and the arm can follow the rotation of the pull rod to effectively move the shoulder joint.

[0004] It can be seen that the above patent cannot adjust the surface of the swing arm trajectory when performing shoulder joint swing arm training, that is, the patient must always maintain a posture to train, which is not easy for patients after surgery. The patient needs to sit or lie down to rest, which prolongs the original training time span and conflicts with other training or daily activities. In addition, due to different heights and arm lengths of different people, training with a constant swing arm trajectory cannot meet the needs of different people. Summary of the invention

[0005] In order to overcome the defects in the prior art, the purpose of the present invention is to provide a shoulder joint rehabilitation training activity device to solve the problems raised in the above background technology.

[0006] To achieve the above-mentioned object, the present invention provides a shoulder joint rehabilitation training device, comprising a drive group and a controller for controlling the drive group to provide rotational motion, wherein the drive group is composed of a permanent magnet motor, a torque sensor and an angle sensor; a rocker arm group is installed on the drive group, a support box is sleeved below the controller, and an adjustment part for adjusting the swing angle and height of the support box is arranged below the support box;

[0007] The rocker arm assembly includes a fixed arm tube sleeved with the top end of the permanent magnet motor output shaft, a movable arm tube sleeved with the fixed arm tube, a positioning rod inserted in the movable arm tube and connected to the fixed arm tube for positioning, and a push rod column used to squeeze and push the positioning rod to move horizontally to release the positioning connection; both side walls of the positioning rod facing the fixed arm tube are slidably clamped with positioning pins, the positioning pins are inserted with the fixed arm tube and the movable arm tube, and the outer end of the movable arm tube is inserted with a handle sleeved with the push rod column; the positioning rod is driven to move horizontally by grasping the handle and pressing the push rod column to descend, and the insertion with the fixed arm tube and the movable arm tube is released by a pair of positioning pins coming together and contracting, thereby moving the movable arm tube to adjust the length of the rocker arm;

[0008] The adjustment part includes a support tube group for supporting the swing angle of the tray and a locking group arranged in the support tube group and used for positioning the swing angle and height of the tray; the support tube group is composed of an upper support tube and a lower support tube which are sleeved with each other, the top of the upper support tube is provided with a pair of clamping columns for clamping the tray to swing, the bottom of the tray is provided with an angle ring coaxial with its rotation axis, the locking group includes a locking column plugged into the angle ring, a pair of locking pins plugged into the side wall of the support tube group, a pull rod for pulling the locking column and the pair of locking pins, and a pedal for pressing the pull rod downward; the locking group is driven by pressing the pedal to release the lock of the angle ring and the support tube group, and at the same time adjust the swing angle and height of the tray.

[0009] As a further improvement of the present technical solution, the two side walls of the fixed arm tube are symmetrically and evenly spaced with a number of tube holes, one end of the movable arm tube is closed and its top surface is open, the bottom of the handle is plugged into the opening, the bottom side wall of the handle is provided with a wall hole plugged into the positioning rod, the other end of the movable arm tube is open and its two inner sides are symmetrically provided with positioning holes, and the positioning pin is plugged into the tube hole and the positioning hole at the same time.

[0010] As a further improvement of the present technical solution, triangular rod grooves are provided on both sides of the right end of the positioning rod, and the intersection of the hypotenuse and the side of the positioning rod is arranged close to the right end of the positioning rod, a through groove is provided horizontally between the two rod grooves, and an elastic rib slidably plugged into the through groove is fixedly connected between the two positioning pins. A pair of positioning pins located at the intersection of the rod grooves are simultaneously plugged into the tube hole and the positioning hole. When a pair of positioning pins slide relative to the positioning rod to the other end of the rod groove, they are separated from the tube hole and the positioning hole under the rebound action of the elastic rib.

