Knee joint rehabilitation training device

Abstract

The invention discloses a knee joint rehabilitation training device which comprises a box body assembly and a seat cushion assembly, the seat cushion assembly is arranged on the box body assembly, the knee joint rehabilitation training device further comprises a training assembly, the training assembly comprises a supporting frame, a driving motor, a driven belt wheel, a leg support fixing plate and a leg support assembly, and a support is fixed to the side, away from the box body assembly, of the support; the driving motor is installed on the supporting frame, the output end of the driving motor is connected with a speed reducer, the driven belt wheel is rotationally installed at the end, away from the supporting frame, of the support, one end of the leg support fixing plate is fixedly connected with the driven belt wheel, and the two leg support assemblies can be adjusted on the leg support fixing plate towards or away from the driven belt wheel. Compared with the prior art, the system is low in manufacturing cost, small in installation range limitation and small in occupied space, compared with a direct drive motor, the system is good in response performance and large in load capacity under the same load condition, and the overload burnout risk is small when powerful training is needed.

Description

Technical Field

[0001] The invention relates to a knee joint rehabilitation training device, belonging to the technical field of medical rehabilitation equipment. Background Art

[0002] The knee joint is the largest and most complex joint in the human body, consisting of the lower end of the femur, the upper end of the tibia, the patella and the surrounding ligaments. With the acceleration of the aging process, the number of patients with lower limb disability, such as hemiplegia and stroke patients, has increased. They are bedridden for a long time and lack professional rehabilitation training. Therefore, knee joint rehabilitation training equipment plays an important role in clinical practice. Many patients, especially those recovering from surgery, stroke patients, patients with falls and injuries, and the elderly, often face the problem of decreased knee joint mobility. For patients with limited knee joints, rehabilitation training can promote blood circulation in the knee joint, restore the range of joint motion, enhance muscle strength, restore motor function, accelerate the rehabilitation process, improve athletic ability, personalized training, real-time feedback and monitoring, reduce the burden on medical staff and provide psychological support. It plays a vital role in helping patients recover quickly and reduce the risk of re-injury.

[0003] The knee joint rehabilitation training equipment published in the Chinese invention patent application with application publication number CN113476269A has a driving device of a motor direct-drive structure. Since the direct-drive motor requires a higher technical level and a higher manufacturing cost, its price is higher than that of a traditional motor. Since the installation position of the direct-drive motor is usually limited, the position of the motor needs to be taken into consideration during the design. Due to the structural design and heat dissipation requirements of the direct-drive motor, it is usually larger in size than a traditional motor and occupies a larger space. Since the direct-drive motor has no deceleration mechanism, under the same load conditions, the negative inertia ratio is higher and the training inertia is greater, the system response performance deteriorates and even oscillation and loss of control may occur. The motor direct-drive structure has a small load capacity, that is, the load force that the motor can withstand during training is small. When strong training is required, the motor is at risk of overload and burning out.

[0004] The knee joint rehabilitation training robot disclosed in the Chinese utility model patent with authorization announcement number CN215307961U has a driving device of an electric cylinder telescopic structure to promote knee joint flexion and extension movements. It can only be used for passive training and has a small resistance and speed adjustment range. Summary of the invention

[0005] The purpose of the present invention is to provide a knee joint rehabilitation training device to solve the technical defects of the knee joint rehabilitation training equipment in the prior art, such as high cost, limited installation position, large occupied space, poor system response performance and small load force.

[0006] To solve the above problems, the technical solution adopted by the present invention is: a knee joint rehabilitation training device, including a box assembly and a seat cushion assembly, the seat cushion assembly is arranged on the box assembly, and the patient sits on the seat cushion assembly during knee joint rehabilitation training, and also includes a training assembly, which is fixed to the front of the box assembly, including a driving device assembly, a leg support fixing plate and a leg support assembly, the driving device assembly includes a driving motor, a reducer, a driving pulley, a driven pulley and a synchronous belt, the output end of the driving motor drives the driving pulley through the reducer, the driving pulley is connected to the driven pulley through the synchronous belt transmission, and is used to drive the driven pulley to reciprocate, one end of the leg support fixing plate is fixedly connected to the driven pulley and swings back and forth with the reciprocating rotation of the driven pulley, and the leg support assembly is arranged on the leg support fixing plate, and is used to bind the patient's calf when in use.

[0007] As a further improvement of the present invention, there are two leg support assemblies, which are respectively arranged on both sides of the leg support fixing plate to respectively fix the two calves of the patient when in use.

[0008] As a further improvement of the present invention, it also includes a support frame and a bracket, the support frame is installed at the front of the box assembly, the drive motor, the reducer and the active pulley are all installed on the support frame, the bracket includes a support beam, a leg plate A and a leg plate B, one end of the support beam is fixed on the support frame, one end of the leg plate A and the leg plate B are respectively fixed on both sides of the end of the support beam away from the connecting frame, the driven pulley is arranged between the leg plate A and the leg plate B and is rotatably connected with the leg plate A and the leg plate B.

[0009] As a further improvement of the present invention, two upper and lower limiting protrusions are provided at one end of the support beam far from the leg board pressing plate A and / or the leg board pressing plate B, and a limiting block is fixed on the leg support fixing plate. The limiting block and the limiting protrusion cooperate to limit the swing angle of the leg support fixing plate.

[0010] As a further improvement of the present invention, the leg support assembly can adjust its position on the leg support fixing plate, the leg support fixing plate includes a fixed plate unit A and a fixed plate unit B respectively fixed on the two end surfaces of the driven pulley, a leg support adjustment plate is fixed between the fixed plate unit A and the fixed plate unit B, a plurality of adjustment holes are provided on the leg support adjustment plate at intervals along the length, a slider is provided on the fixed plate unit A and the fixed plate unit B, a first limit pin is provided on the slider, when the slider slides to the set position, the first limit pin is inserted into the corresponding adjustment hole to prevent the slider from sliding, the two leg support assemblies are respectively arranged on both sides of the slider, and slide synchronously with the sliding of the slider.

