Upper and lower limb rehabilitation device

Abstract

This invention relates to the field of physiotherapy devices, and more particularly to a rehabilitation device for the upper and lower limbs. It includes a base chamber and a physiotherapy chamber. The physiotherapy chamber has an opening, the surface of which is covered with a heating pad. Inside the physiotherapy chamber is a movable massage component that moves back and forth along the opening. The physiotherapy chamber also has massage compartments corresponding to the four limbs. Multiple airbags are arranged sequentially along the length of each massage compartment. A layer is provided within the massage compartment, and a U-shaped local pressure-applying component is slidably installed along the length of the layer. Using the inflation component in conjunction with an electric exhaust valve, all airbags are uniformly controlled to maintain low and stable pressure, achieving flexible and gentle wrapping and restraint of the upper and lower limbs. Then, through the uniform reciprocating movement of the local pressure-applying component, the protrusions sequentially compress individual airbags, forming a zoned massage mode of "stable pressure wrapping of the remaining airbags and localized pressure enhancement of a single airbag." The movement of the local pressure-applying component allows for sequential localized pressure enhancement and alternating pressure release of individual airbags, resulting in better user comfort.

Description

Technical Field

[0001] This invention relates to the field of physiotherapy devices, and more particularly to a rehabilitation device for the upper and lower limbs. Background Technology

[0002] Hemiplegia, postoperative limb stiffness, degenerative aches and pains in the limbs of middle-aged and elderly people, and edema caused by sports injuries are common upper and lower limb conditions in clinical rehabilitation departments and home-based rehabilitation. Currently, there is a wide variety of upper and lower limb rehabilitation physiotherapy products on the market, mainly divided into five categories: foot-operated passive motion therapy, fixed-point mechanical roller massage, low-frequency electrical stimulation therapy, fixed-area full-area heat therapy, and integrated airbag wrapping therapy. These are suitable for use in various scenarios such as hospital rehabilitation rooms, home-based rehabilitation, and elderly care institutions.

[0003] Among them, reclining physiotherapy equipment offers significantly greater comfort than upright foot-operated rehabilitation equipment, making it suitable for patients with limited mobility or those experiencing sequelae from bed rest. Airbag-wrapped physiotherapy, due to its flexibility and lack of impact, is suitable for limbs of varying sizes and for treating swollen limbs, making it the preferred structure for upper and lower limb rehabilitation. Existing seated airbag rehabilitation physiotherapy equipment suffers from severe structural homogenization, offering only basic wrapping, compression, and massage functions with synchronized inflation and deflation of the airbags. It combines these with conventional fixed-plane heat therapy, relying on the overall expansion of the airbags to clamp and hold the limb for pressure relief.

[0004] However, most existing airbags expand synchronously across the entire area, applying pressure to the upper and lower limbs as a single unit throughout the process. This can obstruct blood circulation in the affected limb, causing a strong feeling of tightness and soreness, resulting in a poor rehabilitation experience. Secondly, without a zoned dynamic compression structure, it is impossible to achieve sequential local compression and alternating pressure release of individual airbags. It can only achieve overall constant pressure wrapping and lacks a pressurization execution structure that can move independently. The airbag compression points are fixed and cannot simulate the segmented massage therapy of human hand pressure and pushing. The constant pressure wrapping also results in poor deep muscle relaxation.

[0005] In summary, there is an urgent need to design a reclining rehabilitation device for the upper and lower limbs that relies on a combination of airbag gentle wrapping and controllable local pressure massage to solve the technical problems of traditional airbag full-area compression and lack of segmented dynamic massage. Summary of the Invention

[0006] The purpose of this invention is to solve the problems existing in the prior art by proposing an upper and lower limb rehabilitation device.

[0007] To achieve the above objectives, the present invention adopts the following technical solution: A rehabilitation device for the upper and lower limbs includes a base chamber and a seat-shaped therapy chamber mounted on the base chamber. The therapy chamber has an opening along its surface, and a heating pad is laid on the surface of the opening. A movable massage component that moves back and forth along the opening is located inside the therapy chamber. The therapy chamber has massage chambers corresponding to the four limbs. Multiple airbags are arranged at intervals along the length of the massage chamber. The air inlets of the multiple airbags are connected to an air inlet pipe, which is connected to an inflation component. An exhaust valve is also provided near the inflation component of the air inlet pipe. The massage chamber has a sandwich layer, and a U-shaped local pressure component is slidably installed along the length of the sandwich layer.

[0008] Preferably, the heating pad includes a surface layer, a core layer, and a bottom layer from top to bottom. The surface layer and the bottom layer cover the core layer to form a sealed heating space. The heating space is connected to an air inlet and an air outlet. The air inlet is connected to a heating chamber located inside the physiotherapy chamber. The heating chamber is connected to an air supply component. The air inlet end of the air supply component is connected to the air outlet.

[0009] Preferably, the core layer is composed of several core pillars, the upper and lower ends of which are connected to the surface layer and the bottom layer, respectively; the size of the core pillars gradually decreases from both ends to the center.

[0010] Preferably, at least the core column within the opening range of the physiotherapy chamber is provided with an L-shaped airway, the air inlet end of the airway is close to the center of the core column, the air outlet end extends upward and penetrates the surface layer, and a cut-off component is provided inside the airway, so that the airway is only briefly opened after the moving massage component passes by.

[0011] Preferably, the gas supply assembly is provided with a temperature control valve at the gas inlet end.

[0012] Preferably, the air inlet and the exhaust outlet are arranged diagonally.

[0013] Preferably, the air passage is a rigid structure, and the shut-off component includes a closing structure set in the vertical part of the air passage. A truss is provided in the air passage above the closing structure. Air leakage ports are provided on both sides of the truss. An elastic sealing element is provided at the lower end of the truss. The sealing element is abutted against the closing structure. A lifting element is provided at the lower end of the sealing element. The lifting element penetrates the air passage downward and a shaft seal is provided at the penetration part.