[0011] As a further improvement of the present technical solution, the bottom of the push rod column is provided with an inclined push surface, which is abutted against the top edge of the left end of the positioning rod, and spring plates are provided on both sides of the left end of the positioning rod. The side wall of the movable arm tube near its left end is embedded with a positioning plate, and the right end of the spring plate abuts against the positioning plate.

[0012] As a further improvement of the technical solution, a support plate is sleeved on the outside of the handle and above the movable arm tube, the top end of the handle is a square opening, and the diameter of the circumscribed circle of the square opening is at most equal to the inner diameter of the handle, and the top end of the push rod column is provided with a square column that is plugged into the square opening.

[0013] As a further improvement of the present technical solution, a plurality of lock holes are evenly spaced on the midline of the arc surface of the angle ring, and the lock holes point to the center of the angle ring. The lock column is an umbrella-shaped column and a spring is sleeved on its lower half. The top inner wall of the upper support tube is tightly sleeved with a support ring for supporting the spring.

[0014] As a further improvement of the present technical solution, the upper end of the pull rod is embedded and matched with the bottom end of the lock column, and the lower end of the pull rod is fixedly connected with a sliding sleeve which is sleeved on the inner wall of the lower support tube. The outer wall of the sliding sleeve is vertically symmetrically provided with guide grooves, and the guide grooves have the same structure as the rod grooves, and the upper end of the guide grooves is the wide end. Elastic ribs are fixedly connected between a pair of locking pins, and the locking pins are slidably engaged with the guide grooves. The inner wall of the lower end of the upper support tube is symmetrically provided with positioning grooves, and the side wall of the lower support tube is symmetrically provided with a number of through holes at equal intervals, and the locking pins are simultaneously plugged into the through holes and the positioning grooves.

[0015] As a further improvement of the technical solution, a slot is provided on the top front side wall of the sliding sleeve, the pedal is engaged with the slot, a ring is provided on the outer sleeve of the upper support tube, and the pedal is inserted through the ring.

[0016] As a further improvement of the technical solution, an avoidance groove is provided on the front side of the upper support tube and located at the positioning groove, and a slide groove is provided on the front side of the lower support tube and located between a plurality of through holes, and the pedal is simultaneously plugged and slidably engaged with the avoidance groove and the slide groove.

[0017] As a further improvement of the present technical solution, a support platform is provided on the top of the upper support tube, an axial hole coaxial with the angle ring is provided in the middle of the bottom of the support box, the lower end of the clamping column is plugged into the support platform, the upper end side wall of the clamping column is provided with a convex column and is plugged into the axial hole, the bottom end of the lower support tube is fixedly connected to a support frame, and a universal wheel is installed at the bottom corner of the support frame.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The shoulder joint rehabilitation training activity device is installed on the driving group of the controller through the rocker arm group. By pressing down the push rod column, the positioning rod is pushed by the push surface to move horizontally toward the intersection of the rod groove. A pair of positioning pins are brought together under the rebound of the elastic tendon and slide along the rod groove to its widest inner end, thereby disengaging from the tube hole and the positioning hole. The range of the rocker arm can be adjusted to cater to the arm length of different patients. The overall operation of this device is convenient, reliable and practical.

[0020] 2. The shoulder joint rehabilitation training activity device is equipped with a box support controller and an adjustment part under the box support. By pressing the pedal to drive the locking column and a pair of locking pins to respectively unlock the angle ring and the support tube group, the swing angle and height of the box support can be adjusted at the same time, so that the rocker arm trajectory surface of the rocker arm group caters to the rocker arm operation of patients with different postures.

[0021] 3. The shoulder joint rehabilitation training device uses a combination of motors, torque sensors and angle sensors to obtain the number of passive or active training circles of the patient, the amount of force applied in the patient's active training, and can set different levels of resistance for doctors and patients to choose from. The display of training data and the setting of parameters can be completed on the touch screen on the controller interface. In case of emergency, the patient can also press the emergency stop buttons on both sides to achieve safety protection. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The accompanying drawings described herein are only for explanation purposes and are not intended to limit the scope of the present invention in any way. In addition, the shapes and proportional dimensions of the various components in the figures are only schematic, used to help understand the present invention, and are not specifically limited to the shapes and proportional dimensions of the various components of the present invention. Those skilled in the art can select various possible shapes and proportional dimensions to implement the present invention according to the teachings of the present invention.

