Knee joint mobility assisted training device

Abstract

The application relates to a knee joint activity auxiliary training device, which comprises a base shell and a first support frame installed on the upper side of the base shell, a second support frame is hinged to the side of the first support frame, a linkage frame is installed on the upper side of the first support frame, a debugging ring for adjusting the leg position is installed in the first placing seat, a sliding rod is installed on the base shell, a sliding block is installed on the bottom side of the second support frame, the sliding block is in sliding cooperation with the sliding rod, a push cylinder for driving the second support frame to move is installed on the base shell; a holding assembly is installed between the sliding block and the sliding rod, the holding assembly is used for limiting the sliding of the sliding block, the holding assembly comprises a holding block used for holding the sliding rod and a control rod used for controlling the movement of the holding block. Only the extension of the piston rod of the push cylinder is needed, and the knee of a patient can be bent, which helps the patient to carry out rehabilitation training.

Description

Technical Field

[0001] This invention relates to the field of assistive training technology, specifically to a knee joint range of motion assistive training device. Background Technology

[0002] Knee range of motion assist devices are rehabilitation equipment designed to improve knee joint function. They primarily work by controlling knee extension and flexion to increase range of motion, reduce pain, strengthen surrounding muscles, and support post-operative or post-injury rehabilitation. They may have electric or manual adjustment functions and incorporate sensors to monitor movement and provide real-time feedback to the patient.

[0003] Knee joint range of motion assistive training devices are not only suitable for postoperative rehabilitation, but also for chronic arthritis, sports injury recovery, and joint health care in the elderly. Their design typically includes a comfortable support structure and adjustable training modes to ensure patients receive adequate support and comfort during training. Furthermore, some high-end devices are equipped with intelligent control systems that allow for remote monitoring and adjustment via smartphone or computer applications to meet individualized rehabilitation needs.

[0004] Currently, knee joint range of motion assistive training devices typically involve placing the leg directly inside the device, which moves via electric slide rails and sliders. This method of movement is relatively simple. Furthermore, the leg is not protected during movement, which may cause the leg to tilt during bending, thus affecting knee joint training. Therefore, this does not meet the existing needs, and we have proposed a knee joint range of motion assistive training device. Summary of the Invention

[0005] This invention provides a knee joint range of motion assistive training device, which has the beneficial effects of pausing training and reducing damage to patients. It solves the problem mentioned in the background art that knee joint range of motion assistive training devices usually place the leg directly in the device, and the device moves by electric slide rails and sliders. The movement is relatively simple. Moreover, the leg is not protected during the movement, which may cause the leg to tilt during bending, thus affecting knee joint training.

[0006] The present invention provides the following technical solution: a knee joint range of motion assistive training device, comprising a base housing and a first support frame mounted on the upper side of the base housing, a second support frame hinged to the side of the first support frame, a linkage frame mounted on the upper side of the first support frame, an adjustment ring for adjusting the leg position mounted inside the first placement seat, a sliding rod mounted on the base housing, a sliding block mounted on the bottom side of the second support frame, the sliding block slidingly engaging with the sliding rod, and a push cylinder mounted on the base housing for moving the second support frame;

[0007] A clamping assembly is installed between the sliding block and the sliding rod. The clamping assembly is used to restrict the sliding of the sliding block. The clamping assembly includes a clamping block for clamping the sliding rod and a control rod for controlling the movement of the clamping block.

[0008] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: the first placement seat is installed on the upper side of the linkage frame; a second placement seat for placing the leg is installed in the middle section of the second support frame; a foot pedal for placing the foot is installed at the end of the second support frame; fixed blocks are symmetrically installed on the base housing; a sliding rod is installed between the two fixed blocks; the end of the linkage frame is hinged to the second support frame; a connecting rod is hinged together with the linkage frame and the second support frame; an inclined plate is installed on the bottom side of the second support frame; the inclined plate is hinged to the sliding block; and the pushing cylinder is connected to the inclined plate.

[0009] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: a push airbag is installed inside the first placement seat, the push airbag partially wraps around the outside of the adjustment ring, a clamping groove is opened inside the sliding block, the clamping assembly further includes a first movable rod movably installed inside the clamping groove, a second movable rod movably installed inside the clamping groove, and a linkage rod hinged between the first movable rod and the control rod.