[0014] Preferably, the mobile massage component includes a mobile seat that moves along a trajectory on the surface of the physiotherapy chamber within the physiotherapy chamber. A movable seat is provided on the back of the mobile seat, and a drive shaft is rotatably mounted on the movable seat. Both ends of the drive shaft are provided with eccentric shafts, and swing arms are rotatably mounted on each eccentric shaft. Each swing arm has a V-shaped mounting bracket at its upper end, and massage rollers are rotatably mounted on both ends of the mounting bracket. A connecting rod is rotatably connected to the lower end of each swing arm. A second drive shaft is rotatably mounted through the movable seat, and eccentric swing arm mechanisms are provided at both ends of the second drive shaft and the corresponding connecting rod ends.

[0015] Preferably, one end of the movable seat is hinged to the movable seat, and the other end is provided with an arc-shaped toothed plate coaxial with the hinge point. An adjusting gear that meshes with the arc-shaped toothed plate is rotatably mounted on the movable seat, and the adjusting gear is driven by a motor mounted on the movable seat.

[0016] Preferably, the movable seat is rotatably mounted with movable shafts at both the upper and lower ends, and movable wheels are provided at both ends of the two sets of movable shafts. Movable tracks that cooperate with the movable wheels are provided along the surface trajectory on both the left and right sides of the physiotherapy chamber. Different-shaped racks are arranged on opposite sides of the two sets of movable tracks. Movable gears that mesh with the different-shaped racks are provided at both ends of one set of movable shafts. A worm gear II is provided on the movable shaft with the movable gears. The worm gear II meshes with a worm II that is rotatably mounted on the movable seat. The worm II is driven by a motor IV that is provided on the movable seat.

[0017] Compared with the prior art, the present invention provides an upper and lower limb rehabilitation device with the following beneficial effects: 1. This invention relies on an inflatable component and an electric exhaust valve to uniformly regulate the low-pressure stability of all airbags, achieving flexible and light wrapping and limiting of the upper and lower limbs without high-intensity full-area compression; then, through the reciprocating screw in the interlayer, the U-shaped local pressure component is driven to move back and forth at a uniform speed, and the semi-elliptical protrusions sequentially compress the independent airbags one point at a time, forming a zoned massage mode of "the rest of the airbags are pressure-stabilized and wrapped, and the single airbag is locally pressurized", realizing the sequential local pressure of a single group of airbags and alternating pressure release, resulting in better comfort.

[0018] 2. The present invention uses a closed-loop hot air heating pad, which is different from the traditional resistance wire direct contact heating. It relies on the heating chamber and air supply component to form a closed-loop hot air circulation, and the temperature control range is safe and adjustable. At the same time, it is equipped with a diagonal air inlet and outlet structure to ensure uniform temperature of the pad.

[0019] 3. In this invention, the air inlet branch pipe of the gas delivery component is connected to an electrically controlled temperature regulating valve in parallel, and the exhaust port pipe of the heat pack is connected to a three-way electrically controlled reversing valve. The three-way valve is set with two passages, forming two modes: a normal circulation passage and a direct exhaust passage. The normal circulation passage is used for regular heat packing, and the direct exhaust passage is used for accelerated cooling.

[0020] 4. This invention relies on the L-shaped airway of the core column and the linkage of the mechanical cut-off component with the moving massage component. Only when the massage roller presses down and squeezes the core column will the airway be briefly opened to release hot air for steaming. After the massage is reset, the airway closes and locks in the temperature, so as to achieve precise and synchronous hot steaming at the massage points and lock in the temperature of non-massage areas, reduce the ineffective loss of heat, reduce heating energy consumption, and realize the three-in-one linkage physiotherapy of mechanical massage, airbag compression, and hot steaming and hot compress.

[0021] 5. In this invention, the mobile massage component is equipped with a dual-motor independent / linked drive structure, which can individually realize the massage roller undulation and pressing, left and right swaying and kneading, and link together to realize a composite multi-dimensional massage trajectory.

[0022] 6. In this invention, the movable seat is hinged to the moving seat and equipped with a motor for three-way tilt adjustment, which can adjust the pressure of the massage top.

[0023] 7. In this invention, a swing rod and wave groove matching structure are added. During the translation process of the local pressure component, the swing rod swings and deflects along the wave groove. The protrusion no longer pushes and squeezes the airbag in a straight line, but completes the action of fitting and squeezing and separating and rebounding with the swing of the rod. Each airbag bears the intermittent pulse squeezing force, and the deformation rhythm of the airbag is more in line with the human hand massage. The limb is subjected to alternating pressure and relaxation, which further improves the comfort of limb rehabilitation massage.

[0024] Other advantages, objectives and features of the invention will be set forth in part in the description which follows; and in part will be apparent to those skilled in the art upon examination of the following description; or may be learned from practice of the invention. Attached Figure Description

[0025] Figure 1 This is a three-dimensional schematic diagram of the lying-down upper and lower limb rehabilitation physiotherapy device of the present invention.

[0026] Figure 2 This is a three-dimensional schematic diagram of the physiotherapy device of the present invention after the heating pad has been removed.

[0027] Figure 3 This is a schematic cross-sectional view of the physiotherapy device of the present invention.

[0028] Figure 4 This is a schematic diagram of the interaction between the moving track and the moving massage component of the present invention.

[0029] Figure 5 This is a schematic diagram of the limb massage component and its local pressure structure of the present invention.

[0030] Figure 6 For the present invention Figure 5 A cross-sectional view of the expansion panel added to the back of the airbag.

[0031] Figure 7 This is a schematic diagram showing the combination of the individual airbag and the local pressure component, as well as the airbag and the local pressure component with the added expansion panel, according to the present invention.