[0023] Figure 1 This is a schematic diagram of the assembly structure of a portable shoulder joint activity assisting device.

[0024] Figure 2 It is a schematic diagram of the overall assembly structure of the present invention.

[0025] Figure 3 For the present invention Figure 2 Front view of.

[0026] Figure 4 It is a schematic diagram of the rocker arm assembly structure of the present invention.

[0027] Figure 5 It is a disassembled diagram of the rocker arm assembly of the present invention.

[0028] Figure 6 The following is a disassembled diagram of the handle and the positioning rod of the present invention.

[0029] Figure 7 The figure is a disassembled diagram of the positioning rod assembly of the present invention.

[0030] Figure 8 It is a schematic diagram of the assembly structure of the adjustment part of the present invention.

[0031] Fig. 9 It is a disassembled diagram of the adjustment part assembly of the present invention.

[0032] Fig.10 This is a disassembled view of the locking group and the tray assembly of the present invention.

[0033] Fig.11 It is an exploded view of the locking assembly of the present invention.

[0034] The meaning of each number in the figure is:

[0035] 100, controller; 110, drive group; 111, permanent magnet motor; 112, torque sensor; 113, angle sensor; 120, bracket; 121, angle ring; 122, lock hole; 123, shaft hole;

[0036] 200, rocker arm assembly; 210, fixed arm tube; 211, tube hole; 220, movable arm tube; 221, positioning hole; 222, positioning sheet; 230, positioning rod; 231, rod groove; 2311, through groove; 232, positioning pin; 233, spring sheet; 240, handle; 241, wall hole; 242, support plate; 250, push rod column; 251, push surface;

[0037] 300, adjustment part; 310, support pipe group; 311, upper support pipe; 3111, support platform; 3112, clamping column; 3113, avoidance groove; 3114, positioning groove; 312, lower support pipe; 3121, perforation; 3122, slide groove;

[0038] 320, locking group; 321, locking column; 3211, spring; 3212, supporting ring; 322, locking pin; 323, pulling rod; 3231, sliding sleeve; 3232, guide groove; 3233, slot; 324, pedal; 3241, sleeve ring; 330, supporting frame. DETAILED DESCRIPTION

[0039] The details of the present invention can be more clearly understood by combining the accompanying drawings with the description of the specific embodiments of the present invention. However, the specific embodiments of the present invention described herein are only used for the purpose of explaining the present invention and cannot be understood as limiting the present invention in any way. Under the guidance of the present invention, technicians can conceive of any possible variations based on the present invention, which should be regarded as falling within the scope of the present invention. The terms "installation" and "connection" should be understood in a broad sense, which can be directly connected or indirectly connected through an intermediate medium.

[0040] The terms "central axis", "vertical", "horizontal", "front", "back", "up", "down", "left", "right", "top", "bottom", "inside", "outside" and the like used herein to indicate positions or positional relationships are based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, in the description of the present invention, the meaning of "several" is two or more, unless otherwise clearly and specifically defined.

[0041] See also Figure 1-Figure 11 As shown, the present invention provides a shoulder joint rehabilitation training device, including a drive group 110 and a controller 100 for controlling the drive group 110 to provide rotational motion, wherein the drive group 110 is composed of a permanent magnet motor 111, a torque sensor 112, and an angle sensor 113; a control module of the controller 100 is connected to the output and input of the permanent magnet motor 111, the torque sensor 112, and the angle sensor 113, and displays data and a control area through a display screen; an emergency stop button for controlling the permanent magnet motor 111 is installed on the side of the controller 100;