[0011] As a further improvement of the present invention, an adjustment rail is fixedly installed on each side of the fixed plate unit A and the fixed plate unit B away from the leg support adjustment plate, and a rail connecting plate is provided between the two adjustment rails, which respectively cooperate with the two adjustment rails on both sides, and a slider connecting plate is fixed on the side of the guide rail connecting plate away from the slider, and both sides of the slider are bent toward the direction of the slider connecting plate and fixedly connected to the slider connecting plate.

[0012] As a further improvement of the present invention, a leg rest limit plate is respectively provided at the top and bottom ends of the leg rest adjustment plate, and the two sides of the leg rest limit plate are respectively fixed to the sides facing the fixed plate unit A and the fixed plate unit B, and the guide rail connecting plate moves to resist the leg rest limit plate to limit the sliding of the slider.

[0013] As a further improvement of the present invention, a slot with a T-shaped cross section and penetrating upward through the top of the slider is provided on each side of the slider, a limiting hole vertically connected to the slot is provided on the slider, a second limiting pin is provided in the limiting hole, and a leg support mounting block with a T-shaped cross section and corresponding to the slot is fixed on the leg support assembly, a limiting slot is provided on one side of the leg support mounting block, the leg support mounting block is inserted into the slot, and the second limiting pin is inserted into the limiting slot to fix the leg support assembly on the slider.

[0014] As a further improvement of the present invention, the leg support assembly includes two leg support base plates, the middle parts of the two leg support base plates are bent in a circular arc shape in a direction away from each other, the two leg support base plates are in contact with both sides of the patient's calf when in use, the two leg support base plates are connected by a leg support strap, and the loose leg support straps are used to accommodate patients with different calf circumferences, and the leg support mounting block is fixed on one of the leg support base plates.

[0015] As a further improvement of the present invention, it also includes a mobile chassis assembly, a backrest assembly, a handle assembly and a display assembly. The mobile chassis assembly includes a frame bottom plate welded part, a plurality of universal wheels and a plurality of foot cups. The universal wheels and the foot cups are arranged at the bottom of the frame bottom plate welded part. The box assembly is installed on the top of the frame bottom plate welded part. The universal wheels are used for moving the mobile chassis assembly. The foot cups are adjusted up and down to prevent the mobile chassis assembly from moving when in use. The backrest assembly is arranged on the box assembly and can slide back and forth relative to the box. The backrest assembly is used to support the patient's back when in use. The handle assembly is arranged on the top of the box assembly. The gripping handle assembly is used for moving the mobile chassis assembly. The display assembly includes a display column, a rocker arm and a touch display. The bottom of the display column is connected to the mobile chassis assembly, and the touch display is arranged on the display column through the rocker arm.

[0016] In summary, the beneficial effects of the present invention are as follows: 1. The present invention adopts a driving motor to drive the driven pulley, the leg support fixing plate and the leg support assembly to flip through a transmission device, thereby driving the patient's calf tied to the leg support assembly to flip, so that the patient's knee joint can be straightened or bent. Compared with the prior art, the present invention has low manufacturing cost, small installation range limitation, and small occupied space. Compared with the direct drive motor under the same load conditions, the present invention has good system response performance and large load capacity. When vigorous training is required, the risk of overload and burnout of the present invention is small. The present invention adopts a synchronous belt to connect the active pulley and the driven pulley, and the transmission is stable and efficient, the noise is small, and the maintenance is convenient. The synchronous pulley group of the present invention has a smaller transmission negative inertia ratio and a small training inertia, that is, the inertia of the training structure is small when it rotates around the pulley shaft, and its ability to maintain uniform circular motion or stillness is stronger, and it will not speed up or slow down to affect the training experience and rehabilitation quality. The synchronous pulley group has a large transmission load capacity, and when transmitting high power and bearing large loads, the operation is more stable and reliable, covering the patient's vigorous training situation. The synchronous pulley group can use an ordinary motor for transmission, which is lower in cost, and the synchronous belt can make the drive device modular.

[0017] 2. The present invention is provided with two leg support assemblies, 3. The structure of the support frame in the present invention is convenient for installation on the box assembly, and the bracket allows the leg rest assembly to be away from the box assembly, so that the leg rest assembly can be flipped over a larger range along with the leg rest fixing plate.

[0018] 4. The present invention limits the flipping angle of the leg support fixing plate by arranging a limiting protrusion and a limiting block to allow the patient's knee joint to be straightened and bent within an appropriate range.

[0019] 5. The present invention adjusts the position of the leg support assembly on the leg support fixing plate by sliding the slider relative to the leg support fixing plate, thereby making the present invention suitable for patients with different leg lengths. By setting a first limit pin to cooperate with the adjustment hole, the position of the slider is fixed in the use state, so that the leg support assembly will not slide relative to the leg support fixing plate in the use state.

[0020] 6. The present invention provides a slider connecting plate to make the sliding of the slider on the leg support fixing plate more stable, and provides an adjustment guide rail and a guide rail connecting plate to guide the sliding of the slider in cooperation with the leg support fixing plate.

[0021] 7. The present invention provides a leg rest limiting plate, which cooperates with the guide rail connecting plate to limit the sliding of the guide rail connecting plate, thereby limiting the sliding of the slider, limiting the sliding range of the leg rest assembly, and preventing the leg rest assembly from falling off the leg rest fixing plate.

[0022] 8. The present invention provides a slot on the slider to cooperate with the leg rest mounting block on the leg rest assembly to facilitate installation of the leg rest assembly and the slider, and provides a second limit pin to ensure that the leg rest assembly will not fall off the slider when in use.

