Joint assembly of lower limb rehabilitation training device and lower limb rehabilitation training device thereof

Abstract

The invention discloses a joint assembly of a lower limb rehabilitation trainer, and relates to the technical field of the joint assembly of the lower limb rehabilitation trainer, the joint assembly comprises an upward upper rotating rod and a downward lower rotating rod, the upper rotating rod rotates around a fixed shaft of the lower rotating rod, the upper rotating rod is provided with an upper angle sensor, and the lower rotating rod is provided with a lower angle sensor; the rotating center of the upper rotating rod and the rotating center of the lower rotating rod serve as the circle center of the arc rod; an electromagnetic clutch is arranged at the output end of the gear motor and is in transmission connection with the fixed shaft; the device further comprises a shell, a notch is formed in the lower portion of the shell, a microprocessor is arranged in the shell, a switch button is arranged at the outer end of the shell, and the microprocessor, the switch button, the upper angle sensor, the lower angle sensor, the gear motor and the electromagnetic clutch are electrically connected. The device has the advantages that passive training and active training can be achieved, training in a walking posture and a sitting posture can be achieved, and multiple functions are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of joint components of a lower limb rehabilitation trainer, and in particular to a joint component of a lower limb rehabilitation trainer. Background Art

[0002] Current lower limb rehabilitation equipment is mainly divided into two categories: active training and passive training. In active training, i.e., lower limb rehabilitation equipment without driving force, no driving force is provided to the knee joint to lift the calf, and the user has to move the leg by himself. Passive training uses driving force to drive the knee joint to lift the calf to assist training and avoid injuries caused by excessive force. One of the important functions of some active training lower limb rehabilitation equipment is to lock the knee joint of the corresponding standing leg when the user is in the standing phase of the walking gait, to prevent the user from bending the knee due to insufficient muscle strength around the knee joint and difficulty in supporting the weight of the body.

[0003] In some existing technical solutions, hydraulic or pneumatic dampers are used to limit the bending of the joints, but these solutions have some disadvantages. For example, the hydraulic or pneumatic dampers may leak during operation, resulting in the inability to maintain the expected shape when subjected to force and provide lasting support. In addition, the volume and weight of the hydraulic or pneumatic dampers are large, resulting in the correspondingly large volume and weight of the joint components, which is not conducive to wearing.

[0004] To this end, scheme CN219940958U discloses a joint assembly of a lower limb rehabilitation trainer and a lower limb rehabilitation trainer thereof, in which a motor, a connecting rod, a ratchet wheel, a ratchet base, a stepped boss, a ratchet, a ratchet, an elastic member, a bevel gear and other structures are arranged in the joint assembly of the rehabilitation device, and a pressure sensor is arranged on the sole of the foot as a switch. After the user wears it, when the foot touches the ground, the sole switch receives a pressure signal, and the ratchet is reversely locked under the drive of the motor, thereby limiting the backward bending of the knee joint, which can support and prevent the user from falling due to weak knees; when the foot is off the ground, the sole switch does not receive a pressure signal, and the upper and lower legs can swing at will, thus achieving walking rehabilitation training. However, this scheme still has the following shortcomings:

[0005] 1. The joint assembly must rely on a foot switch to limit the backward bending of the knee joint. Since patients who need lower limb rehabilitation often have weak walking strength, the foot pressure sensor as a switch is not sensitive to contact, which also limits the use of the rehabilitation device to walking, which is limited.

[0006] 2. The ratchet and the pawl rotate in steps when they are engaged, resulting in vibration, noise and a sense of frustration, which not only affects the stability of the structure itself, but also makes the rotation not smooth, resulting in discomfort during use and poor effect of training real walking.

[0007] 3. The lower limbs of patients are often still very weak in the early stages of rehabilitation, and they may not be able to perform active walking rehabilitation training. The motor power of the joint component is only used for positioning, not for providing driving force for training, which results in the rehabilitation device being unable to be used for passive training and insufficient in function. Summary of the invention

[0008] The purpose of the present invention is to provide a joint assembly of a lower limb rehabilitation trainer to solve the problems raised in the above background technology.

