Rehabilitation training device

Abstract

The invention discloses a rehabilitation training device, and relates to the technical field of medical rehabilitation instruments. The rehabilitation training device comprises an annular part, a plurality of piston cylinders capable of moving in the radial direction of the annular part are arranged on the inner side of the annular part, suckers are installed on the sides, close to the axis of the annular part, of the piston cylinders, and the suckers draw close to the lower limbs of a patient along with the piston cylinders and are squeezed to generate negative pressure to be adsorbed to the skin; the massage assembly is provided with a sliding block installed corresponding to the piston cylinder, the piston cylinder drives the sliding block to slide along the axis of the annular piece when moving in the radial direction, a special-shaped shell is arranged on the side, close to the axis of the annular piece, of the sliding block, the special-shaped shell is elastically connected with the sliding block, and a massage roller is arranged in the special-shaped shell; the device solves the technical problems that in the treatment process of an existing rehabilitation training device, due to relative sliding between a driving assembly and the skin, massage point position deviation is caused, clamping force is uneven, equipment is loosened, and secondary friction injuries are caused.

Description

Technical Field

[0001] This application relates to the field of medical rehabilitation equipment technology, and in particular to a rehabilitation training device. Background Technology

[0002] In the field of postoperative rehabilitation in oncology, lower limb rehabilitation training devices are widely used for patients who are bedridden for extended periods or have limited mobility. These devices typically employ multiple gripping points around the limb for positioning and use massage rollers, vibration modules, or pneumatic components to physically stimulate muscle tissue, thereby promoting blood circulation, preventing muscle atrophy, and reducing the risk of thrombosis.

[0003] However, existing rehabilitation training devices suffer from a common and difficult-to-overcome technical flaw in practical use: the drive and actuation components are prone to relative slippage and positional displacement on the patient's skin surface. After the device positions the leg through multiple gripping points, once the massage module is activated, the rolling friction or periodic disturbance force applied to the skin by the massage rollers or vibrating elements generates a tangential reaction force, causing cumulative displacement of the gripping components along the limb's axial or circumferential direction. This slippage causes deviations from the originally aligned treatment points, resulting in uneven distribution of gripping force, and in severe cases, even causing the device to loosen and cease continuous operation. Even more problematic is that postoperative cancer patients are weak, have poor skin elasticity, and a low coefficient of friction. Slippage during device operation not only significantly reduces the rehabilitation effect but may also cause secondary abrasions or pressure sores on the patient's skin, increasing medical risks.

[0004] While some existing technologies employ elastic elements such as ring springs to achieve radial floating clamping, attempting to resist slippage by increasing clamping force, these solutions only provide mechanical pressure in a single dimension and lack adhesive fixation to the skin interface. When the massage module is operating, the reaction force still causes the device to slide along the limb surface, and excessive clamping pressure can lead to patient discomfort or skin damage. Furthermore, these devices have limited adaptability, making it difficult to adjust in real time according to the patient's leg shape, thickness, and muscle stiffness, further exacerbating the slippage problem. Summary of the Invention

[0005] In view of this, this application provides a rehabilitation training device to solve the technical problems of massage point displacement, uneven clamping force, device loosening and secondary friction injury caused by the relative sliding between the drive component and the skin during the treatment process in existing rehabilitation training devices.

[0006] To achieve the above objectives, this application provides a rehabilitation training device, comprising:

[0007] The positioning component includes an annular part for fitting onto the patient's lower limb. The inner side of the annular part is provided with at least two piston cylinders that can move radially therefrom. Each piston cylinder is provided with a suction cup. The suction cups follow the piston cylinders and move toward and squeeze towards the patient's lower limb, thereby creating negative pressure to adhere the suction cups to the patient's lower limb.

[0008] A massage assembly includes a slider that is mounted corresponding to a piston cylinder. The radial movement of the piston cylinder can drive the slider to slide along the axis of the annular component. The slider is equipped with a massage roller.

[0009] Preferably, a plurality of racks corresponding to the piston cylinders are installed radially through the annular member. The racks are slidably installed on the annular member, and the ends of the racks near the axis of the annular member are fixedly connected to the piston cylinders.