[0032] Figure 8 This is a schematic diagram of the swing drive structure of the local pressure component of the present invention.

[0033] Figure 9 This is a partial cross-sectional structural diagram of the heat therapy pad of the present invention.

[0034] Figure 10 For the present invention Figure 9 A partial schematic diagram of point A in the middle.

[0035] Figure 11 For the present invention Figure 10 A partial schematic diagram of point B in the middle.

[0036] Figure 12 This is a partial structural diagram of the sealing element and lifting rod of the present invention.

[0037] Figure 13 This is a front view schematic diagram of the mobile massage component of the present invention.

[0038] Figure 14 This is a rear view schematic diagram of the mobile massage component of the present invention.

[0039] Figure 15 For the present invention Figure 13 A schematic diagram of the cross-section at point CC.

[0040] Figure 16 For the present invention Figure 13 A three-dimensional schematic diagram of the axis.

[0041] Figure 17 For the present invention Figure 14 A three-dimensional axial view after removing the electrical control box.

[0042] Figure 18 For the present invention Figure 18 A schematic diagram of the belt drive side plane after removing the moving shaft and its drive structure.

[0043] Figure 19 This is a three-dimensional schematic diagram of the movable seat and its assembly according to the present invention. Figure 1 .

[0044] Figure 20 This is a three-dimensional schematic diagram of the movable seat and its assembly according to the present invention. Figure 2 .

[0045] Figure 21 This is a schematic diagram of the engagement of the drive shaft and the worm gear of the present invention.

[0046] Figure 22 This is a schematic diagram of the second drive shaft and its drive structure according to the present invention.

[0047] Figure 23 This is a partial schematic diagram of the moving shaft and its driving structure according to the present invention.

[0048] Figure 24 This is a schematic diagram of the gas flow in the normal circulation path and the direct discharge path of the present invention.

[0049] In the diagram: 1. Base chamber; 2. Therapy chamber; 3. Heating pad; 4. Massage chamber; 5. Moving massage component; 6. Layer; 7. Airbag; 8. Localized pressure component; 9. Protrusion; 10. Reciprocating lead screw; 11. Swing rod; 12. Wave groove; 13. Expanding panel; 31. Surface layer; 32. Core layer; 33. Bottom layer; 34. Heating chamber; 35. Air supply component; 36. Buffer layer; 321. Core column; 322. Air passage; 323. Closure structure; 324. Truss plate; 325. Sealing component; 326. Lifting rod; 327. Lifting plate; 328, Rubber pad; 41, Moving seat; 42, Moving shaft; 43, Moving wheel; 44, Movable seat; 45, Drive shaft one; 46, Worm gear one; 47, Worm one; 48, Eccentric shaft; 49, Swing arm; 410, Mounting bracket; 411, Massage roller; 412, Connecting rod; 413, Drive shaft two; 414, Hinge seat; 415, Arc-shaped toothed plate; 416, Adjusting gear; 417, Moving track; 418, Irregular rack; 419, Worm gear two; 420, Worm two; 421, Moving gear. Detailed Implementation

[0050] The following will refer to the appendices in the embodiments of the present invention. Figure 1-24 The technical solutions in the embodiments of the present invention will be clearly and completely described. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0051] Example 1: Most existing seat-type airbag rehabilitation therapy devices use full-area airbags for synchronous inflation and compression, which causes limb constriction and suffocation, and cannot provide segmented local pressure massage. This solution provides a reclining upper and lower limb rehabilitation device that constructs an independent multi-airbag segmented massage structure.

[0052] See attached document Figure 1 As shown, the main external structure of the physiotherapy device consists of the base chamber 1 and the physiotherapy chamber 2: The base chamber 1 is a closed-type load-bearing chamber made of cold-rolled steel plate, bent and welded. The top surface of the base chamber 1 is bolted to a seat-shaped therapy chamber 2. The therapy chamber 2 is formed by bending a steel structure into a human-inspired lying opening, and the side walls are filled with hard plastic plates, assembled into a lying therapy structure (with ventilation holes and equipment wiring holes, etc., as basic external structures). The therapy chamber 2 has an opening along the surface of the lying structure, and the opening area is equipped with a movable massage component 5 that can move back and forth along the opening for back massage therapy after the patient lies down; a lying mat is hot-melted and laid at the opening for the patient to lie down and prevent the patient from falling out of the opening.

[0053] The physiotherapy chamber 2 has massage chambers 4 extending outwards on both sides to fit the limbs. The upper limb massage chambers 4 and lower limb massage chambers 4 are arranged independently in separate zones. Multiple flexible, wear-resistant, and elastic airbags 7 are sequentially bonded and fixed along the length of both sides of the inner cavity of each massage chamber 4. All airbags 7 have air inlets at their bottom, with connecting hoses at the air inlets. Multiple connecting hoses on the same side are connected to a rigid air inlet pipe (which can be clamped to the inner wall of the massage chamber 4 using a clamp structure). The air inlet pipe passes through the side wall of the massage chamber 4 and connects to an inflation assembly (silent air pump) located inside the side wall of the massage chamber 4. An extension pipe is located near the air pump flange of the air inlet pipe, and an electric electromagnetic exhaust valve is located at the end of the extension pipe. The electromagnetic exhaust valve's wiring terminal is connected to the central control panel of the device, which can assist in pressure regulation and exhaust, and can also automatically open fully after power failure for emergency pressure relief. The airbags 7 on both sides are simultaneously inflated by the inflation assembly, causing the airbags 7 to expand and compress the limbs, thus forming the basic airbag-wrapped compression massage structure. However, the inflation of the airbag 7 is controlled to a relatively light wrapping force (the start time of the inflation component, i.e. the inflation time, can be controlled by the central controller, thereby controlling the inflation state), so as to avoid the affected limb feeling that blood circulation is obstructed.