[0009] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0010] The present invention discloses a joint assembly of a lower limb rehabilitation training device, comprising an upper rotating rod facing upward and a lower rotating rod facing downward, wherein a fixed shaft is arranged on the top of the lower rotating rod, the upper rotating rod rotates around the fixed shaft, the upper rotating rod is provided with an upper angle sensor, and the lower rotating rod is provided with a lower angle sensor;

[0011] It also includes an arc rod, the arc rod has the rotation center of the upper rotating rod and the lower rotating rod as the center of the circle, the lower end of the arc rod is fixedly connected to the right side of the lower rotating rod, and the upper part of the arc rod slides through the upper rotating rod;

[0012] It also includes a reduction motor, an output end of which is provided with an electromagnetic clutch, and the electromagnetic clutch is transmission-connected to a fixed shaft;

[0013] It also includes a shell, the upper rotating rod, the lower rotating rod, the arc rod, and the reduction motor are all arranged in the shell, the upper rotating rod and the reduction motor are fixedly connected to the shell, the lower rotating rod and the arc rod can move in the shell, the lower part of the shell is provided with a notch, the shell is provided with a microprocessor, and the outer end of the shell is provided with a switch button, the microprocessor, the switch button, the upper angle sensor, the lower angle sensor, the reduction motor, and the electromagnetic clutch are electrically connected.

[0014] As an improvement, the arc rod is a rod of three-quarter arc.

[0015] As an improvement, the upper angle sensor is arranged on the left side of the upper rotating rod, and the lower angle sensor is arranged on the left side of the lower rotating rod.

[0016] As an improvement, the arc rod is provided with a left spring and a right spring, the left spring is located on the left side of the upper rotating rod and is pressed and fitted, and the right spring is located on the right side of the upper rotating rod and is pressed and fitted.

[0017] As an improvement, a fixed upper mounting plate is provided at the upper end of the shell, and the upper mounting plate coincides with the center line of the upper rotating rod. A fixed lower mounting plate is provided at the lower end of the lower rotating rod, and the lower mounting plate coincides with the center line of the lower rotating rod. The lower mounting plate is located outside the notch.

[0018] As an improvement, the lower part of the shell is provided with a notch extending from the vertical center line to the right in an arc.

[0019] As an improvement, a fixed left baffle is provided at the upper end of the left spring, and a fixed right baffle is provided at the upper end of the right spring. The left baffle slides through the arc rod and is squeezed together with the upper rotating rod, and the right baffle slides through the arc rod and is squeezed together with the upper rotating rod.

[0020] As an improvement, a fixed limit plate is provided at the left end of the arc rod, the lower end of the left spring is fixedly connected to the limit plate, and the lower end of the right spring is fixedly connected to the lower rotating rod.

[0021] A lower limb rehabilitation trainer comprises a joint component of the lower limb rehabilitation trainer.

[0022] Compared with the prior art, the advantages of the present invention are: the joint assembly of the lower limb rehabilitation trainer adopts a reduction motor to provide driving force, has two functions of active training and passive training, is easy to switch, and can realize passive training by one-time button operation. No button operation is required for active training. The lower limb rehabilitation trainer has two modes of walking posture training and sitting posture training, which is suitable for lower limb training of patients when the lower limbs are still very weak in the early stage of rehabilitation; the upper rotating rod and the lower rotating rod rotate steplessly and smoothly along the arc rod, without vibration, noise and frustration, and the structure is stable and comfortable to use. The effect of training real walking is very good. The left spring and the right spring require the patient to use a certain amount of leg strength for active training, which has a promoting effect and can enhance the rehabilitation effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings listed below are only some structural schematic diagrams of the present invention, not all of them.

[0024] Figure 1 This is a schematic diagram of the structure of a joint assembly of a lower limb rehabilitation training device of the present invention. Figure 1 .

[0025] Figure 2 This is a schematic diagram of the structure of a joint assembly of a lower limb rehabilitation training device of the present invention. Figure 2 .