[0010] Preferably, an internal gear ring and a plurality of gears corresponding one-to-one with the rack are rotatably mounted inside the annular component. The gears simultaneously mesh with the corresponding rack and the internal gear ring, and one of the gears is connected to a micro motor.

[0011] Preferably, a piston plate is slidably installed inside the piston cylinder, the piston plate dividing the piston cylinder into a first chamber away from the suction cup and a second chamber close to the suction cup, the piston plate being connected to the suction cup via a piston rod, and the suction cup being connected to the second chamber via a circular tube.

[0012] Preferably, the round tube is a rigid tube, and a sealing ring is provided at the connection position between the round tube and the second chamber.

[0013] Preferably, a first spring is installed in the first chamber, one end of the first spring is fixed in the piston cylinder and the other end is fixed in the piston plate, and the first chamber is provided with an air inlet and an air outlet to stabilize the air pressure.

[0014] Preferably, the massage components include two sets, which are respectively disposed at the upper and lower ends of the annular component.

[0015] Preferably, each piston cylinder has a slide rail at both its upper and lower ends, the slider is slidably mounted on the slide rail, and the annular component has a plurality of pull rods corresponding one-to-one with the slide rail. One end of the pull rod is hinged to the annular component, and the other end is hinged to the corresponding slider.

[0016] Preferably, the housing is equipped with a guide rod that passes through and slides on the slider. A second spring is fitted onto the guide rod, with one end of the second spring fixed to the slider and the other end fixed to the housing.

[0017] Preferably, the massage roller is a flexible plate roller, and the massage roller comprises multiple rollers, which are rotatably mounted in the housing via a bent rod.

[0018] Compared with the aforementioned background technology, the rehabilitation training device provided in this application has the following advantages:

[0019] This invention utilizes a ring-shaped component fitted onto the lower limb, with multiple piston cylinders moving radially to drive a suction cup to compress the skin. The compression reaction force generates negative pressure within the piston cylinders, forming a combined pressure-suction adsorption. Simultaneously, the radial movement of the piston cylinders drives a slider to slide axially along the ring-shaped component, thereby causing the elastically connected irregularly shaped shell and massage roller to roll. This significantly enhances the anti-slip capability through a dual stable interface of mechanical pressure and negative pressure adsorption. Furthermore, it allows the massage roller to adaptively adjust to the clamping position and maintain a constant contact pressure. This fundamentally solves the technical problems of existing rehabilitation training devices, such as massage point displacement, uneven clamping force, device loosening, and secondary friction injuries caused by relative sliding between the drive components and the skin during treatment. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0021] Figure 1 This is a three-dimensional axonometric view of the rehabilitation training device according to an embodiment of this application.

[0022] Figure 2 This is a frontal three-dimensional partial sectional view of the rehabilitation training device according to an embodiment of this application.

[0023] Figure 3 for Figure 2 Enlarged view of a portion of region A in the middle.

[0024] Figure 4 This is a front three-dimensional front sectional view of the rehabilitation training device according to an embodiment of this application.

[0025] Figure 5 This is a top three-dimensional front sectional view of the rehabilitation training device according to an embodiment of this application.

[0026] Figure 6 for Figure 5 A magnified view of a portion of region B in the middle.

[0027] Figure 7 This is a three-dimensional structural diagram of the slider and its mounting components in the rehabilitation training device according to an embodiment of this application.

[0028] The components are as follows: 1. Positioning assembly; 101. Ring part; 102. Piston cylinder; 103. Suction cup; 104. Rack; 105. Internal gear ring; 106. Gear; 107. Piston plate; 108. Piston rod; 109. Round tube; 110. First spring; 2. Massage assembly; 201. Slider; 202. Housing; 203. Massage roller; 204. Slide rail; 205. Pull rod; 206. Guide rod; 207. Second spring; 208. Bent rod. Detailed Implementation

[0029] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0030] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] It should be noted that the directional terms such as "upper end," "lower end," "left side," and "right side" used below are defined based on the accompanying drawings in the instruction manual.

[0032] Please refer to Figures 1 to 7 The rehabilitation training device provided in this application mainly includes a positioning component 1 and a massage component 2.

