Traction swing loosening rehabilitation training device

Abstract

The utility model provides a traction swing loosening rehabilitation training device. The traction swing loosening rehabilitation training device comprises a rack, a traction mechanism and a motion platform, the traction mechanism is located above the motion platform and used for pulling a human body; the motion platform is arranged at the bottom of the rack and used for achieving composite motion of rotation and inclination of the human body supporting face. During use, a human body stands or sits on the motion platform, the human body is dragged through the traction mechanism, the motion platform does composite motion of rotation and inclination, the human body can be driven to swing in a reciprocating mode, meanwhile, the human body is subjected to the traction effect of the upper portion, the position height changes when the human body swings in a reciprocating mode, and the traction effect is weakened when the position rises; when the position is lowered, the traction effect is enhanced, so that the effects of skeleton and muscle traction loosening and tension are achieved; through the combined action of the traction mechanism and the motion platform, traction loosening and tension functions are introduced into dynamic balance training, the expandability of the device can be improved, and the rehabilitation training effect can be enhanced.

Description

Technical Field

[0001] The utility model relates to the field of medical rehabilitation equipment, in particular to a traction, swing and loosening rehabilitation device. Background Art

[0002] Dynamic balance training devices can adjust the resistance of the device when tilted in various directions. This can train core strength, improve the stability of the pelvis and spine, and promote the recovery of the body's balance and control abilities. At the same time, dynamic balance training devices can enhance joint balance function and muscle coordination training to promote the joint's sensitivity to information transmission of pressure and load. They are important instruments for improving the central nervous system's ability to control joint neuromuscular function and enhancing proprioception. They can help us quickly adjust the tension of muscles around joints during exercise, thereby making movements more coordinated and adjusting from vulnerable positions more quickly to avoid injury. They are also important devices for post-injury rehabilitation training.

[0003] Utility model patent CN101466441B discloses a whole-body exercise device that can be used for dynamic balance training. The device uses a tiltable reciprocating swinging platform in combination with a simple hand support bracket. Users standing on the platform can only perform relatively simple training, and the scalability is low. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the present invention proposes a traction, swing and loosening rehabilitation training device, which introduces traction, loosening and tensioning functions into dynamic balance training, thereby improving the scalability of the device and enhancing the effect of rehabilitation training.

[0005] The technical solution of the present utility model is achieved as follows:

[0006] A traction, swing and loosening rehabilitation training device comprises a frame, a traction mechanism and a motion platform arranged on the frame;

[0007] The traction mechanism is located above the motion platform and is used to pull the human body;

[0008] The motion platform is arranged at the bottom of the frame and is used to realize the compound motion of rotation and tilt of the human body support surface.

[0009] Preferably, the traction mechanism includes a support plate fixedly mounted on the frame, and a winch module, a pulley module, a spring module and a position adjustment module arranged on the support plate;

[0010] The winch module is used to retract and release the traction rope; the pulley module includes a first movable pulley, a fixed pulley and a second movable pulley arranged in sequence along the direction of the traction rope outgoing, and also includes a tension sensor for detecting the tension of the traction rope. The tension sensor is arranged on the support plate and is located on one side of the traction rope. The spring module is used to provide elastic force for the first movable pulley, and the position adjustment module is used to laterally adjust the position of the second movable pulley.

[0011] Preferably, the winch module includes a winch for winding a traction rope, a servo motor, a first gear and a second gear, the servo motor is arranged on a support plate, the output shaft of the servo motor is connected to the first gear, the first gear and the second gear are meshed and connected, and the second gear is coaxially arranged with the winch.

[0012] Preferably, the spring module includes a guide shaft, a spring and a mounting frame, the mounting frame is arranged on the support plate, one end of the spring is fixed on the support plate, and the other end is connected to the guide shaft, and the end of the guide shaft away from the spring is connected to the first movable pulley, and the first movable pulley is located above the middle of the support plate.

[0013] Preferably, a long through hole is provided in the middle of the support plate, and the position adjustment module includes a slide rail, a slide plate, a first electric push rod and a displacement sensor.

[0014] The slide rails are arranged on the support plate and located on both sides of the through hole. The slide plate is slidably arranged on the slide rails. The second movable pulley is arranged on the bottom surface of the slide plate. One end of the slide plate is connected to the first electric push rod. A displacement sensor is arranged on one side of the slide plate.

[0015] Preferably, the motion platform includes a base, a platform arranged on the base, and a driving assembly, and the driving assembly drives the platform to perform a composite motion of rotation and tilt relative to a fixed axis perpendicular to the base.