[0010] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: one end of the first movable rod is hinged inside the clamping groove, the other end of the first movable rod is slidably engaged inside the clamping groove, a sliding groove is provided inside the clamping groove, a slider is installed on the rear side of the first movable rod, the slider is slidably engaged with the sliding groove, and a set of clamping blocks is installed on the bottom side of the first movable rod;

[0011] A connecting block is installed at the end of the control rod, a support rod is hinged to the connecting block, the connecting block is hinged inside the clamping groove, and a return spring is installed between the control rod and the clamping groove.

[0012] One end of the second movable rod slides inside the clamping groove, and the other end of the second movable rod is hinged to the support rod. Another set of clamping blocks is installed on the upper side of the second movable rod.

[0013] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: an air storage chamber is provided inside the sliding block, a piston block is slidably inserted inside the air storage chamber, a pressing block is installed on the bottom side of the piston block, the pressing block is connected to the control rod, a push spring is installed between the piston block and the air storage chamber, a first connecting pipe is installed between the air storage chamber and the push airbag, and the air storage chamber communicates with the inside of the push airbag through the first connecting pipe.

[0014] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: a piston rod is slidably fitted inside the push cylinder, a sealing block is slidably installed between the piston rod and the push cylinder, a bellows is installed between the cylinder body of the push cylinder and the sealing block, a pressing chamber and a pushing chamber are opened inside the sealing block, the pressing chamber and the pushing chamber are connected, a first piston plate is slidably fitted inside the pressing chamber, a first spring is installed between the first piston plate and the pushing chamber, a second piston plate is slidably fitted inside the pushing chamber, an annular block is installed at the outlet of the pushing chamber, and a second spring is installed between the annular block and the second piston plate.

[0015] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: the sealing block is provided with symmetrical pressure relief pipes inside, the pressure relief pipes are connected to the push chamber, and the second piston plate is provided with an air outlet pipe inside;

[0016] During the movement of the second piston plate, the exhaust pipe coincides with the pressure relief pipe, and the exhaust pipe is connected to the pressure relief pipe.

[0017] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, a second connecting pipe is installed between the push cylinder and the push airbag, and the second connecting pipe is connected to the corrugated pipe.

[0018] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, wherein: a third spring is symmetrically installed on the first placement seat, and an arc-shaped groove is formed inside the first placement seat.

[0019] As an optional embodiment of the knee joint range of motion assistive training device of the present invention, a sliding ball is installed on the bottom side of the adjustment ring, and the sliding ball slides in conjunction with the arc-shaped groove.

[0020] The present invention has the following beneficial effects:

[0021] 1. This knee joint range of motion assistive training device, through the cooperation of the first placement seat, the second placement seat, and the foot pedal, provides support for different positions of the patient's leg. After the patient positions their leg, the operation of the cylinder drives the tilting plate to move back and forth, while simultaneously causing the sliding block to slide on the surface of the sliding rod. At the same time, the hinge of the second support frame and the linkage frame brings their ends closer together, thus causing the patient's knee to bend. This solution only requires pushing the extension of the cylinder piston rod to achieve knee flexion, which helps patients with rehabilitation training.

[0022] 2. This knee joint range of motion assistive training device allows the patient to grip the sliding rod by simply squeezing their thigh in any direction towards the first placement seat when experiencing sudden discomfort. This stops the sliding block from sliding on the rod surface. Furthermore, the thigh compression action of the patient pushes the airbag, simultaneously connecting the pressure relief and air outlet pipes inside the pushing cylinder, minimizing the possibility of stopping the cylinder's operation. Moreover, the thigh swinging action of squeezing the airbag reduces knee movement. When the patient is uncomfortable in a bent position, they can subconsciously swing their thigh. Because the thigh compression action of the airbag is relatively simple, the patient can react promptly during operation, reducing the risk of secondary injury.

[0023] 3. This knee joint range of motion assistive training device, through the setting of a third spring, can reset the adjustment ring after the patient's leg leaves the first placement seat. Moreover, the setting of the third spring can also play a role in fixing the adjustment ring at a fixed point. Since the third spring has a certain pushing force, it can also reduce the possibility of the patient's leg deviating from the placement position and minimize the possibility of the patient's leg touching the pushing airbag during training. Through the cooperation of the arc groove and the sliding ball, when the patient experiences pain, it guides the patient's thigh to swing to both sides. During the swinging process, the pushing airbag can be squeezed, further realizing the convenience of operation. Attached Figure Description

[0024] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0025] Figure 2 This is a schematic diagram of the cross-sectional structure of the sliding block of the present invention.