[0054] See attached document Figure 5 As shown, the massage chamber 4 has a closed cavity structure with a wall layer 6. A linear slide rail is pre-embedded in the inner wall of the layer 6, and the slide rail slides and engages with a U-shaped steel local pressure component 8. A screw nut is welded to the center of the horizontal base plate of the local pressure component 8. Reciprocating screws 10 are mounted on both ends of the layer 6 via bearing seats, and the threads of the reciprocating screws 10 are matched with the screw nut. A speed-regulating drive motor is bolted to the side wall of the layer 6. The speed-regulating drive motor coupling is coaxially connected to the end of the reciprocating screw 10. The speed-regulating drive motor drives the reciprocating screw 10 to rotate, causing the local pressure component 8 to slide linearly back and forth along the layer 6. Semi-elliptical protrusions 9 are integrally injection-molded on the opposite surfaces of the vertical plates on both sides of the local pressure component 8, and the protrusions 9 abut against the back of the airbag 7.

[0055] Based on the above technical solution: The patient lies supine on the surface of the massage chamber 2, with their limbs positioned within the designated areas formed by the airbags 7 inside the corresponding massage chamber 4. The operator activates the inflation mechanism via the central control panel, inflating all the airbags 7 to flexibly and snugly wrap around the skin of the limbs. The inflation pressure is controlled according to the patient's comfort level, providing only restraint and a light fit without excessive pressure. Next, the speed-regulating drive motor within the cavity of the interlayer 6 is activated, driving the reciprocating screw 10 to rotate and causing the local pressure-applying component 8 to slide back and forth along the length of the massage chamber 4. During this sliding motion, the semi-elliptical protrusions 9 on both sides sequentially compress individual airbags 7, causing localized deformation and increased pressure in the compressed airbags 7, pressing on the corresponding limb points. The remaining airbags 7 maintain a low-pressure, stable state. After the protrusions 9 disengage, the airbags 7 automatically rebound and release pressure. Thus, as the local pressure-applying component 8 moves back and forth with the protrusions 9, sequential point-pressure massage of the limbs using the airbags 7 can be completed. Furthermore, the massage frequency can be adjusted by controlling the speed of the speed-regulating drive motor.

[0056] Compared to the traditional full-area airbag 7 wrapping massage mode, the linkage structure of the pressure-stabilizing airbag 7 gently wrapping and the segmented compression airbag 7 with the local pressure component 8 protruding 9 ensures smooth blood circulation in the limbs without obvious stuffiness. Furthermore, by utilizing the movement of the local pressure component 8, the airbag 7 can be pressurized and released alternately in sequence to achieve the purpose of segmented bionic acupressure airbag 7 physiotherapy for the limbs, resulting in better comfort.

[0057] At the same time, the internal moving massage component 5 of the physiotherapy chamber 2 moves back and forth along the opening on the body surface to massage the back.

[0058] In this embodiment, refer to the appendix Figure 6 , 7 As shown, an expansion panel 13 can be provided on the back side of the airbag 7. The expansion panel 13 can prevent the protrusion 9 from being too large, which would result in insufficient smoothness of movement and compression. It can also expand the compression range between the protrusion 9 and the airbag 7, making the pressure increase effect at the compression point more obvious.

[0059] Example 2: In Example 1, the local pressure component 8 and the protrusion 9 are used to sequentially compress the airbag 7 to achieve the purpose of sequential local pressure. However, the local pressure component 8 slides linearly, and the protrusion 9 exerts continuous linear pressure on the airbag 7. The deformation of the airbag 7 is uniform, the massage is stiff, and it lacks the dynamic tactile sensation of human hand kneading, pressing, and separating, resulting in insufficient biomimicry. Therefore, in this example, a swinging deflection compression structure is added to achieve intermittent kneading and compression of the airbag 7.

[0060] See attached document Figure 8 As shown, vertical slots are cut into the vertical plates on both sides of the U-shaped local pressure component 8. A pin is pivotally mounted inside the slot to accommodate a protrusion 9, and a swing rod is integrally mounted on the upper end of the protrusion 9. A horizontal wave groove 12 is bolted to the vertical top surface of the massage chamber 4's interlayer 6, and the upper end of the swing rod is inserted into the wave groove 12. During the horizontal translation of the local pressure component 8 driven by the reciprocating screw 10, the upper end of the swing rod slides and deflects along the undulating trajectory of the wave groove 12, thereby causing the protrusion 9 to swing back and forth around the pin. The protrusion 9 no longer presses against the airbag 7 in a straight line, but instead completes an alternating action of contact compression and separation rebound with the swing of the rod. Each airbag 7 bears intermittent pulse compression force, and the deformation rhythm of the airbag 7 is more in line with human hand massage. The limbs experience alternating pressure and relaxation, further improving blood circulation in the extremities, reducing the soreness and fatigue caused by continuous compression, and providing a better therapeutic experience.

[0061] In this embodiment, the wave groove 12 can also be arranged periodically with varying heights (with a wave groove 12 peak and valley of different amplitudes spaced apart), so that the sliding trajectory is varied and the massage state and intensity are varied.

[0062] In Example 3, to make the patient's lying position more comfortable and relaxing, a heating pad 3 was selected. This allows the patient to experience safe heat dissipation while lying down, promoting greater physical and mental relaxation. Traditional physiotherapy heating involves directly heating the pad 3 with embedded heating wires (similar to an electric blanket). To achieve even heating, the heating wires need to be densely arranged, which can easily lead to short circuits. Furthermore, this method is not safe enough; for example, aging or damaged wires can pose risks to the user. Therefore, in this example, the heating pad 3 is optimized and improved by using circulating hot air instead of electric heating, making it safer to use.