[0016] Preferably, the driving assembly includes a rotating motor, a rotating shaft, a connecting rod, a slider, an eccentric shaft and a universal ball;

[0017] The rotating shaft is arranged vertically, the rotating motor is connected to the lower end of the rotating shaft, the upper end of the rotating shaft is connected to the middle part of the connecting rod, the slider slides on the top surface of the connecting rod and is restricted to sliding between one end of the connecting rod and the middle part of the connecting rod, the eccentric shaft is arranged vertically on the top surface of the slider, the upper end of the eccentric shaft is connected to the universal ball, a mounting hole is provided in the center of the bottom surface of the platform, the universal ball is rotatably connected in the mounting hole, and the fixed axis is the axis of the rotating shaft.

[0018] Preferably, a slot is provided on the spherical surface, a connecting rod is vertically provided on the bottom surface of the platform, and a guide wheel is provided at the lower end of the connecting rod, and the guide wheel slides in the slot.

[0019] Preferably, it further comprises a third electric push rod arranged on one side of the card slot, and the third electric push rod is used to push the card slot to cause the card slot to deflect.

[0020] Preferably, the drive assembly includes a universal cross-section, a swing shaft, two movable joints, and two linear actuators arranged perpendicular to each other. The universal cross-section is arranged at the upper end of the swing shaft and movably connected to the center of the bottom surface of the platform. The two movable joints are both mounted on the lower end of the swing shaft, and the two linear actuators are respectively hinged to the two movable joints.

[0021] Preferably, it also includes a plurality of armrests arranged in the middle of the frame.

[0022] Preferably, the device further comprises a touch screen arranged on the frame, and the touch screen is electrically connected to the control mechanism of the rehabilitation training device.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] (1) By setting up a traction mechanism and a motion platform, when in use, the human body stands or sits on the motion platform, and the traction mechanism pulls the human body. The motion platform performs a compound motion of rotation and tilting, which can drive the human body to swing back and forth while being pulled from above. Moreover, when the human body swings back and forth, the height of the position will change. When the position becomes higher, the traction effect will be weakened, and when the position becomes lower, the traction effect will be strengthened, thereby achieving the effect of loosening and stretching the bones and muscles;

[0025] (2) When the traction mechanism pulls the neck, the human cervical spine is pulled, and the entire spine follows the motion platform to perform a compound movement of rotation and tilt, achieving traction, loosening and stretching of the entire spine, which is beneficial to the correction of scoliosis. The swinging training device of the existing technology can only make the lower part of the spine of the human body standing on the platform move with the swing of the platform. The cervical spine is basically controlled by the human body when the platform swings, and it is impossible to achieve training of the entire spine. Moreover, when the spastic muscles are stretched, scar adhesions, fascia contracture and adhesions can be loosened, and the traction, loosening and stretching functions are introduced into dynamic balance training, so that the swinging of the muscles in the flaccid period is activated, and muscle tension and muscle strength are induced. Therefore, by the combined action of the traction mechanism and the motion platform, the traction, loosening and stretching functions are introduced into dynamic balance training, which can improve the scalability of the device and enhance the effect of rehabilitation training. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic structural diagram of the first embodiment of the present utility model;

[0027] Figure 2 A schematic diagram of the human spine when using the first embodiment of the present utility model;

[0028] Figure 3 A schematic diagram of the three-dimensional structure of the traction mechanism in the first embodiment of the present utility model;

[0029] Figure 4 This is a front view of the traction mechanism in the first embodiment of the present utility model;

[0030] Figure 5 This is one of the three-dimensional structural diagrams of the motion platform in the first embodiment of the present utility model;

[0031] Figure 6 This is a second schematic diagram of the three-dimensional structure of the motion platform in the first embodiment of the present utility model;

[0032] Figure 7 This is a front view of the motion platform in Example 1 of the present utility model;

[0033] Figure 8 This is a front view of the motion platform in the platform swinging state according to the first embodiment of the present invention;

[0034] Figure 9 This is a schematic diagram of the three-dimensional structure of the platform in Example 1 of the present utility model;

[0035] Figure 10 This is a front view of the four swing positions of the motion platform in Example 1 of the present utility model;

[0036] Figure 11 1 is a top view of the four swing positions of the motion platform in Example 1 of the present utility model;

[0037] Figure 12 This is a schematic structural diagram of the motion platform in Example 1 of the present utility model.