[0023] 9. The leg support assembly in the present invention includes two leg support bottom plates, which can fix the patient's calves from both sides of the patient's calves. When in use, the patient's calves are not easy to separate from the leg support assembly, and because the leg support straps are provided, the present invention can be adjusted according to different calf circumferences, thereby improving the applicability of the present invention.

[0024] 10. The present invention is provided with a movable chassis assembly, which is convenient for the present invention to be moved according to use. A backrest assembly is provided for the patient to lean on with his back, which can effectively prevent the patient from falling backward during knee joint rehabilitation training. The handle assembly is convenient for moving the present invention, and the display assembly can be used to display the rehabilitation training status and set the rehabilitation exercise parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0026] Figure 2 It is a three-dimensional structural schematic diagram of the mobile chassis assembly in the present invention.

[0027] Figure 3 It is a three-dimensional structural schematic diagram of the box assembly in the present invention.

[0028] Figure 4 It is a three-dimensional structural schematic diagram of the seat cushion assembly in the present invention.

[0029] Figure 5 It is a three-dimensional exploded schematic diagram of the backrest assembly in the present invention.

[0030] Figure 6 It is a schematic diagram of the three-dimensional structure of the training component in the present invention.

[0031] Figure 7 It is a three-dimensional exploded schematic diagram of the driving structure of the training component in the present invention.

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure of the leg support fixing plate in the present invention.

[0033] Fig. 9 It is a three-dimensional exploded schematic diagram of the leg support assembly in the present invention.

[0034] Fig.10 It is a schematic diagram of the three-dimensional structure of the display component in the present invention.

[0035] Among them: 1. Box assembly; 2. Seat cushion assembly; 3. Training assembly; 4. Support frame; 5. Bracket; 6. Driving motor; 7. Reducer; 8. Driven pulley; 9. Leg support shaft; 10. Leg support fixing plate; 11. Leg support assembly; 12. Driving pulley; 13. Output shaft; 14. Synchronous belt; 15. Support vertical plate A; 16. Support vertical plate B; 17. Connecting plate A; 18. Connecting plate B; 19. Mounting base plate; 20 , connecting frame; 21, supporting beam; 22, leg plate A; 23, leg plate B; 24, limiting protrusion; 25, limiting block; 26, fixed plate unit A; 27, fixed plate unit B; 28, leg support adjustment plate; 29, adjustment hole; 30, slider; 31, first limiting pin; 32, adjustment guide rail; 33, guide rail connecting plate; 34, slider connecting plate; 35, leg support limiting plate; 36, slot; 37, second limiting pin; 38 , leg support mounting block; 39, limit slot; 40, leg support base plate; 41, leg support strap; 42, mobile chassis assembly; 43, frame base plate welded parts; 44, universal wheel; 45, foot cup; 46, backrest assembly; 47, handle assembly; 48, display assembly; 49, display column; 50, rocker arm; 51, touch display; 52, leg support pad; 53, column base; 54, mounting through hole; 55, motor flange; 56, Output flange; 57, torque sensor; 58, fixed seat; 59, cross roller bearing; 60, bushing A; 61, bearing cover; 62, bushing B; 63, ball bearing; 64, seat cushion; 65, seat plate; 66, armrest; 67, box cover A; 68, box cover B; 69, backrest shell; 70, cushion; 71, back plate; 72, sliding assembly; 73, mounting plate; 74, slide rod; 75, box cover. DETAILED DESCRIPTION

[0036] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings.

[0037] like Figure 1 The knee joint rehabilitation training device shown in the figure comprises a box assembly 1 and a seat cushion assembly 2. The seat cushion assembly 2 is arranged on the box assembly 1, and the box assembly 1 provides support for the seat cushion assembly 2. When used for knee joint rehabilitation training, the patient sits on the seat cushion assembly 2. Figure 3 As shown, in the present invention, a box cover 75 is arranged at the rear side of the box assembly 1, and the box cover 75 and the box assembly 1 are detachably mounted by screws. A control assembly (not shown in the figure) is arranged in the box assembly 1. The control assembly itself is a prior art and will not be described in detail in the present invention. In the present invention, the direction in which the patient is facing in the use state is the front, and the directions of the left and right hands of the patient in this state are the left and right directions respectively.

[0038] The present invention provides a training component 3 to perform knee joint rehabilitation training on a patient sitting on the seat cushion component 2, such as Figure 6 and Figure 7 As shown, the training component 3 includes a support frame 4, a driving motor 6, a driven pulley 8, a leg support fixing plate 10 and a leg support assembly 11. The support frame 4 is installed on the box assembly 1, and a bracket 5 is fixed on the side of the support frame 4 away from the box assembly 1. When the patient sits on the seat cushion assembly 2, the patient's legs are respectively located on both sides of the bracket 5. The driving motor 6 is installed on the support frame 4 and is electrically connected to the control system. The output end of the driving motor 6 is connected to a reducer 7, which is also installed on the support frame 4. The driving motor 6 outputs power after being decelerated by the reducer 7. The driven pulley 8 in the present invention adopts a horizontally arranged leg support shaft 9 to be rotatably installed on the end of the bracket 5 away from the support frame 4, and the driven pulley 8 is connected to the output end of the reducer 7 by a transmission device. , the driving motor 6 is decelerated by the reducer 7 and then driven by the transmission device to rotate the driven pulley 8. In the present invention, one end of the leg support fixing plate 10 is fixedly connected to the driven pulley 8 and rotates synchronously with the rotation of the driven pulley 8. There are two leg support assemblies 11 in the present invention, which are respectively arranged on both sides of the leg support fixing plate 10. The two leg support assemblies 11 can be adjusted on the leg support fixing plate 10 toward or away from the driven pulley 8. The two leg support assemblies 11 are used to bind the left and right calves of the patient respectively when in use, so that the patient's knee joints can be straightened and bent back and forth with the rotation of the leg support fixing plate 10. Since the leg support assembly 11 can be adjusted on the leg support fixing plate 10, it can be adaptively adjusted according to the length of the patient's calf to adapt to the use of patients with different calf lengths. The present invention is provided with a backrest assembly 46, which is arranged on the box assembly 1 and can slide back and forth relative to the box assembly 1. The backrest assembly 46 is used to support the patient's back when in use. When the present invention is in use, the patient sits on the seat cushion assembly 2, the patient's back leans on the backrest assembly 46, the patient's left and right calves are respectively fixed on the leg support assembly 11, and the driving motor 6 drives the leg support fixing plate 10 and the leg support assembly 11 to flip forward and upward, driving the patient's knee joint from bending to straightening, and when the driving motor 6 drives the leg support fixing plate 10 and the leg support assembly 11 to flip backward and downward, it drives the patient's knee joint from extension to bending, and so on, to achieve rehabilitation training of the patient's knee joint.