[0026] Figure 3 This is a schematic diagram of the structure of a joint assembly of a lower limb rehabilitation training device of the present invention. Figure 3 .

[0027] Figure 4 The present invention is a front view of a joint component of a lower limb rehabilitation training device Figure 1 .

[0028] Figure 5 The present invention is a front view of a joint component of a lower limb rehabilitation training device Figure 2 .

[0029] Figure 6 The present invention is a side view of a joint assembly of a lower limb rehabilitation trainer.

[0030] Figure 7 It is a cross-sectional view of a joint assembly of a lower limb rehabilitation trainer of the present invention.

[0031] Figure 8 The present invention is a schematic diagram of the internal structure of a shell of a lower limb rehabilitation trainer.

[0032] Fig. 9 The present invention is a side view of the internal structure of a shell of a lower limb rehabilitation trainer.

[0033] Fig.10 This is a partial structural diagram of a lower limb rehabilitation training device of the present invention. Figure 1 .

[0034] Fig.11 This is a partial structural diagram of a lower limb rehabilitation training device of the present invention. Figure 2 .

[0035] Fig.12 The present invention is a schematic structural diagram of an upper rotating rod of a lower limb rehabilitation training device.

[0036] Fig.13 The present invention is a schematic structural diagram of a lower rotating rod of a lower limb rehabilitation training device.

[0037] Fig.14 The utility model is a schematic diagram of the installation of a lower limb rehabilitation training device of the present invention.

[0038] Fig.15 The invention discloses an electric control logic diagram of a lower limb rehabilitation training device.

[0039] Reference numerals:

[0040] Upper rotating rod 1; upper angle sensor 11; through hole 12;

[0041] Lower rotating rod 2; fixed shaft 21; lower angle sensor 22; lower mounting plate 24;

[0042] Arc rod 3; limit plate 31;

[0043] Reduction motor 4; Electromagnetic clutch 41;

[0044] Housing 5; notch 51; switch button 52; upper mounting plate 53;

[0045] Left spring 6; left baffle 61;

[0046] Right spring 7; right baffle 71. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] In the description of the embodiments of the present invention, it should be noted that if the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. appear, the indicated orientation or position relationship is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0049] In addition, if the terms "first", "second", "third", etc. appear, they are only used to distinguish the description and cannot be understood as indicating or implying relative importance. If the terms "horizontal", "vertical", "overhanging", etc. appear, it does not mean that the components are required to be absolutely horizontal or overhanging, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and it does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0050] In the description of the embodiments of the present invention, if the terms "multiple" or "several" appear, they represent at least two.

[0051] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] This embodiment combines the attached Figures 1 to 15 , a joint component of a lower limb rehabilitation trainer is described in detail.

[0053] The present embodiment provides a joint assembly of a lower limb rehabilitation training device, comprising an upper rotating rod 1 facing upward and a lower rotating rod 2 facing downward. Fig.11 As shown, a fixed axis 21 is provided at the top of the lower rotating rod 2, and the upper rotating rod 1 rotates around the fixed axis 21. The upper rotating rod 1 corresponds to the thigh, and the lower rotating rod 2 corresponds to the calf. The upper rotating rod 1 is provided with an upper angle sensor 11, and the lower rotating rod 2 is provided with a lower angle sensor 22; the upper angle sensor 11 and the lower angle sensor 22 both detect the tilt angle that deviates from the vertical direction.

[0054] It also includes an arc rod 3, the arc rod 3 has the rotation center of the upper rotating rod 1 and the lower rotating rod 2 as the center of the circle, the lower end of the arc rod 3 is fixedly connected to the right side of the lower rotating rod 2, and the upper part of the arc rod 3 slides through the upper rotating rod 1; Fig.12 As shown, the upper rotating rod 1 has a through hole 12 near the top end, through which the arc rod 3 slides, and the arc rod 3 acts as a rotating guide and stabilizes the overall structure.