[0038] Figure ID:

[0039] 100-rack;

[0040] 200 - traction mechanism; 201 - support plate; 201a - through hole; 202 - capstan; 203 - servo motor, 204 - traction rope; 205 - tension sensor; 206 - first movable pulley; 207 - fixed pulley; 208 - guide shaft; 209 - spring; 210 - mounting bracket; 211 - fixed block; 212 - limit block; 212a - socket; 213 - second movable pulley; 214 - slide rail; 215 - slide plate; 216 - first electric push rod; 217 - displacement sensor; 218 - first gear; 219 - second gear;

[0041] 300 - Motion platform; 301 - Base; 301a - Spherical surface; 302 - Platform; 302a - Mounting hole; 303 - Rotating motor; 304 - Rotating shaft; 305 - Connecting rod; 306 - Slider; 307 - Guide rail; 308 - Second electric push rod; 309 - Slip ring; 310 - Eccentric shaft; 311 - Universal ball; 312 - Support seat; 313 - Universal wheel; 314 - Slot; 315 - Connecting rod; 316 - Guide wheel; 317 - Third electric push rod; 318 - Universal crossbar; 319 - Swing shaft; 320 - Active joint; 321 - Fourth electric push rod; 322 - Pressure sensor;

[0042] 400-handrail;

[0043] 500-cervical traction belt;

[0044] 600-Touch screen. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0046] In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be a communication between the internal parts of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] Example 1

[0048] See also Figure 1 A traction swing loosening rehabilitation training device includes a frame 100, a traction mechanism 200 and a motion platform 300, wherein the traction mechanism 200 and the motion platform 300 are both arranged on the frame 100;

[0049] The traction mechanism 200 is located above the motion platform 300 and is used to traction the human body;

[0050] The motion platform 300 is provided at the bottom of the frame 100 and is used to realize the combined motion of rotation and tilt of the human body support surface.

[0051] When in use, a person stands or sits on the motion platform 300, and the traction mechanism 200 pulls the person. The motion platform 300 performs a compound motion of rotation and tilting, which can drive the person to swing back and forth while receiving a traction effect from above. Moreover, the person's position will change when the position becomes higher, and the traction effect will be weakened when the position becomes lower, thereby achieving the effect of loosening and stretching the bones and muscles. Figure 2 When the traction mechanism 200 pulls the neck, the human cervical spine is pulled, and the entire spine follows the motion platform 300 to perform a compound movement of rotation and tilt, achieving traction, loosening and stretching of the entire spine, which is beneficial to the correction of scoliosis. The swinging training device of the prior art can only make the lower part of the spine of the human body standing on the platform move as the platform swings. The cervical spine is basically controlled by the human body when the platform swings, and it is impossible to achieve training of the entire spine. Moreover, when the spastic muscles are stretched, scar adhesions, fascia contracture and adhesions can be loosened, and the traction, loosening and stretching functions are introduced into dynamic balance training, so that the swinging of the muscles in the flaccid period is activated, and muscle tension and muscle strength are induced. Therefore, by the joint action of the traction mechanism 200 and the motion platform 300, the traction, loosening and stretching functions are introduced into dynamic balance training, which can improve the scalability of the device and enhance the effect of rehabilitation training.

[0052] The device can achieve the following training: traction and loosening of the six major joints of the human body and the entire spine; stretching of spastic muscles, loosening of scar adhesions, fascia contracture and adhesions; swing activation of muscles in the flaccid paralysis period, inducing muscle tension and strength; correction of scoliosis; proprioception rehabilitation training; dynamic balance rehabilitation training.

[0053] For details, see Figure 3 and Figure 4 The traction mechanism 200 includes a support plate 201 and a winch module, a pulley module, a spring module and a position adjustment module arranged on the support plate 201. The support plate 201 is fixedly mounted on the frame 100; the winch module is used to retract and release the traction rope 204; the pulley module includes a first movable pulley 206, a fixed pulley 207 and a second movable pulley 213 arranged in sequence along the rope-out direction of the traction rope 204, and also includes a tension sensor 205 for detecting the tension of the traction rope 204. The tension sensor 205 is arranged on the support plate 201 and is located on one side of the traction rope 204, and is used to detect the tension of the traction rope 204. The spring module is used to provide elastic force to the first movable pulley 206, and the position adjustment module is used to laterally adjust the position of the second movable pulley 213.

[0054] In this embodiment, the fixed pulley 207 is fixed on the support plate 201 and close to the winch module. One end of the traction rope 204 is wound around the winch module, and the other end passes through the first movable pulley 206, the fixed pulley 207, and the second movable pulley 213 in sequence before passing through the support plate 201 to pull the human body.