[0063] See attached document Figure 9 As shown, the heating pad 3 has a three-layer composite structure, including a surface layer 31, a core layer 32, and a bottom layer 33. The surface layer 31 and the bottom layer 33 are both made of 1.5mm thick, airtight, flexible silicone material, with the edges sealed by high-frequency heat fusion. The core layer 32 is wrapped in the middle to form a sealed, independent heating space. The core layer 32 is composed of several arrays of independent vertical core columns 321. The lower end of the core column 321 is bonded to the inner surface of the bottom layer 33, and the upper end is bonded to the inner surface of the surface layer 31. The bonding joint is sealed with sealant to prevent air leakage. The core column 321 is integrally injection molded, with radially thicker ends and radially narrower ends in the middle. A single core column 321 is shaped like a waist drum. The array of core columns 321 supports the surface layer 31, and the middle of adjacent core columns 321 with narrowed ends is connected to form a transverse hot air duct throughout the entire area. The heating pad 3 is provided with an air inlet and an air outlet connected to the air duct for the intake and exhaust of hot air.

[0064] A heat-insulated heating chamber 34 is bolted to the inner wall of the physiotherapy chamber 2. The heating chamber 34 contains a PTC ceramic electric heating element (with an embedded fixed digital display temperature sensor and a centrally controlled temperature module, locking the heating temperature within a safe range of 20℃-60℃). The heating chamber 34 has its own heat-insulating rock wool layer 6 to prevent heat conduction and dissipation from affecting the normal operation of other components. The air outlet of the heating chamber 34 is connected to the air inlet of the heat pad 3 via a flexible hose. The air inlet flange of the heating chamber 34 is connected to the air supply assembly 35, which is a silent centrifugal fan. The return air pipe of the centrifugal fan is connected to the exhaust port of the heat pad 3 via a flexible hose, forming a closed-loop hot air circulation pipeline.

[0065] Based on the above technical solution: When heat therapy is needed, the electric heating component is activated via the central control panel to heat the air inside the heating chamber 34 at a constant temperature. Once the set temperature is reached, the air supply component 35 is activated. The centrifugal fan pressurizes the air inside the heating chamber 34 and sends it from the air inlet into the sealed air duct of the heat therapy pad 3. The hot air then diffuses along the gaps in the waist-drum shaped core column 321 to all four corners of the pad, ensuring no dead zones in the airflow. The front, rear, and middle sections of the pad heat up simultaneously and evenly. When the patient's limb presses down on the surface layer 31, the core column 321 deforms under pressure, and the central air duct slightly contracts, increasing the hot air pressure and enhancing the local heat exchange efficiency. The cooled hot air flows back to the air supply component 35 from the exhaust port and is reintroduced into the heating chamber 34 for a secondary heating cycle. This cycle of heat exchange provides overall heating for gentle heat therapy on the patient's torso. Turning off the heating component stops the heating process, and the fan can operate alone to achieve air-cooled constant temperature within the pad.

[0066] Utilizing a self-formed hot air circulation channel with a variable-diameter core column 321, no additional air ductwork is required, simplifying the internal structure of the pad. Low hot air resistance ensures high synchronization of temperature rise across the entire pad, with adaptively increased air pressure in pressure-bearing areas, resulting in more targeted heat therapy. Furthermore, the closed-loop heat exchange eliminates the risk of direct skin contact with heating wires, providing a warm and gentle heat therapy experience. The closed-loop hot air circulation also reduces energy consumption and ensures uniform temperature throughout the pad.

[0067] In this embodiment: the air inlet branch pipe of the gas delivery assembly 35 is connected to an electrically controlled temperature regulating valve, which is connected to the outside fresh air; the exhaust port pipe of the heat therapy pad 3 is connected to a three-way electrically controlled reversing valve, and the three-way valve is configured with two passages: refer to the attached document. Figure 24 As shown, the first passage connects the exhaust port to the air inlet of the air supply component 35 (normal circulation passage), and the second passage connects the exhaust port to the external exhaust pipe on the rear side of the bottom chamber 1 (direct exhaust passage); all valve bodies are electrically connected to the central control temperature control module. Thus, during normal constant temperature heat therapy: the three-way valve connects to the circulation passage, the temperature control valve closes, and heat exchange occurs in a closed loop within the heat pad; when the temperature sensor detects a temperature higher than the preset safety threshold, the electric heating component is powered off, the three-way valve switches to the direct exhaust passage, and simultaneously the electrically controlled temperature control valve opens, and the centrifugal fan continues to operate. At this time, the centrifugal fan draws outside air from the electrically controlled temperature control valve and sends it into the pad through the heating chamber 34, neutralizing the residual temperature inside the pad, while the high-temperature hot air inside the pad is directly discharged outdoors from the rear side of the bottom chamber 1, thus rapidly cooling down; dual-mode temperature control and cooling provide a fast temperature response and avoid the risk of burns from high temperatures. After cooling reaches the target, the valve body resets, restoring the closed-loop heat therapy mode.

[0068] In this embodiment, an air inlet is opened at the upper left corner of the heating space of the heating pad 3, and an exhaust outlet is opened at the lower right corner. The two air inlets are arranged diagonally and farthest away. In this way, after the hot air enters the pad, it flows across the entire area of ​​the pad along the diagonal, traversing all the core columns 321 air ducts before returning to exhaust. This maximizes the extension of the hot air flow path, eliminates the low temperature blind spots at the edges and corners of the pad, eliminates heat exchange blind spots, and allows for synchronous heating and heat application throughout the entire area. The temperature difference of the entire pad is controlled within ±2℃, and the uniformity of heat application is improved.

[0069] Example 4, refer to Appendix Figure 10 As shown, the core column 321 within the opening coverage area of ​​the physiotherapy chamber 2 is made of elastic silicone. An L-shaped rigid through-flow airway 322 is vertically opened inside the core column 321. The horizontal air inlet of the airway 322 is located at the narrowed air duct position of the core column 321, and the vertical air outlet extends upwards through the surface layer 31. A circular expansion plate is interference-fitted into the upper end of the airway 322. The expansion plate increases the contact area with the patient, preventing sharp point injuries.