[0039] like Figure 6 and Figure 7 As shown, the present invention is provided with a driving pulley 12, which is rotatably mounted on the support frame 4 using a horizontally arranged output shaft 13. The driving pulley 12 is connected to the output end of the reducer 7 and is driven by the drive motor 6 to rotate on the support frame 4. The transmission device in the present invention is a synchronous belt 14, which connects the driving pulley 12 and the driven pulley 8. The height of the rear part of the box assembly 1 in the present invention is greater than the height of the front part, so that the entire box assembly 1 is L-shaped, and the support frame 4 is arranged at a lower height in the front of the box assembly 1, such as Figure 4As shown, the seat cushion assembly 2 includes a seat cushion 64, a seat plate 65 and two armrests 66. The seat cushion 64 is arranged on the seat plate 65. The seat plate 65 is detachably mounted on the top of the lower side of the box assembly 1 by multiple bolts. The two armrests 65 are respectively arranged on both sides of the seat plate 65, and the two armrests 65 extend out of both sides of the seat cushion 64, respectively, for supporting the patient during rehabilitation training. The middle part of the front side of the seat cushion 64 in the present invention is provided with a notch, and the support frame 4 extends out of the notch. The present invention installs a box cover A67 and a box cover B68 on both sides of the support frame 4 on the box assembly 1, wherein the box cover A67 is covered on the drive motor 6.

[0040] like Figure 1 and Figure 5 As shown, the backrest assembly 46 of the present invention is arranged at the front part of the side with a larger height of the box assembly 1, and includes a backrest shell 69, a cushion 70, a backboard 71 and a sliding assembly 72. The cushion 70 is fixed on the backboard 71, and the backboard 71 is detachably mounted on the backrest shell 69 by using a plurality of bolts. The backrest shell 69 is provided with connecting holes running through both sides thereof, and a mounting plate 73 is detachably mounted on the cushion 70 by using bolts, and a sliding rod 74 perpendicular to the mounting plate 73 is fixed to the mounting plate 73, and the sliding rod 74 constitutes the sliding assembly 72, and the sliding rod 74 passes through the connecting hole and extends into the box. The backrest assembly 46 is in the box assembly 1 and can slide horizontally relative to the box assembly 1. A plurality of sliding positioning holes A are provided at intervals along the length direction of the slide rod 74 on the top of the box assembly 1. A sliding positioning hole B is provided on the end of the slide rod 74 away from the mounting plate 73. A sliding limiter is provided in the sliding positioning hole B. The sliding limiter is inserted into the sliding positioning hole B and the sliding positioning hole A to prevent the slide rod 74 from sliding relative to the box assembly 1. The present invention pulls out the sliding limiter and adjusts the backrest assembly 46 frontward and rearward to adapt to patients with different leg lengths. The sliding limiter in the present invention adopts a dividing pin.

[0041] like Figure 6The support frame 4 in the present invention includes a support vertical plate A15, a support vertical plate B16, a connecting plate A17, a connecting plate B18 and a mounting base plate 19. The support vertical plate A15 and the support vertical plate B16 are parallel and the bottoms are welded and fixed to the mounting base plate 19. The connecting plate A17 and the connecting plate B18 are parallel and the two ends are respectively welded and fixed to the support vertical plate A15 and the support vertical plate B16. The mounting base plate 19 in the present invention is detachably mounted on the box assembly 1 by a plurality of bolts in a used state. The bracket 5 in the present invention includes a connecting frame 20, a support beam 21, a leg plate pressing plate A22 and a leg plate pressing plate B23. The connecting frame 20 is fixed to one end of the support beam 21 and is mounted on the connecting plate A17. The connecting frame 20 includes a connecting base plate and a fixed base plate, wherein the connecting base plate is detachably mounted on the connecting plate A17 by a plurality of bolts, and the fixed base plate is welded and fixed to the connecting base plate. A side away from the connecting plate A17, and the fixed base plate is perpendicular to the welding base plate, the support beam 21 is detachably mounted on the fixed base plate by multiple bolts, and the end of the support beam 21 away from the connecting base plate is inclined upward, one end of the leg plate pressure plate A22 and the leg plate pressure plate B23 are respectively detachably mounted on both sides of the end of the support beam 21 away from the connecting frame 20 by at least two bolts, the leg plate pressure plate A22 and the leg plate pressure plate B23 are parallel, the driven pulley 8 is arranged between the leg plate pressure plate A22 and the leg plate pressure plate B23, the two ends of the leg support shaft 9 are respectively detachably mounted with the leg plate pressure plate A22 and the leg plate pressure plate B23 by bolts, the leg support shaft 9 is supported by the leg plate pressure plate A22 and the leg plate pressure plate B23, the leg support shaft 9 in the present invention is installed with a ball bearing 63 through a sleeve B62, the driven pulley 8 is arranged on the ball bearing 63, so that the driven pulley 8 is rotatably mounted on the leg support shaft 9.