[0033] The positioning component 1 includes an annular part 101, which is used to be fitted onto the patient's lower limb. The inner side of the annular part 101 is provided with at least two piston cylinders 102 that can move radially therein. Each piston cylinder 102 is provided with a suction cup 103. The suction cup 103 follows the piston cylinder 102 to approach and squeeze towards the patient's lower limb, which can generate negative pressure to adhere to the patient's lower limb.

[0034] The massage component 2 includes a slider 201, which is installed in correspondence with the piston cylinder 102. The radial movement of the piston cylinder 102 can drive the slider 201 to slide along the axis of the annular component 101. The slider 201 is provided with a massage roller 203.

[0035] This device includes an annular component 101 for fitting over the patient's lower limb. Multiple radially movable piston cylinders 102 are arranged circumferentially on the inner side of the annular component 101. Each piston cylinder 102 has a suction cup 103 mounted on its side facing the center of the annular component 101. The suction cup 103 is arc-shaped to conform to the curvature of the human lower limb. When the piston cylinder 102 moves centripetally under drive, the suction cup 103 first contacts and compresses the patient's lower limb skin. As the piston cylinder 102 continues to move, the reaction force from the patient's skin is transmitted through the suction cup 103 to a negative pressure generating structure inside the piston cylinder 102, creating a negative pressure within the piston cylinder 102. This negative pressure is transmitted through a connecting pipe to the working surface of the suction cup 103, thereby causing the suction cup 103 to form a negative pressure adsorption based on mechanical compression, firmly adhering to the surface of the lower limb.

[0036] The device also includes a massage assembly 2, with a corresponding slider 201 mounted on each piston cylinder 102. The slider 201 can slide along the axis of the annular member 101. When the piston cylinder 102 moves radially, its movement drives the slider 201 to slide axially along the annular member 101 via a linkage mechanism. A shaped housing 202 is provided on the side of the slider 201 facing the center of the annular member 101. This housing 202 is a near-arc-shaped housing designed to conform to the curvature of the human lower limb. A mounting groove for the massage roller 203 is provided within the housing 202. The shaped housing is connected to the slider 201 via an elastic element, allowing the shaped housing to float relative to the slider 201. A rotatable massage roller 203 is installed inside the shaped housing. When the slider 201 slides axially, the shaped housing and the massage roller 203 inside remain in contact with the surface of the patient's limb under the pre-tension of the elastic element, providing a rolling massage to the limb during the sliding process.

[0037] This invention utilizes an annular component 101 fitted onto the lower limb, and multiple piston cylinders 102 that move radially to drive a suction cup 103 to compress the skin. The compression reaction force generates negative pressure within the piston cylinders 102, forming a pressure-suction composite adsorption. Simultaneously, the radial movement of the piston cylinders 102 drives a slider 201 to slide axially along the annular component 101, thereby causing the elastically connected irregular shell and massage roller 203 to roll. This significantly improves the anti-slip capability through a dual stable interface of mechanical pressure and negative pressure adsorption. Furthermore, it allows the massage roller 203 to adaptively adjust with the clamping position and maintain a constant contact pressure. This fundamentally solves the technical problems of existing rehabilitation training devices, such as massage point displacement, uneven clamping force, device loosening, and secondary friction injuries caused by relative sliding between the drive components and the skin during treatment.

[0038] Please refer to Figure 3 and Figure 4Based on any of the above embodiments, a plurality of racks 104 corresponding one-to-one with piston cylinders 102 are installed radially through the annular member 101. The racks 104 are slidably installed on the annular member 101, and the ends of the racks 104 near the axis of the annular member 101 are fixedly connected to the piston cylinders 102.

[0039] Multiple racks 104 are radially mounted along the annular member 101, with the number of racks 104 corresponding one-to-one with the number of piston cylinders 102. Each rack 104 is slidably mounted in the wall of the annular member 101 and can move freely radially. One end of the rack 104 near the axis of the annular member 101 is fixedly connected to the corresponding piston cylinder 102, and the other end of the rack 104 is provided with a stop to prevent the rack 104 from disengaging from the annular member 101. When the rack 104 is driven to move radially, it drives the piston cylinder 102 to move radially synchronously, thereby realizing the squeezing and clamping of the lower limb by the suction cup 103. Through the transmission of the rack 104, the driving force outside the annular member 101 can be accurately transmitted to each piston cylinder 102, ensuring the synchronicity of the radial movement and the consistency of the stroke of the multiple piston cylinders 102.