[0026] Figure 3 This is a three-dimensional structural diagram of the clamping component of the present invention.

[0027] Figure 4 This is a schematic cross-sectional view of the clamping component of the present invention.

[0028] Figure 5This is a schematic diagram of the internal structure of the propulsion cylinder of the present invention.

[0029] Figure 6 For the present invention Figure Five A magnified structural diagram at point A in the diagram.

[0030] Figure 7 This is a schematic diagram of the first piston plate moving process of the present invention.

[0031] Figure 8 This is a schematic diagram of the exploded structure of the first placement seat of the present invention.

[0032] Figure 9 For the present invention Figure Two A magnified structural diagram at point B in the diagram.

[0033] In the diagram: 110, base housing; 111, first support frame; 112, second support frame; 113, linkage frame; 114, first placement seat; 115, second placement seat; 120, foot pedal; 121, push cylinder; 122, piston rod; 123, sealing block; 124, adjustment ring; 130, sliding block; 131, sliding rod; 132, fixing block; 133, connecting rod; 134, inclined plate; 140, clamping assembly; 141, clamping block; 142, control rod; 150, push airbag; 151, clamping groove; 152, first movable rod; 153, second movable rod; 154, linkage... Moving rod; 160, sliding groove; 161, slider; 170, connecting block; 171, support rod; 172, return spring; 180, air storage chamber; 181, piston block; 182, pressing block; 183, pushing spring; 184, first connecting pipe; 190, bellows; 191, pressing chamber; 192, pushing chamber; 210, first piston plate; 211, first spring; 212, second piston plate; 213, annular block; 220, second spring; 230, pressure relief pipe; 232, air outlet pipe; 233, second connecting pipe; 240, third spring; 241, arc groove; 242, sliding ball. Detailed Implementation

[0034] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0035] Example 1: This example aims to address the common problem that knee joint range of motion assistive training devices typically involve directly placing the leg inside the device. The device moves via electric rails and sliders, resulting in a limited range of motion. Furthermore, the leg lacks protection during movement, which may cause it to tilt during flexion, hindering knee joint training. Please refer to [link to relevant documentation]. Figures 1-9 A knee joint range of motion assistive training device includes a base housing 110 and a first support frame 111 mounted on the upper side of the base housing 110. A second support frame 112 is hinged to the side of the first support frame 111. A linkage frame 113 is mounted on the upper side of the first support frame 111. An adjustment ring 124 for adjusting the position of the leg is installed inside the first placement seat 114. A sliding rod 131 is mounted on the base housing 110. A sliding block 130 is mounted on the bottom side of the second support frame 112. The sliding block 130 slides with the sliding rod 131. A push cylinder 121 for moving the second support frame 112 is mounted on the base housing 110.

[0036] A clamping assembly 140 is installed between the sliding block 130 and the sliding rod 131. The clamping assembly 140 is used to restrict the sliding of the sliding block 130. The clamping assembly 140 includes a clamping block 141 for clamping the sliding rod 131 and a control rod 142 for controlling the movement of the clamping block 141.

[0037] The first placement seat 114 is installed on the upper side of the linkage frame 113. The first placement seat 114 is used to place the legs. The middle section of the second support frame 112 is equipped with a second placement seat 115 for placing the legs. The end of the second support frame 112 is equipped with a foot pedal 120 for placing the feet. Fixed blocks 132 are symmetrically installed on the base housing 110. A sliding rod 131 is installed between the two fixed blocks 132. The end of the linkage frame 113 is hinged to the second support frame 112. The linkage frame 113 and the second support frame 112 are hinged together by a connecting rod 133. An inclined plate 134 is installed on the bottom side of the second support frame 112. The inclined plate 134 is hinged to the sliding block 130. The push cylinder 121 is connected to the inclined plate 134.

[0038] See Figure 1 and Figure 2In practice, the patient places their leg on the upper side of the base housing 110. Through the cooperation of the first placement seat 114, the second placement seat 115, and the foot pedal 120, support is provided for different positions of the patient's leg. After the patient has placed their leg, the operation of the cylinder 121 can drive the tilting plate 134 to move back and forth, causing the sliding block 130 to slide on the surface of the sliding rod 131. Furthermore, by using the hinge of the second support frame 112 and the linkage frame 113, the ends of the second support frame 112 and the linkage frame 113 are brought closer together, thus causing the patient's knee to bend. This solution only requires pushing the piston rod 122 of the cylinder 121 to extend, which can achieve bending of the patient's knee and help the patient with rehabilitation training.