[0042] like Figure 7As shown, the present invention has mounting holes 54 corresponding to the support vertical plate A15 and the support vertical plate B16, wherein the drive motor 6 is mounted on the support vertical plate A15 by using a motor flange 55, wherein the drive motor 6 is detachably mounted on the motor flange 55 by using bolts, and the motor flange is detachably mounted on the support vertical plate A15 by using bolts, and the output end of the drive motor 6 passes through the motor flange 55 and the mounting hole 54 on the support vertical plate A15, and the reducer 7 is detachably mounted on one side of the motor flange 55 passing through the mounting hole 54 on the support vertical plate A15 by using bolts, and the output end of the reducer 7 is detachably mounted with an output flange 56 by using bolts, and a torque sensor 57 is mounted on the output flange 56 by using bolts, and the torque sensor 57 is mounted on the torque sensor 57 by using bolts, The torque sensor 57 is electrically connected to the control system, and the driving pulley 12 is sleeved on the output shaft 13 and fixedly connected to the output shaft 13, that is, the driving pulley 12 and the output shaft 13 rotate synchronously, one end of the output shaft 13 is detachably mounted on the torque sensor 57 by bolts, and a fixing seat 58 is detachably mounted on the supporting vertical plate B16 by bolts, and one end of the output shaft 13 away from the torque sensor 57 passes through the fixing seat 58 and is rotatably connected to the fixing seat 58 by a cross roller bearing 59, a shaft sleeve A60 is fixedly provided on the output shaft 13, and a bearing cover plate 61 is detachably mounted on the fixing seat 58 by bolts, and the shaft sleeve A60 and the bearing cover plate 61 are respectively used to limit the cross roller bearing 59 from both sides.

[0043] like Figure 7 As shown, in the present invention, the ends of the leg board pressing plates A22 and B23 away from the support beam 21 are arc-shaped, and the diameter of the arc-shaped parts of the leg board pressing plates A22 and B23 is larger than the vertical width of the other end. Upper and lower limiting protrusions 24 are provided at the ends of the leg board pressing plates A22 and / or B23 away from the support beam 21. The present invention only provides upper and lower limiting protrusions 24 on the leg board pressing plates A22, and a limiting block 25 is fixed on the leg support fixing plate 10. The limiting block 25 reciprocates between the upper and lower limiting protrusions 24 with the reciprocating rotation of the driven pulley 8 and the leg support fixing plate 10. When the limiting block 25 rotates to abut against the limiting protrusion 24, the leg support fixing plate 10 is prevented from continuing to rotate in the same direction, and can only rotate in the opposite direction, thereby limiting the rotation angle of the leg support fixing plate 10.

[0044] like Figure 8As shown, the leg support fixing plate 10 in the present invention includes a fixing plate unit A26 and a fixing plate unit B27 which are detachably mounted on both sides of the driven pulley 8 by bolts. The fixing plate unit A26 and the fixing plate unit B27 have the same shape and are symmetrically arranged on both sides of the driven pulley 8. The shape of the fixing plate unit A26 is now described by taking the fixing plate unit A26 as an example. The upper part of the fixing plate unit A26 is a connecting part, the width of the connecting part is greater than the width of the lower part, and the connecting part is circular. A through hole running through both sides of the connecting part is opened on the connecting part. The two ends of the wheel 8 are respectively connected to the leg plate pressure plate A22 and the leg plate pressure plate B23 through the through holes on the two connecting parts, wherein the bolts for fixing the leg support fixing plate 10 and the driven pulley 8 are evenly distributed along the circumferential direction of the through holes, wherein the limit block 25 is located on the side of the connecting part away from the support frame 4, and the present invention is fixed with a leg support adjustment plate 28 at one end away from the connecting part between the fixing plate unit A26 and the fixing plate unit B27, and the two sides of the leg support adjustment plate 28 can be respectively connected to the fixing plate unit A26 and the fixing plate unit B2 by at least two bolts. 7 is detachably installed, a plurality of adjustment holes 29 are provided on the leg support adjustment plate 28 at equal intervals along the length, a slider 30 is provided on the fixed plate unit A26 and the fixed plate unit B27, the slider 30 can slide on the fixed plate unit A26 and the fixed plate unit B27, a first limit pin 31 is provided on the slider 30, the first limit pin 31 is an indexing pin, and an indexing pin hole is provided on the slider 30 that runs through both sides thereof, the indexing pin is inserted into the indexing pin hole, wherein the center line of the indexing pin hole is parallel to the center line of the adjustment hole 29, When the slider 30 slides to the set position, the first limit pin 31 is inserted into the corresponding adjustment hole 29. The first limit pin 31 is used to prevent the slider 30 from sliding. The two leg support assemblies 11 are respectively arranged on both sides of the slider 30, and slide synchronously with the sliding of the slider 30. When the present invention is in use, the slider 30 can be slid along the length direction of the fixed plate unit A26 by pulling out the first limit pin 31, so as to adjust the position of the slider 30 on the fixed plate unit A26 and the fixed plate unit B27 to be suitable for patients with different calf lengths.