[0055] It also includes a reduction motor 4, which refers to an integrated structure of a motor and a reducer, such as Figure 7 , 9 As shown, an electromagnetic clutch 41 is provided at the output end of the reduction motor 4, and the electromagnetic clutch 41 is transmission-connected to the fixed shaft 21; the input end of the electromagnetic clutch 41 is fixedly connected to the reduction motor 4, and the output end is fixedly connected to the fixed shaft 21. The reduction motor 4 is used to provide auxiliary power for the calf walking action.

[0056] Also includes a housing 5, such as Figure 1 , 4 As shown in Figure 5, the upper rotating rod 1, the lower rotating rod 2, the arc rod 3, and the reduction motor 4 are all arranged in the housing 5. The upper rotating rod 1 and the reduction motor 4 are fixedly connected to the housing 5, and the lower rotating rod 2 and the arc rod 3 can move in the housing 5. The housing 5 plays a role in supporting and protecting the internal structure. Figure 2 , 3 The lower part of the shell 5 is provided with a notch 51, which serves as a connection port and has limiting functions at both ends. A microprocessor is provided in the shell 5, and the microprocessor has an algorithm module and a logic control circuit. The algorithm module calculates the angle between the upper rotating rod 1 and the lower rotating rod 2 (180 degrees minus two deviated inclination angles and equal to the angle between the corresponding thigh and hind legs). The logic control circuit controls the reduction motor 4 to rotate forward and reverse within the above-mentioned angle range (such as 150-180 degrees). A switch button 52 is provided at the outer end of the shell 5. The microprocessor, the switch button 52, the upper angle sensor 11, the lower angle sensor 22, the reduction motor 4, and the electromagnetic clutch 41 are electrically connected. The switch button 52 controls the on-off of the microprocessor and the reduction motor 4 and the start and stop of the reduction motor 4. The logic control relationship is as follows: Fig.14 As shown, all electrical components of the lower limb rehabilitation trainer share a power supply.

[0057] The arc rod 3 is a rod of three quarters of an arc. Fig.11 As shown, at least one quarter passes through the upper rotating rod 1 for the upper left spring 6 .

[0058] The upper angle sensor 11 is disposed on the left side of the upper rotating rod 1 , and the lower angle sensor 22 is disposed on the left side of the lower rotating rod 2 .

[0059] The arc rod 3 is provided with a left spring 6 and a right spring 7. The left spring 6 is located on the left side of the upper rotating rod 1 and is pressed and fitted, and the right spring 7 is located on the right side of the upper rotating rod 1 and is pressed and fitted. Fig.11 In the state shown, when the angle between the upper rotating rod 1 and the lower rotating rod 2 is 165 degrees, the left spring 6 and the right spring 7 are both in a natural state, and the left spring 6 and the right spring 7 are conducive to active training.

[0060] A fixed upper mounting plate 53 is provided at the upper end of the shell 5, and the upper mounting plate 53 coincides with the center line of the upper rotating rod 1, so that the upper rotating rod 1 corresponds to the extension direction of the thigh, and the upper mounting plate 53 is used to connect the thigh support plate 8 of the lower limb rehabilitation trainer. A fixed lower mounting plate 24 is provided at the lower end of the lower rotating rod 2, and the lower mounting plate 24 coincides with the center line of the lower rotating rod 2. The lower mounting plate 24 is located outside the notch 51, and the lower mounting plate 24 is used to connect the calf support plate 7 of the lower limb rehabilitation trainer, and the lower mounting plate 24 corresponds to the extension direction of the calf and can only rotate within the range of the notch 51.

[0061] The lower part of the shell 5 is provided with a notch 51 with an arc angle of 30-100 to the right from the vertical center line. 30 degrees corresponds to an angle of 150 degrees between the upper rotating rod 1 and the lower rotating rod 2 (the minimum angle for a normal walking posture), and 100 degrees corresponds to an angle of 80 degrees between the upper rotating rod 1 and the lower rotating rod 2 (the minimum angle for a normal sitting posture).