[0042] The torque sensor 112 is sleeved with the output shaft of the permanent magnet motor 111 to sense and measure its torque and obtain the force applied by the patient in active training; its working principle is based on the electrical measurement conversion principle of the strain gauge, which converts the torque into an electrical signal for measurement; the rotating shaft of the angle sensor 113 is sleeved with the output shaft of the permanent magnet motor 111 through a belt sleeve, which is used to sense and measure the number of rotations and obtain the number of passive or active training of the patient; its working principle is based on the principle of a rotary potentiometer, and the angle signal is converted into an electrical signal for transmission through a potentiometer; the above is the prior art and will not be repeated here; a rocker arm group 200 is installed on the drive group 110, and a support box 120 is sleeved below the controller 100; when the permanent magnet motor 111 is not powered, its output shaft can rotate independently to facilitate the patient's active rocker training; an adjustment part 300 for adjusting its swing angle and height at the same time is provided below the support box 120, so that the controller 100 and the rocker arm group 200 can cater to the height and rocker arm posture of different people.

[0043] Specifically, the rocker arm assembly 200 includes a fixed arm tube 210 sleeved with the top end of the output shaft of the permanent magnet motor 111, a movable arm tube 220 sleeved with the fixed arm tube 210, a positioning rod 230 inserted into the movable arm tube 220 and positioned with the fixed arm tube 210, and a push rod column 250 for squeezing and pushing the positioning rod 230 to move horizontally and release the positioning connection; the length of the rocker arm is adjusted by sleeve-connecting and telescoping the movable arm tube 220 and the fixed arm tube 210, and the movable arm tube 220 is connected and positioned with the fixed arm tube 210 by the positioning rod 230, so as to ensure that the length of the rocker arm remains unchanged;

[0044] The two side walls of the positioning rod 230 at one end facing the fixed arm tube 210 are slidably clamped with positioning pins 232, and the positioning pins 232 are plugged into the fixed arm tube 210 and the movable arm tube 220, so that the movable arm tube 220 and the fixed arm tube 210 can be positioned and kept unchanged after the sleeve length is adjusted; the outer end of the movable arm tube 220 is plugged with a handle 240 that is sleeved with the push rod column 250; so that the positioning rod 230 can be driven to move horizontally by grasping the handle 240 and pressing the push rod column 250 to move downward, and the plug-in with the fixed arm tube 210 and the movable arm tube 220 is released by the pair of positioning pins 232 coming together and contracting, thereby moving the movable arm tube 220 to adjust the length of the rocker arm.

[0045] Furthermore, a plurality of tube holes 211 are symmetrically and evenly spaced on both side walls of the fixed arm tube 210, one end of the movable arm tube 220 is closed and its top surface is open, and the bottom of the handle 240 is plugged into and matched with the opening, so that the movable arm tube 220 can be actively controlled by grasping the handle 240 to drive the fixed arm tube 210 to rotate. In addition, when the permanent magnet motor 111 is working, the movable arm tube 220 and the handle 240 can be driven to rotate by the fixed arm tube 210, and the patient can receive passive training by grasping the handle 240.

[0046] The bottom side wall of the handle 240 is provided with a wall hole 241 which is plugged into the positioning rod 230, so that the positioning rod 230 extends into the bottom of the handle 240 and contacts the lower end of the push rod column 250 to produce a squeezing and pushing movement; the other end of the movable arm tube 220 is open and positioning holes 221 are symmetrically provided on its two inner sides, and the positioning pin 232 is simultaneously plugged and matched with the tube hole 211 and the positioning hole 221, so that the fixed arm tube 210 and the movable arm tube 220 are relatively immobile.