[0045] like Figure 8As shown in the figure, on the opposite sides of the fixing plate unit A26 and the fixing plate unit B27 away from the leg rest adjusting plate 28, a regulating guide rail 32 is fixedly installed respectively. The regulating guide rail 32 is detachably installed on the fixing plate unit A26 and the fixing plate unit B27 by a plurality of bolts. Between the two regulating guide rails 32, a guide rail connecting plate 33 is provided, with both sides thereof respectively cooperating with the two regulating guide rails 32. On both sides of the guide rail connecting plate 33 of the present invention, a sliding groove (not shown in the figure) is opened respectively. The two sliding grooves respectively cooperate with the two regulating guide rails 32, enabling the guide rail connecting plate 33 to slide along the length direction of the regulating guide rail 32. On the side of the guide rail connecting plate 33 away from the slider 30, a slider connecting plate 34 is fixed. The slider connecting plate 34 and the guide rail connecting plate 33 can be detachably installed by at least two bolts. The two sides of the slider 30 are bent towards the slider connecting plate 34 to form slider connecting parts, such that the entire slider 30 forms an open structure with a "U" - shaped cross - section. The fixing plate unit A26, the fixing plate unit B27, and the leg rest adjusting plate 28 are located within the opening of the slider 30. The slider connecting parts at both ends of the slider 30 are respectively detachably connected to the slider connecting plate 34 by bolts, thereby enabling the slider to be more stably arranged on the fixing plate unit A26 and the fixing plate unit B27.

[0046] As Figure 8 shown, in order to prevent the guide rail connecting plate 33 from detaching from the regulating guide rail 32 when the slider 30 slides, on the top end and the bottom end of the leg rest adjusting plate 28 of the present invention, a leg rest limiting plate 35 is provided respectively. Both sides of the leg rest limiting plate 35 are respectively detachably connected to the opposite sides of the fixing plate unit A26 and the fixing plate unit B27 by at least two bolts. When the guide rail connecting plate 33 moves upward or downward and abuts against the leg rest limiting plate 35, the leg rest limiting plate 35 prevents the slider 30 from continuing to move, thereby limiting the sliding of the slider 30.

[0047] As Figure 8 shown, on each of the slider connecting parts on both sides of the slider 30 of the present invention, a slot 36 with a T - shaped cross - section that penetrates upward through the top end of the slider 30 is opened. The depth of the slot 36 along the length direction of the regulating guide rail 32 is less than the thickness of the slider connecting part along the length direction of the regulating guide rail 32. A limiting hole perpendicular and communicating with the slot 36 is opened on the slider connecting part, and a second limiting pin 37 is arranged in the limiting hole. The second limiting pin 37 in the present invention also adopts a indexing pin. As Fig. 9 shown, a leg rest mounting block 38 with a T - shaped cross - section and corresponding to the slot 36 is fixed on the leg rest assembly 11. A limiting groove 39 is opened on one side of the leg rest mounting block 38. When the leg rest mounting block 38 is inserted into the slot 36, the limiting groove 39 corresponds to the limiting hole on the slider connecting part, and the second limiting pin 37 is inserted into the limiting hole and the limiting groove 39 to fix the leg rest assembly 11 on the slider 30.

[0048] As Fig. 9As shown, the leg support assembly 11 in the present invention includes two leg support base plates 40, the middle parts of the two leg support base plates 40 are bent in a direction away from each other in an arc shape, the leg support base plates 40 are made of hard materials such as metal or hard plastic, and the two leg support base plates 40 are in contact with the two sides of the patient's calf when in use. The present invention fixes a leg support pad 52 at the position where the two leg support base plates 40 are used to fit the patient's calf. The leg support pad 52 can be made of cloth to improve the patient's comfort when in use. The leg support pad 52 can be pasted on the leg support base plates 40. The two leg support base plates 40 are connected by a leg support strap 41. The loose leg support strap 41 is used to adapt to the use of patients with different calf circumferences. The leg support mounting block 38 is fixed to one of the leg support base plates 40. On the base plate 40, the present invention provides strap holes for leg support straps 41 to pass through at both ends of the two leg support base plates 40. There are two leg support straps 41, one of which passes through the strap holes on the same side of the two leg support base plates 40 to connect the two leg support straps 41 from one side, and one end of the other leg support strap 41 is fixed to a leg support base plate 40 where a leg support mounting block 38 is not provided, and the other end passes through the strap hole at the other end of the leg support mounting block 38 and then bends toward a leg support base plate 40 where a leg support mounting block 38 is not provided, and is fixed to the leg support base plate 40, so that the two leg support base plates 40 are wrapped around the patient's calves when in use. The leg support straps 41 in the present invention use Velcro to facilitate adjustment.

[0049] like Figure 1 and Figure 2As shown, in order to facilitate the movement of the present invention, the present invention is provided with a mobile chassis assembly 42, and the mobile chassis assembly 42 includes a frame bottom plate weldment 43, a plurality of universal wheels 44 and a plurality of foot cups 45. The frame bottom plate weldment 43 in the present invention includes three straight-line support cross bars and a U-shaped support bar, wherein two of the support cross bars are parallel and are welded and fixed to the same side of the other support cross bar, and the opening of the support bar faces the direction away from the support cross bar and is welded and fixed to the other end of the two support cross bars. The top of the three support cross bars and one support bar in the present invention is The bottom of the box assembly 1 is detachably mounted on the support plate at the top of the frame bottom plate weldment 43, and the universal wheel 44 is used for the movement of the mobile chassis assembly 42, and the foot cup 45 is adjusted up and down to prevent the mobile chassis assembly 42 from moving when in use. The foot cup top of the present invention is detachably mounted on the support cross bar and the support rod of the frame bottom plate weldment 43. The foot cup 45 is matched with the bottom thread of the supporting cross bar and the supporting rod. By rotating the foot cup 45, the foot cup 45 can be adjusted up and down. When the foot cup 45 is adjusted upward, the universal wheel 45 contacts the ground and supports the present invention. At this time, the present invention can be moved. When the foot cup 45 is adjusted downward, the foot cup 45 supports the present invention on the ground, and the position of the present invention cannot be moved, thereby fixing the present invention to prevent the patient from moving as a whole during knee joint rehabilitation training. The present invention is optimally provided with a handle assembly 47, and the handle assembly 47 is arranged at the top of the box assembly 1 away from the backrest assembly On one side of 46, grasping and pushing or pulling the handle assembly 47 is used to move the chassis assembly 42. The handle assembly 47 in the present invention includes two fixed connecting plates and a pull rod. The bottoms of the two fixed connecting plates are arranged in parallel and are welded and fixed to the upper part of the rear surface of the box assembly 1. Corresponding circular through holes are opened on the fixed connecting plates. The pull rod is a round rod. The diameter of the pull rod is slightly smaller than the aperture of the circular through hole. The pull rod passes through the circular through holes on the two fixed connecting plates and is welded and fixed to the fixed connecting plates. The number of fixed connecting plates in the present invention can also be set to more than two.