[0070] In this state, the hot air duct inside the heating pad 3 is connected to the surface layer 31 of the heating pad 3 through the air duct 322. The hot air in the air duct passes through the air duct 322 and exits the surface layer 31 to provide targeted heat steam to the body surface. The hot air directly contacts the human body, making the body surface feel more sensitive.

[0071] A 3mm breathable knitted cotton buffer layer 36 can be bonded to the outer surface of the surface layer 31 of the heating pad 3. The knitted buffer layer 36 can be used to apply heat to specific points on the body surface, which can further prevent burns under temperature-limited conditions.

[0072] However, some patients only want hot compresses and not steam treatment. Therefore, a shut-off component can be installed vertically in the airway 322: under normal conditions, the shut-off component closes the airway 322, retaining the hot air within the pad for insulation, providing only hot compresses; when the movable massage component 5 moves to the bottom of the core column 321, it presses upwards against the bottom layer 33 of the hot compress pad 3. The bottom layer 33 deforms the core column 321, triggering the shut-off component to open the L-shaped airway 322. The hot airflow within the airway passes through the airway 322 and exits through the surface layer 31, providing both hot compresses and steam treatment. After the movable massage component 5 leaves the core column 321, the core column 321 springs back to its original position, and the shut-off component automatically closes the airway 322, stopping the targeted steam treatment. This also allows for targeted steam treatment in specific areas, while keeping non-massage areas warm and reducing heat loss.

[0073] In this embodiment, refer to the appendix Figure 10 , 11 As shown, the shut-off assembly includes a tapered conical end structure 323 integrally formed with a reduced diameter in the vertical section of the air passage 322. A metal truss 324 is horizontally welded and fixed above the end within the air passage 322, with symmetrical air leakage openings on its left and right sides. A cylindrical elastic rubber seal 325 is vertically inserted through the center of the truss 324, with the lower end of the seal 325 being a hemispherical shape that mates with the tapered end structure 323. A rigid lifting rod 326 is coaxially fixed to the lower end of the seal 325, penetrating vertically downwards through the bottom wall of the air passage 322 and the spindle. A rubber shaft seal is embedded in the penetration gap to ensure airtightness at the penetration location. Under normal conditions, the elastic seal 325 presses down against the tapered end, sealing the air passage 322.

[0074] When the movable massage component 5 moves upward and presses against the bottom layer 33 of the hot compress pad 3, the bottom layer 33 compresses and deforms the core column 321 axially. The core column 321 pushes the lifting rod 326 upward, and the lifting rod 326 lifts the elastic seal 325. The seal 325 disengages from the conical opening, and the air passage 322 forms a flow gap. The hot air in the air passage is discharged from the air passage 322 through the leak and the gap. After the movable massage component 5 is removed, the core column 321 elastically rebounds, the lifting rod 326 moves downward to reset, the elastic seal 325 re-fits the opening, and the air passage 322 closes and locks in air.

[0075] The device features a purely mechanical linkage for opening and closing, opening upon compression and closing upon rebound, synchronized with the body surface massage movements. It offers high precision in targeted steaming and fumigation, requires no wiring or electronic control sensors, is compatible with the working environment of the therapy chamber 2, eliminates the risk of short circuits, eliminates the need for subsequent circuit maintenance, and reduces costs.

[0076] The seal 325 can have multiple openings on its side wall to facilitate deformation by the lifting rod 326, so that a stable gas flow gap can be formed in the air passage 322.

[0077] A support ring is provided on the lifting rod 326 at the bottom of the seal 325. The support plate increases the connection tightness between the lifting rod 326 and the seal 325, so that the bottom end of the seal 325 is pushed upward and deformed.

[0078] In Example 5, while the core column 321 in Example 4 was made of an elastic material, in this example, it is made of a hard plastic material. Therefore, the core column 321 cannot be deformed by the moving massage assembly 5. Thus, a lifting plate 327 is fixedly installed at the lower end of the lifting rod 326. The lower end of the spindle has a slot for embedding the lifting plate 327, and a rubber pad 328 is placed inside the slot. The lifting plate 327 rests against the rubber pad 328, and its lower end extends out of the slot. When the moving massage assembly 5 passes by, it first squeezes the lifting plate 327, which in turn squeezes the rubber pad 328. The rubber pad 328 retracts, providing upward movement space for the lifting rod 326. The moving rod rises and squeezes the sealing element 325, causing the sealing element 325 to deform and form a ventilation gap.

[0079] Example 6, refer to Appendix Figure 13 , 14 As shown, the movable massage component 5 includes a movable base 41, which is a U-shaped steel frame structure. Movable shafts 42 are rotatably mounted on both the upper and lower ends of the movable base 41 via bearings. Wear-resistant movable wheels 43 are interference-fitted to both ends of the movable shafts 42. (See attached diagram.) Figure 3 , 4As shown, the left and right inner walls of the therapy chamber 2 are both bolted with closed-loop irregularly shaped tracks, consistent with the biomimetic tracks for lying down, serving as moving tracks 417. Moving wheels 43 engage with the moving tracks 417 for movement. Two sets of moving tracks 417 are located on opposite sides of two sets of moving wheels 43 on the same moving shaft 42, each bolted with an irregularly shaped rack 418, which is set along the moving tracks 417. One set of moving shafts 42 has moving gears 421 fixedly installed at both ends (the lower moving shaft 42 is shown in the attached diagram), and the moving gears 421 mesh with the irregularly shaped racks 418 for transmission. (Refer to attached diagram.) Figure 23 As shown, the shaft of the movable shaft 42 is also fixed with a worm gear 419. A motor 4 is bolted to the inside of the movable seat 41. The output shaft of the motor 4 is coaxially fixed with a worm gear 420. The worm gear and worm reducer engage to achieve self-locking (see attached diagram). Figure 17 It is known that the movable seat 41 is equipped with an isolation cover 419 and 420 (so that they are not obviously visible). When the motor 4 is started, the worm gear 420 drives the worm wheel 419 to decelerate and rotate, driving the rear movable shaft 42 and the movable gear 421 to move along the irregular rack 418, thereby moving the entire movable seat 41 at a uniform speed along the biomimetic contour of the human waist and back. When the motor 4 is turned off, the worm gear locks itself, and the movable seat 41 is immediately locked at a fixed point, providing long-lasting massage at the fixed point. By adjusting the speed of the motor 4, the overall massage displacement frequency of the movable massage assembly 5 can be adjusted.