[0062] The upper end of the left spring 6 is provided with a fixed left baffle 61, and the upper end of the right spring 7 is provided with a fixed right baffle 71. The left baffle 61 is slidably inserted into the arc rod 3 and is pressed and matched with the upper rotating rod 1, and the right baffle 71 is slidably inserted into the arc rod 3 and is pressed and matched with the upper rotating rod 1. The left baffle 61 and the right baffle 71 are conducive to better pressing contact with the upper rotating rod 1, avoiding the end point contact of the spring affecting the elastic effect.

[0063] The left end of the arc rod 3 is provided with a fixed limit plate 31, the lower end of the left spring 6 is fixedly connected to the limit plate 31, the limit plate 31 is more convenient for fixing the left spring 6, and the lower end of the right spring 7 is fixedly connected to the lower rotating rod 2.

[0064] A lower limb rehabilitation trainer includes a joint assembly of the lower limb rehabilitation trainer. The lower limb rehabilitation trainer can be designed to include a waist fixator, two pairs of calf support plates 7, two pairs of thigh support plates 8, and a pair of joint assemblies. The waist fixator is installed and connected with the thigh support plate 8, the outer calf support plate 7 is fixedly installed with the lower mounting plate 24, the outer thigh support plate 8 is fixedly installed with the upper mounting plate 53, and the inner calf support plate 7 is connected with the thigh support plate 8 by a common rotating joint. Taking the left leg as an example, if Fig.14 As shown, the calf support plate 7 on the outside fixes the calf from the outside, and the thigh support plate 8 fixes the thigh from the outside. This joint assembly (structure in the attached figure) is located on the left side of the knee, with the switch button 52 facing outward, and the right leg can be installed symmetrically.

[0065] In specific implementation, in a normal walking posture, the angle between the thigh and the calf is usually maintained between 150 degrees and 180 degrees, which can ensure a natural and stable gait, and the arc corresponding to the notch 51 is set to 30 degrees. After the entire lower limb rehabilitation trainer is installed, the joint assembly can be used for walking posture training and sitting leg extension training, including passive training and active training modes.

[0066] Passive training:

[0067] During walking posture training, the patient stands up first, and then presses the switch buttons 52 on both sides in turn, the reduction motor 4 starts, the electromagnetic clutch 41 closes, the reduction motor 4 outputs power to the fixed shaft 21, and the microprocessor controls the lower rotating rod 2 to reciprocate relative to the upper rotating rod 1 within the range of the notch 51, thereby driving the opening and closing movements of the left and right upper and lower legs when walking. At this time, the patient only needs to lift his thigh, and the calf can walk along the reciprocating push of the calf support plate 7.

[0068] During the sitting leg stretch training, the patient first sits down, stretches the calf forward, puts the foot on the ground, and then follows the above steps. At this time, the patient does not need to lift the thigh. The calf is pushed back and forth along the calf support plate 7, the foot is driven back and forth, and the thigh follows the ups and downs.

[0069] Active Training:

[0070] During walking posture training, the patient stands first, does not press the switch button 52, the reduction motor 4 is turned off, no power is output, the electromagnetic clutch 41 is engaged, and the microprocessor is disconnected from the reduction motor 4. At this time, the patient actively lifts his thigh and calf, completely imitating normal walking. The lower rotating rod 2 reciprocates relative to the upper rotating rod 1 within the range of the notch 51. The two ends of the notch 51 play a limiting support role for the lower rotating rod 2, which can prevent the patient from squatting and falling due to excessive bending of the knee weakness.

[0071] During the sitting leg extension training, the patient first sits down, extends the calf forward, puts the foot on the ground, and does not press the switch button 52. At this time, the patient actively lifts the thigh and moves the foot forward and backward, the thigh rises and falls, and the calf stretches and retracts with the foot.

[0072] During active training, when the angle between the upper rotating rod 1 and the lower rotating rod 2 is 165 degrees, continuing to actively open the thigh and calf by 15 degrees will compress the left spring 6, and continuing to actively close the thigh and calf by 15 degrees will compress the right spring 7. The left spring 6 and the right spring 7 require the patient to use a certain amount of leg strength for active training, which has a promoting effect and can enhance the rehabilitation effect.