[0050] The present invention is provided with a display assembly 48, such as Fig.10As shown, the display assembly 48 includes a display column 49, a rocker arm 50, a touch display 51, a column base 53 and a plurality of foot cups, the foot cups are arranged on the lower surface of the column base 53, the bottom end of the display column 49 is fixed on the upper surface of the column base 53, the display column 49 is in a vertical state and has a hollow structure, the bottom of the display column 49 is connected to one end of the support rod of the mobile chassis assembly 42, the touch display 51 is arranged on the display column 49 through the rocker arm 50, and the touch display 51 is electrically connected to the control system, the display column 49 in the present invention is a hollow structure, the signal line connecting the touch display 51 and the control system and the power line of the touch display 51 pass through the display column 49 and the support rod and extend into the strip body assembly 1, the rocker arm 50 itself in the present invention and its rotational connection with the touch display 51 and the display column 49 are both prior arts, and the present invention will not describe them in detail.

[0051] The steps of the present invention for knee joint rehabilitation training are as follows: S1 (patient in position): the patient sits on the seat cushion 64 of the device, and the patient's calf is fixed to the leg support assembly 11 by the leg support strap 41.

[0052] S2 (Training range calibration): The patient moves to the limit in the flexion and extension directions according to his / her motor ability. The control component maps the patient's range of motion coordinate system to the game scene coordinate system according to the transposed matrix.

[0053] S3 (Set training parameters): The therapist selects the training mode and training parameters according to the patient's rehabilitation progress and motor ability. The training modes include passive, stretching, teaching, assisted, active, resistance, isokinetic, isotonic, and isometric modes. The training parameters include the output size and movement speed of the present invention.

[0054] S4 (rehabilitation training): Rehabilitation training is performed according to the parameters set in S3. During the training, the touch display 51 of the present invention can display the speed, movement mileage, output size, and participation of the patient's knee joint movement. During the rehabilitation training process, the present invention protects the patient by limiting the training range, limiting the maximum torque, and detecting spasms to avoid sports injuries.

[0055] S4.1 (active mode): The patient drives the present invention to perform rehabilitation training. In this mode, the present invention only provides auxiliary force to help the patient's knee joint resist gravity.

[0056] S4.2 (resistance mode): The present invention provides resistance, and the limbs resist this force to move, so as to restore and exercise active muscle endurance training. The present invention provides three resistance training methods: constant force, elasticity and inertia. Constant force resistance will always provide a constant resistance when the patient exercises, elastic resistance simulates the resistance of a spring, and inertia resistance simulates the movement scene of lifting heavy objects through pulleys and ropes.

[0057] S4.3 (Assistance Mode): The present invention provides auxiliary force to cooperate with and help the limbs to move, so that the limbs can perform continuous active training.

[0058] S4.4 (passive mode): The present invention assists patients in completing rehabilitation training. In this mode, the device drives the patient to move toward the target position through trajectory planning, and the patient cannot drive the device to move toward non-target points.

[0059] S4.5 (stretching mode): The present invention provides power, stops the movement at the boundary position and maintains it for a period of time to achieve passive training with stretching effect.

[0060] S4.6 (isokinetic mode): The trainee actively exercises. When the exercise speed is greater than the set speed, the equipment provides resistance to ensure that the muscles contract at a constant speed.

[0061] S4.7 (isometric mode): The passive training of the present invention provides a holding force to stop the movement at the boundary position and maintain it for a period of time to achieve a stretching effect.

[0062] S4.8 (Isotonic Mode): The present invention provides a constant tension to ensure that muscle length changes while muscle tension remains unchanged.

[0063] S4.9 (teaching mode): After guiding the operator to move a certain trajectory, the present invention will drive the patient's limbs to reproduce this trajectory.

[0064] S5: (Training ends, patient leaves): After the training ends, the present invention generates a training report based on the patient's movement during the training process, and the therapist helps the patient leave the device.

[0065] The parts not specifically described in the above description are all prior art, or can be implemented by prior art. Moreover, the specific implementation cases described in the present invention are only preferred implementation cases of the present invention, and are not used to limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made according to the content of the patent scope of the present invention should be regarded as the technical scope of the present invention.

Claims

1. A knee joint rehabilitation training device, comprising a box assembly (1) and a seat cushion assembly (2), wherein the seat cushion assembly (2) is arranged on the box assembly (1), and a patient sits on the seat cushion assembly (2) during knee joint rehabilitation training; Features: It also includes a training component (3), which is fixed to the front of the box component (1) and includes A drive device assembly, the drive device assembly comprising a drive motor (6), a reducer (7), a driving pulley (12), a driven pulley (8) and a synchronous belt (14), wherein the output end of the drive motor (6) drives the driving pulley (12) via the reducer (7), and the driving pulley (12) is connected to the driven pulley (8) via the synchronous belt (14) for driving the driven pulley (8) to reciprocate; A leg support fixing plate (10), one end of which is fixedly connected to the driven pulley (8) and reciprocates with the reciprocating rotation of the driven pulley (8); A leg support assembly (11) is arranged on the leg support fixing plate (10) and is used for binding the patient's calf when in use.