[0047] Specifically, a triangular rod groove 231 is provided on both sides of the right end of the positioning rod 230, and the end where the hypotenuse intersects with the side of the positioning rod 230 is arranged near the right end of the positioning rod 230, and a through groove 2311 is provided transversely between the two rod grooves 231, and an elastic rib slidably plugged with the through groove 2311 is fixedly connected between the two positioning pins 232, so that when a pair of positioning pins 232 slide in a pair of rod grooves 231, the elastic rib slides synchronously in the through groove 2311 to avoid interference movement; a pair of positioning pins 232 are located at the intersection of the rod grooves 231 and are aligned with the tube hole 211 and The positioning holes 221 are plugged in at the same time, which plays the role of locking the fixed arm tube 210 and the movable arm tube 220, thereby ensuring the length of the rocker arm; when a pair of positioning pins 232 slide to the other end of the rod groove 231 relative to the positioning rod 230, they are separated from the tube hole 211 and the positioning holes 221 under the rebound action of the elastic tendon, and the movable arm tube 220 can be moved to extend and retract outside the fixed arm tube 210 to adjust the length of the rocker arm. After the adjustment is appropriate, the positioning pins 232 are plugged in with another set of positioning holes 221 at different positions to achieve relative fixation of the fixed arm tube 210 and the movable arm tube 220.

[0048] Furthermore, the bottom of the push rod column 250 is provided with an inclined push surface 251, which is in contact with the top edge of the left end of the positioning rod 230, that is, by pressing down the push rod column 250, the positioning rod 230 is pushed by the push surface 251 to move horizontally toward the intersection of the rod groove 231, and the pair of positioning pins 232 are brought together under the rebound of the elastic tendon and slide along the rod groove 231 to the widest inner end thereof, thereby disengaging from the tube hole 211 and the positioning hole 221, and the relative position of the movable arm tube 220 and the fixed arm tube 210 can be moved;

[0049] Spring sheets 233 are arranged on both sides of the left end of the positioning rod 230, which are made of spring steel in a folded sheet shape to give it elastic force; a positioning sheet 222 is embedded in the side wall of the movable arm tube 220 near its left end, and the right end of the spring sheet 233 abuts against the positioning sheet 222; after the positioning rod 230 is squeezed and pushed, the spring sheet 233 is compressed to store force, so that after the push rod column 250 is released, the positioning rod 230 can rebound and reset under the action of the rebound force of the spring sheet 233.

[0050] Furthermore, a support plate 242 is sleeved on the outer side of the handle 240 and located above the movable arm tube 220 for supporting the hand; the top end of the handle 240 is a square opening, and the diameter of the circumscribed circle of the square opening is at most equal to the inner diameter of the handle 240, and the top end of the push rod column 250 is provided with a square column plugged into the square opening, thereby forming a limiting structure to prevent the push rod column 250 from slipping off the top end of the handle 240.

[0051] Specifically, the adjustment part 300 includes a support tube group 310 for supporting the swing angle of the support box 120 and a locking group 320 arranged in the support tube group 310 and used to position the swing angle and height of the support box 120; the support tube group 310 is composed of an upper support tube 311 and a lower support tube 312 sleeved together, and the overall height is adjusted by telescopic cooperation between the upper support tube 311 and the lower support tube 312; a pair of clamping columns 3112 for clamping the swing of the support box 120 is arranged on the top of the upper support tube 311, and an angle ring 121 coaxial with its rotation axis is arranged at the bottom of the support box 120, and a plurality of scale lines are arranged on the side of the angle ring 121 to display the angle of deflection relative to the central axis of the support tube group 310;

[0052] The locking group 320 includes a locking column 321 plugged into the angle ring 121, a pair of locking pins 322 plugged into the side wall of the support tube group 310, a pull rod 323 for pulling the locking column 321 and the pair of locking pins 322, and a pedal 324 for pressing down the pull rod 323; the pull rod 323 is made of steel strands or hard rods and plays a pulling role; by pressing the pedal 324, the locking group 320 is driven to release the lock on the angle ring 121 and the support tube group 310, and at the same time adjust the swing angle and height of the support box 120, making the operation convenient, practical and reliable.