[0040] Please refer to Figure 3 and Figure 4 Based on any of the above embodiments, an internal gear ring 105 and a plurality of gears 106 corresponding one-to-one with the rack 104 are rotatably mounted inside the annular member 101. The gears 106 simultaneously mesh with the corresponding rack 104 and internal gear ring 105, and one of the gears 106 is connected to a micro motor.

[0041] An internal gear ring 105 is rotatably mounted inside the annular component 101, and multiple gears 106 corresponding one-to-one with racks 104 are also provided. Each gear 106 meshes simultaneously with its corresponding rack 104 and internal gear ring 105, forming a planetary transmission structure. One of the gears 106 is selected as the driving gear 106, which is connected to the output shaft of a micro motor. When the micro motor starts, the driving gear 106 rotates, driving the internal gear ring 105 to rotate, which in turn drives the other driven gears 106 to rotate synchronously. The rotation of each gear 106 is converted into radial linear motion of the corresponding rack 104, thereby driving the piston cylinder 102 and suction cup 103 to move synchronously centrifugally or centrifugally. Through this transmission network of internal gear ring 105, gears 106, and rack 104, a single micro motor can achieve synchronous radial clamping and release of multiple piston cylinders 102, ensuring the consistency, symmetry, and controllability of the clamping action.

[0042] Please refer to Figure 5Based on any of the above embodiments, a piston plate 107 is slidably installed inside the piston cylinder 102. The piston plate 107 divides the piston cylinder 102 into a first chamber away from the suction cup 103 and a second chamber close to the suction cup 103. The piston plate 107 is connected to the suction cup 103 through a piston rod 108, and the suction cup 103 is connected to the second chamber through a round tube 109.

[0043] A piston plate 107 is slidably mounted inside the piston cylinder 102, dividing the interior of the piston cylinder 102 into two independent chambers. The side away from the suction cup 103 is the first chamber, and the side closer to the suction cup 103 is the second chamber. A piston rod 108 is fixedly connected to the piston plate 107 facing the suction cup 103, extending out of the piston cylinder 102 and fixedly connected to the suction cup 103. The inner wall of the suction cup 103 is connected to the second chamber via a circular tube 109. When the piston cylinder 102 moves centripetally under drive and the suction cup 103 contacts and squeezes the patient's skin, the reaction force of the skin pushes the piston plate 107 to slide within the piston cylinder 102 through the suction cup 103 and the piston rod 108, increasing the volume of the second chamber and generating negative pressure. This negative pressure is transmitted to the inner cavity of the suction cup 103 via the circular tube 109, further creating negative pressure suction on top of mechanical compression. Conversely, when the piston cylinder 102 retracts centrifugally, the piston plate 107 moves in the opposite direction, the pressure in the second chamber is restored, and the adsorption is released.

[0044] Please refer to Figure 6 Based on any of the above embodiments, the circular tube 109 is a rigid tube, and a sealing ring is provided at the connection position between the circular tube 109 and the second chamber.

[0045] The circular tube 109 connecting the inner wall of the suction cup 103 and the second chamber is made of rigid tubing to ensure that it does not deform during negative pressure transmission and maintains unobstructed airflow. A sealing ring is provided at the connection between the circular tube 109 and the second chamber. This sealing ring is fixedly installed on the outer wall of the piston cylinder 102, and the circular tube 109 passes through the sealing ring and slides in a sealing fit with it. When the suction cup 103 is compressed and drives the piston plate 107 to slide, the circular tube 109 moves synchronously with the suction cup 103. The sealing ring continuously and dynamically seals the gap between the circular tube 109 and the piston cylinder 102, preventing the negative pressure in the second chamber from leaking along the outer wall of the circular tube 109, thereby ensuring that the negative pressure can be stably and efficiently transmitted to the working surface of the suction cup 103.