2. The knee joint rehabilitation training device according to claim 1, characterized in that: There are two leg support assemblies (11), which are respectively arranged on two sides of the leg support fixing plate (10) and respectively fix two calves of the patient when in use.

3. The knee joint rehabilitation training device according to claim 1, characterized in that: Also includes A support frame (4), the support frame (4) being mounted on the front of the box assembly (1), and the drive motor (6), the reducer (7) and the driving pulley (12) being mounted on the support frame (4); The bracket (5) comprises a support beam (21), a leg plate pressing plate A (22) and a leg plate pressing plate B (23), one end of the support beam (21) is fixed to the support frame (4), one end of the leg plate pressing plate A (22) and one end of the leg plate pressing plate B (23) are respectively fixed to two sides of an end of the support beam (21) away from the connecting frame (20), and a driven pulley (8) is arranged between the leg plate pressing plate A (22) and the leg plate pressing plate B (23) and is rotatably connected to the leg plate pressing plate A (22) and the leg plate pressing plate B (23).

4. The knee joint rehabilitation training device according to claim 3 is characterized in that: Two upper and lower limiting protrusions (24) are provided at one end of the leg board pressing plate A (22) and / or the leg board pressing plate B (23) away from the support beam (21), and a limiting block (25) is fixed on the leg support fixing plate (10). The limiting block (25) cooperates with the limiting protrusion (24) to limit the swing angle of the leg support fixing plate (10).

5. The knee joint rehabilitation training device according to claim 4, characterized in that: The leg support assembly (11) can be adjusted in position on the leg support fixing plate (10); the leg support fixing plate (10) comprises a fixing plate unit A (26) and a fixing plate unit B (27) respectively fixed to the two end surfaces of the driven pulley (8); a leg support adjustment plate (28) is fixed between the fixing plate unit A (26) and the fixing plate unit B (27); a plurality of adjustment holes (29) are provided on the leg support adjustment plate (28) at intervals along the length; a slider (30) is provided on the fixing plate unit A (26) and the fixing plate unit B (27); a first limit pin (31) is provided on the slider (30); when the slider (30) slides to a set position, the first limit pin (31) is inserted into the corresponding adjustment hole (29) to prevent the slider (30) from sliding; two leg support assemblies (11) are respectively provided on both sides of the slider (30) and slide synchronously with the sliding of the slider (30).

6. The knee joint rehabilitation training device according to claim 5, characterized in that: An adjustment rail (32) is fixedly mounted on each of the fixed plate unit A (26) and the fixed plate unit B (27) on the side facing each other away from the leg support adjustment plate (28); a rail connecting plate (33) is provided between the two adjustment rails (32) and the two sides of the rail connecting plate (33) are matched with the two adjustment rails (32) respectively; a slider connecting plate (34) is fixed on the side of the rail connecting plate (33) away from the slider (30); the two sides of the slider (30) are bent toward the slider connecting plate (34) and are fixedly connected to the slider connecting plate (34).

7. The knee joint rehabilitation training device according to claim 6, characterized in that: A leg support limiting plate (35) is provided at the top and bottom of the leg support adjustment plate (28), and two sides of the leg support limiting plate (35) are respectively fixed to the opposite sides of the fixed plate unit A (26) and the fixed plate unit B (27), and the guide rail connecting plate (33) moves to abut against the leg support limiting plate (35) to limit the sliding movement of the slider (30).

8. The knee joint rehabilitation training device according to claim 5, characterized in that: A slot (36) with a T-shaped cross section and extending upward through the top of the slider (30) is provided on each side of the slider (30); a limiting hole vertically communicating with the slot (36) is provided on the slider (30); a second limiting pin (37) is provided in the limiting hole; A leg support mounting block (38) having a T-shaped cross section and corresponding to the slot (36) is fixed to the leg support assembly (11); a limiting slot (39) is provided on one side of the leg support mounting block (38); the leg support mounting block (38) is inserted into the slot (36); and a second limiting pin (37) is inserted into the limiting slot (39) for fixing the leg support assembly (11) on the slider (30).

9. The knee joint rehabilitation training device according to claim 8, characterized in that: The leg support assembly (11) comprises two leg support base plates (40), the middle portions of the two leg support base plates (40) being curved in a direction away from each other to form an arc shape, the two leg support base plates (40) being fitted with two sides of the patient's calf when in use, the two leg support base plates (40) being connected by a leg support strap (41), the leg support strap (41) being loosened to accommodate use by patients with different calf circumferences, and the leg support mounting block (38) being fixed to one of the leg support base plates (40).

10. The knee joint rehabilitation training device according to claim 1, characterized in that: Also includes A mobile chassis assembly (42), the mobile chassis assembly (42) comprising a frame bottom plate welded component (43), a plurality of universal wheels (44) and a plurality of foot cups (45), the universal wheels (44) and the foot cups (45) being arranged at the bottom of the frame bottom plate welded component (43), the box assembly (1) being mounted on the top of the frame bottom plate welded component (43), the universal wheels (44) being used for moving the mobile chassis assembly (42), and the foot cups (45) being adjusted up and down for preventing the mobile chassis assembly (42) from moving when in use; a backrest assembly (46), the backrest assembly (46) being arranged on the box assembly (1) and being capable of sliding forward and backward relative to the box assembly (1), the backrest assembly (46) being used to support the back of a patient when in use; A handle assembly (47), the handle assembly (47) being arranged on the top of the box assembly (1), and grasping the handle assembly (47) is used to move the chassis assembly (42); A display assembly (48) comprises a display column (49), a rocker arm (50) and a touch display (51); the bottom of the display column (49) is connected to the mobile chassis assembly (42); and the touch display (51) is arranged on the display column (49) via the rocker arm (50).

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