[0053] Furthermore, a plurality of locking holes 122 are provided at equal intervals on the midline of the arc surface of the angle ring 121, and the locking holes 122 point to the center of the angle ring 121. The locking column 321 is an umbrella-shaped column and a spring 3211 is sleeved on its lower half. The upper end of the locking column 321 is plugged into the locking hole 122, and the locking column 321 is positioned by the umbrella surface. A supporting ring 3212 for supporting the spring 3211 is tightly sleeved on the top inner wall of the upper support tube 311. The spring 3211 is compressed on the supporting ring 3212 by the umbrella surface of the locking column 321. After the pedal 324 is released, the spring 3211 rebounds with the support of the supporting ring 3212, and the locking column 321 moves upward, and drives a pair of locking pins 322 to change position through the pull rod 323.

[0054] Furthermore, the upper end of the pull bar 323 is embedded and matched with the bottom end of the lock column 321, and the lower end of the pull bar 323 is fixedly connected with a sliding sleeve 3231 sleeved with the inner wall of the lower support tube 312, and the outer wall of the sliding sleeve 3231 is vertically symmetrically provided with a guide groove 3232, and the guide groove 3232 has the same structure as the rod groove 231, and the upper end of the guide groove 3232 is a wide end, and an elastic rib is fixedly connected between a pair of locking pins 322, and the locking pins 322 are engaged and slidably engaged with the guide groove 3232;

[0055] The lower inner wall of the upper support tube 311 is symmetrically provided with positioning grooves 3114 , and the side wall of the lower support tube 312 is symmetrically provided with a plurality of through holes 3121 at equal intervals. The locking pin 322 is simultaneously plugged into the through holes 3121 and the positioning grooves 3114 to locate the relative positions of the upper support tube 311 and the lower support tube 312 .

[0056] Specifically, a slot 3233 is provided on the top front side wall of the sliding sleeve 3231, and the pedal 324 is engaged with the slot 3233, that is, the sliding sleeve 3231 is moved in the lower support tube 312 by pressing the pedal 324 externally; a collar 3241 is sleeved on the outer side of the upper support tube 311, and the pedal 324 is inserted through the collar 3241, that is, the collar 3241 stabilizes the pedal 324 on the sliding sleeve 3231;

[0057] An avoidance groove 3113 is provided on the front side of the upper support tube 311 and located at the positioning groove 3114, and a slide groove 3122 is provided on the front side of the lower support tube 312 and located between the plurality of through holes 3121. The pedal 324 is simultaneously plugged and slidably engaged with the avoidance groove 3113 and the slide groove 3122, so that the movement of the pedal 324 is not interfered with.

[0058] Furthermore, a support platform 3111 is sleeved on the top of the upper support tube 311, and an axial hole 123 coaxial with the angle ring 121 is provided in the middle of the bottom of the support box 120. The lower end of the clamping column 3112 is plugged into the support platform 3111, and the upper end side wall of the clamping column 3112 is provided with a protruding column and plugged into the axial hole 123, so that the support box 120 is clamped on the support platform 3111 by a pair of clamping columns 3112, and the angle can be stably swung to adjust so as to adapt to the use of patients in standing, sitting or lying positions; the bottom end of the lower support tube 312 is fixedly connected to the support frame 330, and a weight block is installed on the top surface of the middle part of the support frame 330 to prevent the overall tipping; universal wheels are installed at the bottom corners of the support frame 330, so that the device of the present invention can be promoted and used as a whole.

[0059] When the shoulder joint rehabilitation training device of the present invention is used, the controller 100 is turned on and a training mode is selected. The shoulder joint training mode is selected according to the patient's physical condition: active training or passive training; by pressing the pedal 324 to drive the locking column 321 and a pair of locking pins 322 in the locking group 320 to respectively unlock the angle ring 121 and the support tube group 310, the swing angle and height of the support box 120 can be adjusted at the same time, so that the rocker arm track surface of the rocker arm group 200 caters to the rocker arm operation of patients with different postures;

[0060] By pressing down the push rod column 250, the push surface 251 is used to push the positioning rod 230 to move horizontally toward the intersection end of the rod groove 231. The pair of positioning pins 232 are brought together under the rebound of the elastic tendon and slide along the rod groove 231 to their widest inner end, thereby disengaging from the tube hole 211 and the positioning hole 221. The relative position of the movable arm tube 220 and the fixed arm tube 210 can be moved, and the range of the rocker arm can be adjusted to cater to the arm length of different patients. The overall operation of this device is convenient, reliable and practical.