[0046] Please refer to Figure 5 and Figure 6 Based on any of the above embodiments, a first spring 110 is installed in the first chamber. One end of the first spring 110 is fixed in the piston cylinder 102, and the other end is fixed in the piston plate 107. The first chamber is provided with an air inlet and an air outlet to stabilize the air pressure.

[0047] A first spring 110 is installed in the first chamber inside the piston cylinder 102. One end of the first spring 110 is fixedly connected to the distal inner wall of the piston cylinder 102, and the other end is fixedly connected to the side of the piston plate 107 facing away from the suction cup 103. When the suction cup 103 squeezes the skin and pushes the piston plate 107 to slide towards the first chamber, the first spring 110 is compressed and stores elastic potential energy. When the clamping force is released, the first spring 110 releases the elastic potential energy, pushing the piston plate 107 to return to its original position, thus causing the suction cup 103 to detach from the skin. At the same time, an air inlet and outlet hole is provided on the wall of the first chamber, which connects the first chamber to the outside atmosphere. During the sliding of the piston plate 107, the air inlet and outlet hole allows the gas in the first chamber to freely enter and exit, thereby balancing the air pressure difference between the first chamber and the outside, avoiding the piston plate 107 from being obstructed or delayed in returning to its original position due to the airtight effect, and ensuring the smooth sliding of the piston plate 107 and the normal operation of the first spring 110.

[0048] Please refer to Figure 1 and Figure 2 Based on any of the above embodiments, the massage component 2 includes two sets, which are respectively disposed at the upper and lower ends of the annular component 101.

[0049] Two sets of massage components 2 are provided, one set installed at the upper end of the annular component 101 and the other set installed at the lower end of the annular component 101. The two sets of massage components 2 are arranged opposite each other along the axial direction of the annular component 101. When the piston cylinder 102 moves radially, the massage components 2 at the upper and lower ends move synchronously, respectively performing rolling massage on the leg from above and below the limb. By arranging massage components 2 at both ends of the annular component 101 along its axial direction, a larger effective coverage of the limb's circumference is achieved, allowing the massage effect to act on different sides of the limb simultaneously, thus improving the spatial uniformity and overall effect of rehabilitation training.

[0050] Please refer to Figure 7 Based on any of the above embodiments, each piston cylinder 102 is provided with a slide rail 204 at both the upper and lower ends, and the slider 201 is slidably mounted on the slide rail 204. The annular part 101 is provided with a plurality of pull rods 205 corresponding one-to-one with the slide rail 204. One end of the pull rod 205 is hinged to the annular part 101, and the other end is hinged to the corresponding slider 201.

[0051] Each piston cylinder 102 has a slide rail 204 fixedly installed at its upper and lower ends, extending along the axis of the annular member 101. A slider 201 is slidably mounted on the corresponding slide rail 204 and can move freely along it. The annular member 101 also has multiple pull rods 205, the number of which corresponds one-to-one with the slide rails 204. Each pull rod 205 has a hinge lug at its hinged position with the annular member 101 and the slider 201 to facilitate hinged installation. One end of each pull rod 205 is hinged to a fixed part of the annular member 101, and the other end is hinged to the corresponding slider 201. When the piston cylinder 102 moves radially, it drives the slide rail 204 to move radially synchronously. The slider 201 is constrained on the slide rail 204 by the pull rod 205. Since the two ends of the pull rod 205 are hinged to the fixed point of the annular part 101 and the slider 201 respectively, the tilt angle of the pull rod 205 changes with the radial position of the piston cylinder 102, thereby forcing the slider 201 to slide axially along the slide rail 204. Through this pull rod 205 and slide rail 204 mechanism, the radial clamping motion of the piston cylinder 102 is converted into the axial driving motion of the slider 201, realizing the conversion and transmission of the motion direction.

[0052] Optionally, the slider 201 is an H-shaped slider 201, with the middle part of the slider 201 slidably mounted on the slide rail 204.

[0053] Please refer to Figure 2 Based on any of the above embodiments, the housing 202 is equipped with a guide rod 206, which passes through and slides on the slider 201. The guide rod 206 is fitted with a second spring 207, one end of which is fixed to the slider 201 and the other end is fixed to the housing 202.