[0055] The winch module controls the release or retraction of the traction rope 204 to adjust the length of the traction rope 204 extending out of the support plate 201, thereby realizing the height adjustment of the traction end of the traction rope 204, so as to facilitate use by users of different heights; the winch module can adjust the tightness of the traction rope 204 to realize the adjustment of the initial traction force, and the initial traction force is detected by the tension sensor 205. When the tension sensor 205 detects that the traction force reaches the initial traction force, the winch module stops operating; the first movable pulley 206 is connected to the spring module, and the first movable pulley 206 and the traction rope 204 are both pulled by the spring module. When the human body swings back and forth on the motion platform 300 to produce a change in position height, the traction rope 204 is loosened or tightened to a certain extent; when the traction rope 204 is tightened, the first movable pulley 206 moves to the Figure 4 When the traction rope 204 is loosened to a certain extent, the first movable pulley 206 moves to the right due to the rebound effect of the spring module. Figure 4 The addition of the spring module allows the traction rope 204 to flexibly extend and shorten. The spring module also provides a buffering effect, producing a tensioning and relaxing traction effect on the spinal joints as the motion platform 300 continuously swings. By providing a position adjustment module, the lateral position of the second movable pulley 213 can be changed, thereby changing the rope outlet position of the traction rope 204, so that the traction rope 204 can easily pull the human body forward or backward.

[0056] The winch module is used to adjust the length of the traction rope 204 extending from the support plate 201. Specifically, the winch module includes a winch 202 for winding the traction rope 204, a servo motor 203, a first gear 218, and a second gear 219. The servo motor 203 is disposed on the support plate 201. The output shaft of the servo motor 203 is connected to the first gear 218. The first gear 218 and the second gear 219 are meshed and connected. The second gear 219 is coaxially disposed with the winch 202. The servo motor 203 can rotate forward and reverse. When the output shaft of the servo motor 203 rotates, the first gear 218 is driven to rotate. The second gear 219 rotates under the meshing action of the first gear 218 and drives the coaxial winch 202 to rotate, thereby releasing or retracting the traction rope 204. It also includes a servo motor 203 control mechanism not shown in the figure, which is used to control the operation of the servo motor 203. The servo motor 203 drives the winch 202 to rotate, so that the traction rope 204 wrapped around the winch 202 is released or retracted to adjust the length of the traction rope 204 extending out of the support plate 201, thereby realizing the height adjustment of the traction end of the traction rope 204 for users of different heights to use.

[0057] The spring module can realize the flexible traction of the traction rope 204 to the human body. Specifically, the spring module includes a guide shaft 208, a spring 209 and a mounting bracket 210. The mounting bracket 210 is set on the support plate 201. One end of the spring 209 is fixed to the support plate 201, and the other end is connected to the guide shaft 208. The end of the guide shaft 208 away from the spring 209 is connected to the first movable pulley 206. The first movable pulley 206 is located above the middle of the support plate 201. The first movable pulley 206 is connected to the guide shaft 208. The first movable pulley 206 and the traction rope 204 are both pulled by the spring 209. When the human body swings back and forth on the motion platform 300 and changes in position, the traction rope 204 becomes loose or tightened. When the traction rope 204 is tightened, the first movable pulley 206 moves to the left. Figure 4 When the traction rope 204 is loosened, the first movable pulley 206 moves to the right due to the rebound effect of the spring 209. Figure 4 When the motion platform 300 moves to the left, the spring 209 allows the traction rope 204 to be flexibly extended and shortened, and the spring 209 plays a buffering and gradual effect, producing a tensioning and loosening traction effect on the spinal joints when the motion platform 300 continuously swings.

[0058] In order to enhance the traction and loosening effect, two springs 209 and two guide shafts 208 are provided in this embodiment. A mounting plate is provided at one end of the two guide shafts 208 away from the springs 209, and the first movable pulley 206 is rotatably mounted on the mounting plate.

[0059] To facilitate the installation of the spring 209 and the guide shaft 208, a fixing block 211 and a limiting block 212 are provided at both ends of the top surface of the mounting frame 210. The limiting block 212 is provided with a socket 212a extending transversely therethrough on both sides. One end of the spring 209 is fixed to the fixing block 211, and the other end is connected to the guide shaft 208. The end of the guide shaft 208 away from the spring 209 passes through the socket 212a and is connected to the first movable pulley 206. The socket 212a on the limiting block 212 can limit the limit position of the first movable pulley 206 being pulled by the spring 209 and can prevent the guide shaft 208 from deflecting when the spring 209 is extended or retracted. Preferably, a linear bearing is provided in the socket 212a, and the guide shaft 208 passes through the inner hole of the linear bearing and is connected to the first movable pulley 206. The provision of the linear bearing facilitates the sliding of the guide shaft 208, reduces friction and wear between the guide shaft 208 and the limiting block 212, and thus improves the motion accuracy and stability.