[0061] It should be noted that the above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A shoulder joint rehabilitation training device, comprising a drive group (110) and a controller (100) for controlling the drive group (110) to provide rotational motion, wherein the drive group (110) is composed of a permanent magnet motor (111), a torque sensor (112) and an angle sensor (113); characterized in that: The driving group (110) is mounted with a rocker arm group (200), a support box (120) is sleeved below the controller (100), and an adjustment portion (300) for simultaneously adjusting the swing angle and height of the support box (120) is provided below the support box (120); The rocker arm assembly (200) comprises a fixed arm tube (210) sleeved with the top end of the output shaft of the permanent magnet motor (111), a movable arm tube (220) sleeved with the fixed arm tube (210), a positioning rod (230) inserted into the movable arm tube (220) and connected to the fixed arm tube (210) for positioning, and a push rod column (250) for squeezing the positioning rod (230) to move horizontally to release the positioning connection; both side walls of the positioning rod (230) facing the fixed arm tube (210) are slidably engaged with positioning pins (230) 2) The positioning pin (232) is plugged into the fixed arm tube (210) and the movable arm tube (220); the outer end of the movable arm tube (220) is plugged into a handle (240) sleeved with the push rod column (250); the handle (240) is grasped to press the push rod column (250) downward to drive the positioning rod (230) to move horizontally, and the pair of positioning pins (232) are brought together and contracted to release the plugging with the fixed arm tube (210) and the movable arm tube (220), thereby moving the movable arm tube (220) to adjust the length of the rocker arm; The adjusting portion (300) comprises a support tube group (310) for supporting the swing angle of the support box (120) and a locking group (320) arranged in the support tube group (310) and used to position the swing angle and height of the support box (120); the support tube group (310) is composed of an upper support tube (311) and a lower support tube (312) which are sleeved together; a pair of clamping columns (3112) for clamping the support box (120) to swing are arranged at the top of the upper support tube (311); an angle ring (3112) coaxial with the rotation axis of the support box (120) is arranged at the bottom of the support box (120). (121), the locking group (320) comprises a locking column (321) plugged into the angle ring (121), a pair of locking pins (322) plugged into the side wall of the support tube group (310), a pull bar (323) for pulling the locking column (321) and the pair of locking pins (322), and a pedal (324) for pressing down the pull bar (323); by pressing the pedal (324), the locking group (320) is driven to release the locking of the angle ring (121) and the support tube group (310), and at the same time, the swing angle and height of the support box (120) are adjusted; The upper end of the pull bar (323) is embedded and matched with the bottom end of the lock column (321); the lower end of the pull bar (323) is fixedly connected to a sliding sleeve (3231) sleeved with the inner wall of the lower support tube (312); the outer wall of the sliding sleeve (3231) is vertically symmetrically provided with a guide groove (3232); the guide groove (3232) has the same structure as the rod groove (231), and the upper end of the guide groove (3232) is a wide end; an elastic rib is fixedly connected between a pair of lock pins (322); the lock pins (322) are snap-fitted and slidably engaged with the guide groove (3232).

2. The shoulder joint rehabilitation training device according to claim 1, characterized in that: The two side walls of the fixed arm tube (210) are symmetrically provided with a plurality of tube holes (211) at equal intervals; one end of the movable arm tube (220) is closed and its top surface is open; the bottom of the handle (240) is plugged into the opening; the bottom side wall of the handle (240) is provided with a wall hole (241) plugged into the positioning rod (230); the other end of the movable arm tube (220) is open and its two inner sides are symmetrically provided with positioning holes (221); the positioning pin (232) is plugged into the tube hole (211) and the positioning hole (221) at the same time.