[0054] At least one guide rod 206 is fixedly mounted on the irregularly shaped housing. The guide rod 206 extends perpendicular to the sliding direction of the slider 201, passes through the slider 201, and forms a sliding engagement with the slider 201. A second spring 207 is fitted on the guide rod 206. One end of the second spring 207 is fixedly connected to the slider 201, and the other end is fixedly connected to the irregularly shaped housing. When the slider 201 slides along the axial direction of the annular member 101, the irregularly shaped housing and the massage roller 203 inside it are always in contact with the patient's limb surface with a constant contact pressure under the elastic preload of the second spring 207. When the patient's leg shape changes or the curvature of the limb surface fluctuates, the irregularly shaped housing can adaptively float relative to the slider 201 along the direction of the guide rod 206, compressing or releasing the second spring 207, thereby dynamically adjusting the pressure of the massage roller 203 and avoiding patient discomfort or massage failure due to hard contact. The combined structure of the guide rod 206 and the second spring 207 provides floating support and force feedback self-balancing capability for the massage roller 203, ensuring that the massage roller 203 can maintain uniform and smooth rolling contact in various limb positions.

[0055] Please refer to Figure 7 Optionally, based on the H-shaped slider 201, there are two guide rods 206 and two second springs 207, which are installed symmetrically.

[0056] Based on any of the above embodiments, the massage roller 203 is a flexible plate roller, and multiple massage rollers 203 are rotatably installed in the housing 202 via a bent rod 208.

[0057] The massage roller 203 specifically adopts a flexible plate structure, meaning that the massage roller 203 is a flexible plate massage roller 203, and multiple rollers are provided. A curved rod 208 is fixedly installed inside the irregularly shaped shell. The curved rod 208 includes a straight section and a curved section. The massage roller 203 is installed on the straight section of the curved rod 208. The curved rod 208 extends along the contour of the irregularly shaped shell. Multiple flexible plate massage rollers 203 are rotatably mounted on the curved rod 208 and can rotate freely around the curved rod 208. The flexible plate massage roller 203 is made of a material with a certain degree of elasticity and flexibility, allowing it to conform to the micro-undulations and curvature changes of the skin when in contact with the patient's limb surface, avoiding discomfort caused by concentrated local pressure.

[0058] Multiple flexible plate massage rollers 203 are arranged sequentially along the axial direction of the bent rod 208, forming a continuous rolling working surface, thereby expanding the effective width of a single roll and improving the massage coverage efficiency. When the slider 201 drives the irregular shell to move along the axial direction of the annular component 101, each flexible plate massage roller 203, supported by the bent rod 208, synchronously rolls against the limb surface, applying uniform and gentle mechanical stimulation to the muscle tissue. Through the cooperation of the bent rod 208 and the multiple flexible plate massage rollers 203, this massage assembly 2 can achieve effective massage of a large area of ​​the limb while maintaining low-friction rolling, improving the comfort and therapeutic effect of rehabilitation training.

[0059] The specific usage process of this device is as follows:

[0060] The annular part 101 of the device is placed on the lower limb of the patient who needs rehabilitation training, so that the annular part 101 surrounds the limb and the multiple suction cups 103 face the skin surface. At this time, each piston cylinder 102 is in the initial position of centrifugal retraction, and there is a gap between the suction cups 103 and the skin.

[0061] The micro motor is activated, and through the transmission system of the internal gear ring 105, gear 106, and rack 104, the motor drives multiple piston cylinders 102 to move synchronously inward along the radial direction of the annular part 101, i.e., the centripetal clamping stroke. The piston cylinders 102 drive the suction cups 103 to approach the limb surface and contact the skin, generating initial mechanical compression; at the same time, the reaction force of the skin pushes the piston plate 107 inside the piston cylinder 102 to slide through the piston rod 108, creating a negative pressure in the second chamber. The negative pressure is transmitted to the inner cavity of the suction cup 103 through the circular tube 109, causing the suction cup 103 to form a negative pressure adsorption, gently sucking in the skin, and achieving a firm fixation of "pressure and suction combination".