[0080] A movable seat 44 is fixedly installed on the rear side of the movable seat 41. A drive shaft 45 is mounted on the inner cavity of the movable seat 44 via bearings. A worm gear 419 is coaxially mounted on the drive shaft 45 and is located inside the movable seat 44. A motor is fixedly installed on the movable seat 44 by bolts. The output shaft of the motor is inserted into the movable seat 44 and a worm gear 47 is fixedly installed thereon. The worm gear 47 and the worm gear 46 are engaged in transmission.

[0081] The drive shaft 45 has eccentric shafts 48 at both ends, which are arranged at an angle and are not parallel or coaxial. A swing arm 49 is mounted on the eccentric shaft 48 via a universal ball joint. A V-shaped frame is bolted to the upper end of the swing arm 49, and anti-slip silicone massage rollers 411 are mounted on the rotating shafts at both ends of the V-shaped frame. A connecting rod 412 is also connected to the lower end of the swing arm 49 via a universal ball joint. An eccentric sleeve is universally hinged to the bottom end of the connecting rod 412, and an eccentric connector is embedded in the eccentric sleeve. The two sets of eccentric connectors are coaxially connected to a drive shaft 413, which is rotatably mounted on a movable seat 44 via a bearing. The eccentric components and the drive shaft 413 drive coaxially, forming the eccentric swing arm 49 mechanism. A motor 2 is also bolted to the movable seat 44. A drive pulley is mounted on the output end of the motor 2, and a driven pulley is mounted on the end of the drive shaft 413. The drive pulley and the driven pulley are connected by a synchronous belt in a closed-loop transmission.

[0082] The movable seat 41 is equipped with an electrical control box for the movable massage component 5 and the corresponding drive electronic device, and a main control electrical connection. The electrical connection cable is laid through a drag chain structure. The drag chain can not only provide protection, but also prevent the cable from being dragged during movement.

[0083] Based on the above technical solution: During the mobile massage process, motor four starts and drives worm gear two 419 to rotate via worm gear two 420, which in turn drives the rear moving shaft 42 and moving gear 421 to move along the irregular rack 418, thereby causing the entire moving seat 41 to move at a constant speed along the biomimetic contour of the human waist and back. The forward and reverse rotation of motor four allows the mobile massage component 5 to reciprocate along the moving track 417. During the journey: Motor 1 can be started independently: worm gear 47 drives worm wheel 46 to rotate, driving shaft 45 and inclined eccentric shaft 48 to revolve. At this time, motor 2 is locked and the connecting rod 412 is limited, preventing the swing arm 49 from rotating coaxially. This causes the swing arm 49 to undulate up and down, and the massage roller 411 completes the undulating pressing massage.

[0084] Motor 2 can be started independently: it drives the drive shaft 413 to rotate via belt transmission, and the eccentric swing arm 49 drives the connecting rod 412 to move eccentrically. The connecting rod 412 pushes and pulls the swing arm 49 to deflect left and right, and the massage roller 411 completes the left and right swinging and kneading.

[0085] Motor 1 and Motor 2 can be started simultaneously: forming the above-mentioned undulating motion + swaying motion vector composite motion, and the massage roller 411 forms an irregular bionic multidimensional massage trajectory.

[0086] By controlling the individual or simultaneous operation of motor one and motor two, three massage modes can be freely switched, covering the entire range of massage modes, including swinging kneading, undulating pressing, and multi-dimensional compound massage, which is suitable for the layered release of 31 fascia on the surface of the limbs and deep muscles.

[0087] In this embodiment, the V-shaped mounting bracket 410 is mounted on the swing arm 49 via a damping pivot. This allows the massage roller 411 to deflect with the rise and fall of the patient's back when it comes into contact with the patient's back, resulting in a more comfortable massage. The damping pivot connection prevents the deflection from being too easy, thus preventing the massage roller 411 from slipping off due to excessive looseness.

[0088] Example 7: During the massage, different patients have different body types and different tolerances to pressure on different parts of their body. Therefore, in this example, the moving massage component 5 is optimized and an angle adjustment structure is added to control the massage pressure stroke, so that the massage intensity can be adjusted.

[0089] See attached document Figure 15 , 17As shown in Figures 20 and 21, the lower end of the movable seat 44 is connected to the movable seat 41 via a hinge seat 414, allowing the movable seat 44 to be rotatably mounted on the movable seat 41. An arc-shaped toothed plate 415 is coaxially mounted on the movable seat 44 along the hinge axis, with the teeth of the arc-shaped toothed plate 415 facing outwards. A rotating shaft is rotatably mounted on the inner side of the movable seat 41, and an adjusting gear 416 is mounted on the rotating shaft, meshing with the arc-shaped toothed plate 415. A motor 3 is bolted to the movable seat 41, and the motor 3 is also connected to the rotating shaft via a worm gear structure (this worm gear structure is not shown in the attached figure due to the cover). The hollow U-shaped movable seat 41 itself provides space for the movable seat 44 to swing. The meshing of the adjusting gear 416 drives the movable seat 44 to pitch and rotate, changing the vertical height of the massage roller 411 relative to the body surface.