[0039] In this embodiment, the first placement seat 114, the second placement seat 115, and the foot pedal 120 work together to support different positions of the patient's leg. After the patient places their leg, the operation of the cylinder 121 drives the tilting plate 134 to move back and forth, while the sliding block 130 slides on the surface of the sliding rod 131. At the same time, the hinge of the second support frame 112 and the linkage frame 113 brings their ends closer together, thus causing the patient's knee to bend. This solution only requires pushing the piston rod 122 of the cylinder 121 to extend, which can achieve bending of the patient's knee and help the patient with rehabilitation training.

[0040] Example 2 aims to address the issue that during rehabilitation training, the operation of the cylinder requires a controller. When a patient cannot adapt to the bending angle during training, pain occurs. Since the pain is instantaneous, there is insufficient time to operate the controller, potentially leading to secondary injury. This example is an improvement upon Example 1. For details, please refer to [link to example]. Figures 1-9 The first placement seat 114 is equipped with a push airbag 150, which partially wraps around the outside of the adjustment ring 124. The sliding block 130 has a clamping groove 151 inside. The clamping assembly 140 also includes a first movable rod 152 movably installed inside the clamping groove 151, a second movable rod 153 movably installed inside the clamping groove 151, and a linkage rod 154 hinged between the first movable rod 152 and the control rod 142.

[0041] See Figure 2 , Figure 3 and Figure 4One end of the first movable rod 152 is hinged inside the clamping groove 151, and the other end of the first movable rod 152 is slidably fitted inside the clamping groove 151. A sliding groove 160 is provided inside the clamping groove 151. A slider 161 is installed on the rear side of the first movable rod 152. The slider 161 is slidably fitted with the sliding groove 160. A set of clamping blocks 141 is installed on the bottom side of the first movable rod 152. A connecting block 170 is installed at the end of the control rod 142. A support rod 171 is hinged to the connecting block 170. The connecting block 170 is hinged inside the clamping groove 151. A return spring 172 is installed between the control rod 142 and the clamping groove 151.

[0042] See Figure 2 , Figure 3 and Figure 4 One end of the second movable rod 153 is hinged inside the clamping groove 151, and the other end of the second movable rod 153 is hinged to the support rod 171. Another set of clamping blocks 141 is installed on the upper side of the second movable rod 153.

[0043] See Figure 2 , Figure 3 and Figure 4 The sliding block 130 has an air storage chamber 180 inside, and a piston block 181 is slidably inserted inside the air storage chamber 180. A pressing block 182 is installed on the bottom side of the piston block 181. The pressing block 182 is connected to the control rod 142. A push spring 183 is installed between the piston block 181 and the air storage chamber 180. A first connecting pipe 184 is installed between the air storage chamber 180 and the push airbag 150. The air storage chamber 180 communicates with the inside of the push airbag 150 through the first connecting pipe 184.

[0044] See Figure 2 , Figure 3 and Figure 4In specific implementation, when a patient experiences a sudden discomfort, the patient only needs to squeeze their thigh towards the first placement seat 114 in any direction to compress the pushing airbag 150. This causes the gas inside the pushing airbag 150 to reach the interior of the air storage chamber 180 through the first connecting pipe 184. This gas then pushes the piston block 181 downwards. As the piston block 181 slides down, it drives the pressing block 182 to press the control rod 142, aligning the end of the control rod 142. Therefore, the connecting block 170, in cooperation with the support rod 171, pushes the second movable rod 153 upwards, causing the clamping block 141 and the sliding rod 131 to fit together. Simultaneously, the second movable rod 153... A linkage rod 154 is connected to the control rod 142, so that when the pressing block 182 presses the control rod 142, it drives one end of the first movable rod 152 to press down, realizing that the other set of clamping blocks 141 and the sliding rod 131 are in an interference fit, so that the two clamping blocks 141 clamp the sliding rod 131, and minimize the sliding block 130 from continuing to slide on the surface of the sliding rod 131, thereby reducing the possibility of secondary injury to the patient. When the patient experiences a sudden discomfort, the patient only needs to squeeze the thigh in any direction of the first placement seat 114 to clamp the sliding rod 131. Moreover, the action of pushing the airbag 150 by squeezing the patient's thigh is relatively simple, and the patient can make a timely response in actual operation.