[0062] During the aforementioned centripetal clamping process, the radial movement of the piston cylinder 102 drives the slider 201 to slide axially along the annular component 101 via the pull rod 205 and slide rail 204 mechanism. The slider 201 drives the irregularly shaped shell and flexible plate massage roller 203 to roll against the skin under the pre-tensioning action of the second spring 207. At this time, the massage roller 203 rolls from one end of the limb to the other, completing one forward massage stroke.

[0063] As the motor continues to run and enters the reverse phase, or by controlling the motor to periodically reverse direction, the transmission system drives the piston cylinder 102 to move radially outward synchronously, i.e., the centrifugal relaxation stroke. At this time, the pressure of the suction cup 103 on the skin decreases, but the negative pressure does not immediately disappear completely. Instead, it slowly decreases as the piston plate 107 gradually returns to its original position under the action of the first spring 110, and the suction cup 103 still maintains a certain suction force to prevent the device from loosening. Simultaneously, the centrifugal movement of the piston cylinder 102 causes the slider 201 to slide axially in the opposite direction, and the massage roller 203 rolls from the other end of the limb towards the initial end, completing one reverse massage stroke.

[0064] The centripetal clamping and centrifugal relaxing strokes described above are performed alternately, forming a continuous periodic work cycle. In each cycle:

[0065] Centripetal stroke: The clamping force is increased, the negative pressure is raised, and the massage roller 203 rolls in the forward direction, applying pressure and rolling stimulation to the muscles.

[0066] Centrifugal stroke: The clamping force weakens, the negative pressure decreases, and the massage roller 203 rolls in the opposite direction to relax and massage the muscles.

[0067] By controlling the forward and reverse frequency, speed, and duty cycle of the micro motor, the rhythm of clamping and relaxing, as well as the massage speed, can be adjusted to achieve synergistic treatment of intermittent compression and rolling massage on the patient's lower limbs. Throughout the reciprocating motion, the negative pressure of the suction cup 103 dynamically changes with the clamping stroke, but always maintains a certain suction base to ensure that the device does not experience cumulative slippage during reciprocating motion; the massage roller 203 adaptively adjusts the force application point according to the change of the clamping position, always maintaining a constant contact pressure.

[0068] After treatment, stop the motor or perform a full retraction stroke. The piston cylinder 102 returns to the initial centrifugal position, the piston plate 107 is fully reset, the negative pressure in the second chamber is completely released, the suction cup 103 detaches from the skin, and the annular part 101 can be removed from the lower limb.

[0069] The advantages of this invention are:

[0070] This invention employs a piston cylinder 102 that moves radially to drive a suction cup 103 to compress the skin. The compression reaction force generates negative pressure within the piston cylinder 102, creating a clamping interface coupled with both mechanical pressure and negative pressure adsorption. This structure significantly improves the resistance to tangential slippage between the suction cup 103 and the skin compared to purely mechanical clamping. This fundamentally solves the technical defects of existing rehabilitation training devices, which suffer from cumulative displacement along the limb's axial or circumferential direction, massage point misalignment, device detachment, and even secondary abrasion injuries to patients due to the single clamping force and lack of adsorption compensation during treatment.

[0071] This invention utilizes the radial movement of the piston cylinder 102 to drive the slider 201 to slide axially along the annular member 101, thereby causing the elastically connected irregular shell and massage roller 203 to roll. This allows the force application point of the massage roller 203 to adaptively change with the clamping stroke and maintain a constant contact pressure under the action of the second spring 207. This design ensures that regardless of the patient's leg size, muscle firmness, or curvature, the massage roller 203 can apply uniform linear pressure to the limb surface for rolling stimulation. This solves the problems of rehabilitation intervention failure and patient discomfort caused by the fixed trajectory of the massage roller 203 in the prior art, its inability to adapt to different anatomical curvature changes, and discontinuous contact state.