[0090] This allows the motor to be activated based on the user's body shape and tolerance, driving the adjusting gear 416 to mesh with the arc-shaped toothed plate 415 and rotate, causing the movable seat 44 to tilt up / down around the hinge point. When the movable seat 44 tilts down, the massage roller 411 is closer to the body surface, increasing the pressure stroke and intensity; when the movable seat 44 tilts up, the massage roller 411 is further away from the body surface, decreasing the pressure stroke and providing a gentler massage, adapting to the different needs of gentle limb therapy and deep back therapy. A worm gear structure ensures self-locking of the position.

[0091] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

[0092] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0093] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A rehabilitation device for the upper and lower limbs, comprising a base chamber (1) and a seat-shaped physiotherapy chamber (2) disposed on the base chamber (1), characterized in that, The physiotherapy chamber (2) has an opening along its surface, and a hot compress pad (3) is laid on the surface of the opening. The physiotherapy chamber (2) is equipped with a movable massage component (5) that moves back and forth along the opening. The physiotherapy chamber (2) is equipped with massage chambers (4) corresponding to the four limbs. Multiple airbags (7) are arranged sequentially along the length direction in the massage chamber (4). The air inlets of the multiple airbags (7) are connected to an air inlet pipe. The air inlet pipe is connected to an inflation component. An exhaust valve is also provided near the inflation component of the air inlet pipe. The massage chamber (4) is equipped with a sandwich layer (6). A U-shaped local pressure component (8) is slidably installed along the length direction in the sandwich layer (6).

2. The upper and lower limb rehabilitation device according to claim 1, characterized in that, The heating pad (3) includes a top layer (31), a core layer (32), and a bottom layer (33) from top to bottom. The top layer (31) and the bottom layer (33) cover the core layer (32) to form a sealed heating space. The heating space is connected to an air inlet and an exhaust outlet. The air inlet is connected to a heating chamber (34) located in the physiotherapy chamber (2). The heating chamber (34) is connected to an air supply component (35). The air inlet of the air supply component (35) is connected to the exhaust outlet.

3. The upper and lower limb rehabilitation device according to claim 2, characterized in that, The core layer (32) is composed of several core pillars (321), and the upper and lower ends of the several core pillars (321) are connected to the surface layer (31) and the bottom layer (33) respectively; the size of the core pillars (321) gradually decreases from the two ends to the center.

4. The upper and lower limb rehabilitation device according to claim 3, characterized in that, At least the core column (321) within the opening range of the physiotherapy chamber (2) is provided with an L-shaped airway (322). The air inlet of the airway (322) is close to the center of the core column (321), and the air outlet extends upward and penetrates the surface layer (31). The airway (322) is provided with a shut-off component, and the airway (322) is only briefly opened after the moving massage component (5) passes through.

5. The upper and lower limb rehabilitation device according to claim 2, characterized in that, The gas delivery assembly (35) is equipped with a temperature control valve at the air inlet end.

6. The upper and lower limb rehabilitation device according to claim 2, characterized in that, The air inlet and exhaust outlet are arranged diagonally.

7. The upper and lower limb rehabilitation device according to claim 4, characterized in that, The air passage (322) is a rigid structure. The cut-off component includes a closing structure (323) set in the vertical part of the air passage (322). A truss (324) is provided in the air passage (322) above the closing structure (323). Air leakage ports are provided on both sides of the truss (324). An elastic sealing element (325) is provided at the lower end of the truss (324). The sealing element (325) is abutted against the closing structure (323). A lifting element is provided at the lower end of the sealing element (325). The lifting element penetrates the air passage (322) downward and a shaft seal is provided at the penetration part.

8. The upper and lower limb rehabilitation device according to any one of claims 1-7, characterized in that, The mobile massage component (5) includes a mobile seat (41), which moves along the surface trajectory of the physiotherapy chamber (2) within the physiotherapy chamber (2). A movable seat (44) is provided on the back side of the mobile seat (41). A drive shaft (45) is rotatably mounted on the movable seat (44). An eccentric shaft (48) is provided at both ends of the drive shaft (45). A swing arm (49) is rotatably mounted on the eccentric shaft (48). A V-shaped mounting bracket (410) is provided at the upper end of the swing arm (49). A massage roller (411) is rotatably mounted at both ends of the mounting bracket (410). A connecting rod (412) is rotatably connected to the lower end of the swing arm (49). A drive shaft (413) is rotatably mounted through the movable seat (44). An eccentric swing arm (49) mechanism is provided at both ends of the drive shaft (413) and the corresponding side connecting rod (412).

9. The upper and lower limb rehabilitation device according to claim 8, characterized in that, The movable seat (44) is hinged at one end to the movable seat (41) and the other end is provided with an arc-shaped toothed plate (415) coaxial with the hinge point. An adjusting gear (416) that meshes with the arc-shaped toothed plate (415) is rotatably mounted on the movable seat (41). The adjusting gear (416) is driven by a motor on the movable seat (41).

10. The upper and lower limb rehabilitation device according to claim 8, characterized in that, The movable seat (41) is rotatably mounted with movable shafts (42) at both ends. Both ends of the two sets of movable shafts (42) are provided with movable wheels (43). The left and right sides of the physiotherapy chamber (2) are provided with movable tracks (417) that cooperate with the movable wheels (43) along the surface trajectory. The opposite sides of the two sets of movable tracks (417) are provided with special-shaped racks (418). Both ends of the movable shaft (42) are provided with movable gears (421) that mesh with the special-shaped racks (418). The movable shaft (42) with the movable gears (421) is provided with a worm gear (419). The worm gear (419) meshes with a worm (420) that is rotatably mounted on the movable seat (41). The worm (420) is driven by a motor four provided on the movable seat (41).

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