3. The shoulder joint rehabilitation training device according to claim 2, characterized in that: A triangular rod groove (231) is provided on both sides of the right end of the positioning rod (230), and the intersection of the hypotenuse and the side of the positioning rod (230) is arranged near the right end of the positioning rod (230). A through groove (2311) is provided transversely between the two rod grooves (231), and an elastic rib slidably plugged with the through groove (2311) is fixedly connected between the two positioning pins (232). A pair of positioning pins (232) are located at the intersection of the rod grooves (231) and are plugged with the tube hole (211) and the positioning hole (221) at the same time. When the pair of positioning pins (232) slide relative to the positioning rod (230) to the other end of the rod groove (231), they are separated from the tube hole (211) and the positioning hole (221) under the rebound action of the elastic rib.

4. The shoulder joint rehabilitation training device according to claim 3, characterized in that: The bottom of the push rod column (250) is provided with an inclined push surface (251), and the push surface (251) is in contact with the top edge of the left end of the positioning rod (230). Both sides of the left end of the positioning rod (230) are provided with spring pieces (233). The side wall of the movable arm tube (220) near its left end is embedded with a positioning piece (222), and the right end of the spring piece (233) is in contact with the positioning piece (222).

5. The shoulder joint rehabilitation training device according to claim 4, characterized in that: A support plate (242) is sleeved on the outside of the handle (240) and located above the movable arm tube (220). The top end of the handle (240) is a square opening, and the diameter of the circumscribed circle of the square opening is at most equal to the inner diameter of the handle (240). The top end of the push rod column (250) is provided with a square column plugged into the square opening.

6. The shoulder joint rehabilitation training device according to claim 5, characterized in that: A plurality of locking holes (122) are formed at equal intervals on the midline of the arc surface of the angle ring (121), and the locking holes (122) point to the center of the angle ring (121); the locking column (321) is an umbrella-shaped column and a spring (3211) is sleeved on its lower half; and a supporting ring (3212) for supporting the spring (3211) is tightly sleeved on the inner wall of the top of the upper support tube (311).

7. The shoulder joint rehabilitation training device according to claim 6, characterized in that: The inner wall of the lower end of the upper support tube (311) is symmetrically provided with positioning grooves (3114), and the side wall of the lower support tube (312) is symmetrically provided with a plurality of through holes (3121) at equal intervals, and the locking pin (322) is simultaneously plugged into the through holes (3121) and the positioning grooves (3114).

8. The shoulder joint rehabilitation training device according to claim 7, characterized in that: A slot (3233) is provided on the top front side wall of the sliding sleeve (3231), and the pedal (324) is engaged with the slot (3233). A sleeve ring (3241) is sleeved on the outside of the upper support tube (311), and the pedal (324) and the sleeve ring (3241) are inserted through and connected to each other.

9. The shoulder joint rehabilitation training device according to claim 8, characterized in that: An avoidance groove (3113) is provided on the front side of the upper support tube (311) and located at the positioning groove (3114); a slide groove (3122) is provided on the front side of the lower support tube (312) and located between the plurality of through holes (3121); and the pedal (324) is simultaneously plugged and slidably engaged with the avoidance groove (3113) and the slide groove (3122).

10. The shoulder joint rehabilitation training device according to claim 9, characterized in that: The top of the upper support tube (311) is sleeved with a support platform (3111), the middle of the bottom of the support box (120) is provided with an axial hole (123) coaxial with the angle ring (121), the lower end of the clamping column (3112) is plugged into the support platform (3111), the upper end side wall of the clamping column (3112) is provided with a convex column and plugged into the axial hole (123), the bottom end of the lower support tube (312) is fixedly connected to the support frame (330), and the bottom corner of the support frame (330) is equipped with a universal wheel.

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