[0045] See Figure 5 , Figure 6 and Figure 7 A piston rod 122 is slidably fitted inside the push cylinder 121. A sealing block 123 is slidably installed between the piston rod 122 and the push cylinder 121. A bellows 190 is installed between the cylinder body of the push cylinder 121 and the sealing block 123. A pressing chamber 191 and a pushing chamber 192 are opened inside the sealing block 123 and are connected. A first piston plate 210 is slidably fitted inside the pressing chamber 191. A first spring 211 is installed between the first piston plate 210 and the pushing chamber 192. A second piston plate 212 is symmetrically slidably fitted inside the pushing chamber 192. An annular block 213 is installed at the outlet of the pushing chamber 192. A second spring 220 is installed between the annular block 213 and the second piston plate 212.

[0046] See Figure Five , Figure 6 and Figure 7 The sealing block 123 has symmetrically provided pressure relief pipes 230 inside, which are connected to the push chamber 192. The second piston plate 212 has provided an air outlet pipe 232 inside. During the movement of the second piston plate 212, the air outlet pipe 232 coincides with the pressure relief pipe 230 and is connected to the pressure relief pipe 230.

[0047] See Figure Five , Figure 6 and Figure 7 In specific implementation, while the patient's thigh area is being compressed to push the airbag 150, the second connecting pipe 233 passes through the connection between the push cylinder 121 and the bellows 190, allowing some of the gas in the push airbag 150 to enter the pressing chamber 191. This pushes the first piston plate 210 inside to slide downwards, compressing the gas inside the pushing chamber 192 during the sliding of the first piston plate 210. The compressed gas then pushes the second piston plate 212 upwards. During the movement of the second piston plate 212, the air outlet pipe 232 coincides with the pressure relief pipe 230, and the air outlet pipe 232 and the pressure relief pipe 230 are connected, thus achieving the pressure relief function of the sealing block 123. This minimizes the possibility of stopping the operation of the push cylinder 121. By depressurizing the sealing block 123 inside the push cylinder 121, the sliding block 130 is further prevented from moving, thus pausing rehabilitation training and giving the patient time to operate the controller.

[0048] In this embodiment: when a patient experiences a sudden discomfort, the patient only needs to squeeze their thigh in any direction towards the first placement seat 114 to connect the cylinder 121 to the internal pressure relief pipe 230 and air outlet pipe 232, thus pausing the operation of the cylinder 121 as much as possible. Furthermore, the action of the patient's thigh squeezing the airbag 150 simultaneously tightens the sliding rod 131, stopping the sliding block 130 from sliding on the surface of the sliding rod 131. Moreover, squeezing the airbag 150 by swinging the thigh reduces knee movement. When the patient is uncomfortable in a bent position, they can subconsciously swing their thigh. Because the action of the patient's thigh squeezing the airbag 150 is relatively simple, the patient can react promptly in actual operation, reducing secondary injury and further improving ease of operation.

[0049] Example 3 aims to address the issue of potentially compressing the airbag due to leg misalignment during patient leg placement. This example is an improvement upon Example 2. For details, please refer to [link to example]. Figures 1-9 A third spring 240 is symmetrically installed on the first placement seat 114, and an arc-shaped groove 241 is opened inside the first placement seat 114. A sliding ball 242 is installed on the bottom side of the adjustment ring 124, and the sliding ball 242 slides in engagement with the arc-shaped groove 241.

[0050] See Figure 8In specific implementation, the third spring 240 allows the adjustment ring 124 to be reset after the patient's leg leaves the first placement seat 114. Furthermore, the third spring 240 can also fix the adjustment ring 124 in place. Because the third spring 240 has a certain pushing force, it can also reduce the possibility of the patient's leg deviating from its placement position, minimizing the possibility of the patient's leg touching the pushing airbag 150 during training. Through the cooperation of the arc-shaped groove 241 and the sliding ball 242, the patient's thigh is guided to swing to both sides during pain, and the pushing airbag 150 is compressed during this swing, further enhancing the ease of operation.

[0051] In this embodiment: the third spring 240 allows the adjustment ring 124 to be reset after the patient's leg leaves the first placement seat 114. Furthermore, the third spring 240 can also fix the adjustment ring 124 in place. Because the third spring 240 has a certain pushing force, it can also reduce the possibility of the patient's leg deviating from its placement position, minimizing the possibility of the patient's leg touching the pushing airbag 150 during training. The combination of the arc-shaped groove 241 and the sliding ball 242 guides the patient's thigh to swing to both sides during pain, compressing the pushing airbag 150 during the swing, further enhancing the ease of operation.