[0072] This invention employs a single micro-motor to synchronously complete three tasks—clamping drive, negative pressure generation, and massage positioning—through a planetary transmission topology, effectively reducing production and usage costs. Simultaneously, it utilizes the displacement of the piston plate 107 and the change in the compression of the first spring 110 to directly adjust the adsorption force and roller pressure, forming a purely mechanical force feedback closed loop that requires no electronic sensors, achieving microsecond-level mechanical response. This system architecture solves the safety hazards of existing rehabilitation equipment that relies on multiple motors, multiple sensors, and electronic control algorithms, resulting in high costs, high failure rates, control of oscillations, and the inability to instantaneously compensate for clamping forces in the event of sudden muscle spasms in patients.

[0073] It should be noted that in this specification, relational terms such as first and second are used only to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0074] The rehabilitation training device provided in this application has been described in detail above. Specific examples have been used to illustrate the principles and implementation methods of this application. The descriptions of the embodiments above are only for the purpose of helping to understand the solution and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A rehabilitation training device, characterized in that, include: The positioning component (1) includes an annular part (101) for being fitted onto the patient's lower limb. The inner side of the annular part (101) is provided with at least two piston cylinders (102) that can move radially therein. The piston cylinder (102) is provided with a suction cup (103). The suction cup (103) moves toward the patient's lower limb along with the piston cylinder (102) and squeezes it, so that the suction cup (103) can generate negative pressure and adhere to the patient's lower limb. Massage assembly (2), the massage assembly (2) includes a slider (201), the slider (201) is installed correspondingly to the piston cylinder (102), the radial movement of the piston cylinder (102) can drive the slider (201) to slide along the axis of the annular part (101), the slider (201) is provided with a massage roller (203).

2. The rehabilitation training device according to claim 1, characterized in that, A plurality of racks (104) corresponding one-to-one with the piston cylinder (102) are installed radially through the annular member (101). The racks (104) are slidably installed on the annular member (101), and the ends of the racks (104) near the axis of the annular member (101) are fixedly connected to the piston cylinder (102).

3. The rehabilitation training device according to claim 2, characterized in that, The annular component (101) has an annular cavity inside, and an internal gear ring (105) and a plurality of gears (106) corresponding one-to-one with the rack (104) are rotatably installed in the annular cavity. The gears (106) simultaneously mesh with the corresponding rack (104) and the internal gear ring (105), and one of the gears (106) is connected to a micro motor.

4. The rehabilitation training device according to claim 1, characterized in that, A piston plate (107) is slidably installed inside the piston cylinder (102). The piston plate (107) divides the piston cylinder (102) into a first chamber away from the suction cup (103) and a second chamber close to the suction cup (103). The piston plate (107) is connected to the suction cup (103) through a piston rod (108). The suction cup (103) is connected to the second chamber through a round tube (109).

5. The rehabilitation training device according to claim 4, characterized in that, The round tube (109) is a rigid tube, and a sealing ring is provided at the connection position between the round tube (109) and the second chamber.

6. The rehabilitation training device according to claim 4, characterized in that, A first spring (110) is installed in the first chamber. One end of the first spring (110) is fixed in the piston cylinder (102), and the other end is fixed in the piston plate (107). The first chamber is provided with an air inlet and outlet for stabilizing the air pressure.

7. The rehabilitation training device according to claim 1, characterized in that, The massage component (2) includes two sets, which are respectively disposed at the upper and lower ends of the annular component (101).

8. The rehabilitation training device according to claim 7, characterized in that, Each piston cylinder (102) has a slide rail (204) at both its upper and lower ends. The slider (201) is slidably mounted on the slide rail (204). The annular part (101) has a plurality of pull rods (205) that correspond one-to-one with the slide rail (204). One end of the pull rod (205) is hinged to the annular part (101), and the other end is hinged to the corresponding slider (201).

9. The rehabilitation training device according to claim 8, characterized in that, A housing (202) is provided on one side near the axis of the annular component (101). A guide rod (206) is installed on the housing (202). The guide rod (206) passes through and slides on the slider (201). A second spring (207) is fitted on the guide rod (206). One end of the second spring (207) is fixed to the slider (201), and the other end is fixed to the housing (202). The massage roller (203) is installed on the housing (202).

10. The rehabilitation training device according to any one of claims 1-9, characterized in that, The massage roller (203) is a flexible plate roller, and the massage roller (203) includes multiple rollers, which are rotatably installed in the housing (202) by means of a bent rod (208).

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