[0073] The present invention and its embodiments are described above, and such description is not restrictive, and the actual protection scope is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A joint assembly of a lower limb rehabilitation trainer, characterized in that: It comprises an upper rotating rod (1) facing upward and a lower rotating rod (2) facing downward, wherein a fixed shaft (21) is provided at the top of the lower rotating rod (2), the upper rotating rod (1) rotates around the fixed shaft (21), the upper rotating rod (1) is provided with an upper angle sensor (11), and the lower rotating rod (2) is provided with a lower angle sensor (22); It also comprises an arc rod (3), the arc rod (3) has the rotation center of the upper rotating rod (1) and the lower rotating rod (2) as the center of the circle, the lower end of the arc rod (3) is fixedly connected to the right side of the lower rotating rod (2), and the upper part of the arc rod (3) slides through the upper rotating rod (1); It also includes a reduction motor (4), wherein an electromagnetic clutch (41) is provided at the output end of the reduction motor (4), and the electromagnetic clutch (41) is transmission-connected to the fixed shaft (21); The invention also comprises a shell (5), wherein the upper rotating rod (1), the lower rotating rod (2), the arc rod (3) and the reduction motor (4) are all arranged in the shell (5), the upper rotating rod (1) and the reduction motor (4) are fixedly connected to the shell (5), the lower rotating rod (2) and the arc rod (3) are movable in the shell (5), a notch (51) is provided at the lower part of the shell (5), a microprocessor is provided in the shell (5), and a switch button (52) is provided at the outer end of the shell (5), and the microprocessor, the switch button (52), the upper angle sensor (11), the lower angle sensor (22), the reduction motor (4) and the electromagnetic clutch (41) are electrically connected.

2. The joint assembly of the lower limb rehabilitation training device according to claim 1, characterized in that: The arc rod (3) is a rod in the shape of three quarters of an arc.

3. The joint assembly of the lower limb rehabilitation training device according to claim 1, characterized in that: The upper angle sensor (11) is arranged on the left side of the upper rotating rod (1), and the lower angle sensor (22) is arranged on the left side of the lower rotating rod (2).

4. The joint assembly of the lower limb rehabilitation training device according to claim 2, characterized in that: The arc rod (3) is provided with a left spring (6) and a right spring (7); the left spring (6) is located on the left side of the upper rotating rod (1) and is pressed and fitted thereto; the right spring (7) is located on the right side of the upper rotating rod (1) and is pressed and fitted thereto.

5. The joint assembly of the lower limb rehabilitation training device according to claim 1, characterized in that: A fixed upper mounting plate (53) is provided at the upper end of the housing (5), and the upper mounting plate (53) coincides with the center line of the upper rotating rod (1); a fixed lower mounting plate (24) is provided at the lower end of the lower rotating rod (2), and the lower mounting plate (24) coincides with the center line of the lower rotating rod (2); the lower mounting plate (24) is located outside the notch (51).

6. The joint assembly of the lower limb rehabilitation training device according to claim 5, characterized in that: The lower part of the housing (5) is provided with a notch (51) extending 30-100 degrees to the right from the vertical center line.

7. The joint assembly of the lower limb rehabilitation training device according to claim 4, characterized in that: A fixed left baffle (61) is provided at the upper end of the left spring (6), and a fixed right baffle (71) is provided at the upper end of the right spring (7); the left baffle (61) is slidably inserted into the arc rod (3) and is pressed and matched with the upper rotating rod (1); and the right baffle (71) is slidably inserted into the arc rod (3) and is pressed and matched with the upper rotating rod (1).

8. The joint assembly of the lower limb rehabilitation training device according to claim 5, characterized in that: A fixed limit plate (31) is provided at the left end of the arc rod (3), the lower end of the left spring (6) is fixedly connected to the limit plate (31), and the lower end of the right spring (7) is fixedly connected to the lower rotating rod (2).

9. A lower limb rehabilitation training device, characterized in that: A joint assembly of a lower limb rehabilitation trainer comprising any one of claims 1-8.

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