[0052] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0053] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A knee joint range of motion assistive training device, comprising a base housing and a first support frame mounted on the upper side of the base housing, wherein a second support frame is hinged to the side of the first support frame, and a linkage frame is mounted on the upper side of the first support frame, characterized in that: The first placement seat is installed on the upper side of the linkage frame and is used to place the legs. The middle section of the second support frame is equipped with a second placement seat for placing the legs, and one end of the second support frame is equipped with a foot pedal for placing the feet. The end of the linkage frame is hinged to the other end of the second support frame, and the linkage frame and the second support frame are hinged together by a connecting rod. The first placement seat has an adjustment ring installed inside for adjusting the position of the legs. A sliding rod is installed on the base housing. A sliding block is installed on the bottom side of the second support frame. The sliding block and the sliding rod slide together. A push cylinder is installed on the base housing for moving the second support frame. A clamping assembly is installed between the sliding block and the sliding rod. The clamping assembly is used to limit the sliding of the sliding block. The clamping assembly includes a clamping block for clamping the sliding rod and a control rod for controlling the movement of the clamping block. The first placement seat is equipped with a push airbag, which partially wraps around the outside of the adjustment ring. The sliding block has a clamping groove inside. The clamping assembly also includes a first movable rod movably installed inside the clamping groove, a second movable rod movably installed inside the clamping groove, and a linkage rod hinged between the first movable rod and the control rod. One end of the first movable rod is hinged inside the clamping groove, and the other end of the first movable rod is slidably fitted inside the clamping groove. A sliding groove is provided inside the clamping groove. A slider is installed on the side of the first movable rod, and the slider is slidably fitted with the sliding groove. One set of clamping blocks is installed on the bottom side of the first movable rod, and one end of the linkage rod is hinged to the other end of the first movable rod. A connecting block is installed on one side of the control rod. The connecting block is hinged to one end of the support rod. The connecting block is hinged inside the clamping groove. A return spring is installed between the control rod and the clamping groove. One end of the second movable rod is hinged inside the clamping groove, and the other end of the second movable rod is hinged to the other end of the support rod. Another set of clamping blocks is installed on the upper side of the second movable rod. The sliding block has an air storage chamber inside, and a piston block is inserted and slidably fitted inside the air storage chamber. A pressing block is installed on the bottom side of the piston block and is connected to the other end of the control rod. A push spring is installed between the piston block and the air storage chamber. A first connecting pipe is installed between the air storage chamber and the push airbag, and the air storage chamber communicates with the inside of the push airbag through the first connecting pipe.

2. The knee joint range of motion assistive training device according to claim 1, characterized in that: Fixed blocks are symmetrically installed on the base housing, and a sliding rod is installed between the two fixed blocks. An inclined plate is installed on the bottom side of the second support frame. The inclined plate is hinged to the sliding block, and the moving end of the push cylinder is connected to the inclined plate.

3. The knee joint range of motion assistive training device according to claim 1, characterized in that: A piston rod is slidably fitted inside the push cylinder. A sealing block is slidably installed between the piston rod and the push cylinder. A bellows is installed between the cylinder body of the push cylinder and the sealing block. A pressing chamber and a pushing chamber are opened inside the sealing block and are connected. A first piston plate is slidably fitted inside the pressing chamber. A first spring is installed between the first piston plate and the pushing chamber. A second piston plate is symmetrically slidably fitted inside the pushing chamber. An annular block is installed at the outlet of the pushing chamber. A second spring is installed between the annular block and the second piston plate.

4. The knee joint range of motion assistive training device according to claim 3, characterized in that: The sealing block has symmetrically arranged pressure relief pipes inside, which are connected to the push chamber. The second piston plate has an air outlet pipe inside. During the movement of the second piston plate, the exhaust pipe coincides with the pressure relief pipe, and the exhaust pipe and the pressure relief pipe are connected.

5. The knee joint range of motion assistive training device according to claim 4, characterized in that: A second connecting pipe is installed between the pushing cylinder and the pushing air bag, and the second connecting pipe is connected to the bellows.

6. The knee joint range of motion assistive training device according to claim 1, characterized in that: A third spring is symmetrically installed on the first placement seat, and an arc-shaped groove is opened inside the first placement seat.

7. The knee joint range of motion assistive training device according to claim 6, characterized in that: A sliding ball is installed on the bottom side of the test ring, and the sliding ball slides in conjunction with the arc-shaped groove.

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