[0060] Specifically, a long through hole 201a is provided in the middle of the support plate 201. The second movable pulley 213 slides in the through hole 201a through a position adjustment module, thereby adjusting the rope outlet position of the traction rope 204. The position adjustment module includes a slide rail 214, a slide plate 215, a first electric push rod 216, and a displacement sensor 217. The slide rail 214 is provided on the support plate 201 and is located on both sides of the through hole 201a. The slide plate 215 is slidably provided on the slide rail 214. The second movable pulley 213 is provided on the bottom surface of the slide plate 215. One end of the slide plate 215 is connected to the first electric push rod 216. A displacement sensor 217 is provided on one side of the slide plate 215. Under the action of the first electric push rod 216, the slide plate 215 slides on the slide rail 214. The slide rail 214 is located on both sides of the through hole 201a. The second movable pulley 213 on the bottom surface of the slide plate 215 slides in the through hole 201a. A displacement sensor 217 disposed at one end of the slide 215 detects the displacement of the second movable pulley 213 to determine the position of the second movable pulley 213. The first electric push rod 216 and the displacement sensor 217 are both electrically connected to a control mechanism (not shown). The control mechanism receives signals from the displacement sensor 217 and controls the operation of the first electric push rod 216.

[0061] The traction end of the traction rope 204 is rotatably provided with a suspension member, which can be a hanging neck strap, a lumbar strap or a body strap. Figure 1 The suspension member shown in the figure is a cervical traction belt 500, and the rotatable connection between the suspension member and the traction end of the traction rope 204 is beneficial to preventing the traction rope 204 from rotating and getting entangled.

[0062] When using the traction mechanism 200, the servo motor 203 is used to drive the winch 202 to rotate so that the traction end of the traction rope 204 is adjusted to a suitable position, and then the position of the second movable pulley 213 is adjusted by the first electric push rod 216 to adjust the rope output position, which can facilitate the use of a neck strap, a lumbar strap or a body strap, and then the strap is tied to the corresponding part of the human body; then the servo motor 203 is used to drive the winch 202 to rotate, and the tightness of the traction rope 204 is adjusted to achieve the adjustment of the initial traction force. The initial traction force is detected by the tension sensor 205. When the tension sensor 205 detects that the traction force reaches the initial traction force, the servo motor 203 stops operating, and the initial traction force can be adjusted according to demand; when the motion platform (300) swings, the height change caused by the swinging realizes the change of the traction force of the traction rope 204.

[0063] See also Figure 1 、 5 to Figure 9 Specifically, the drive assembly includes a base 301, a platform 302 disposed on the base 301, and a drive assembly. The platform 302 is for a person to stand or sit on, and the drive assembly is used to drive the platform 302 to swing relative to a fixed axis ZZ perpendicular to the base 301. During use, the person stands or sits on the platform 302. The traction mechanism 200 pulls the person, and the drive assembly drives the platform 302 to perform a compound motion of rotation and tilt. The person is driven by the platform 302 to swing back and forth while being pulled from above. In addition, the person's position changes as the person swings. When the position becomes higher, the traction effect weakens, and when the position becomes lower, the traction effect strengthens, thereby achieving the effect of loosening and stretching the bones and muscles.

[0064] In this embodiment, the driving assembly includes a rotating motor 303, a rotating shaft 304, a connecting rod 305, a slider 306, an eccentric shaft 310 and a universal ball 311. The rotating shaft 304 is arranged vertically, and the rotating motor 303 is connected to the lower end of the rotating shaft 304 so that the rotating motor 303 drives the rotating shaft 304 to rotate. The upper end of the rotating shaft 304 is connected to the middle part of the connecting rod 305, so that the connecting rod 305 can rotate with the rotating shaft 304. The slider 306 slides on the top surface of the connecting rod 305 and is restricted to sliding between one end of the connecting rod 305 and the middle part of the connecting rod 305. The eccentric shaft 310 is arranged vertically on the top surface of the slider 306, and the upper end of the eccentric shaft 310 is connected to the universal ball 311. A mounting hole 302a is provided in the center of the bottom surface of the platform 302, and the universal ball 311 is rotatably connected in the mounting hole 302a. The fixed axis ZZ is the axis of the rotating shaft 304. It should be noted that a mounting seat or concave surface matching the surface of the universal ball 311 is provided in the mounting hole 302a so that the platform 302 can be tilted. Figure 7 and Figure 8As shown, since the rotating shaft 304 and the eccentric shaft 310 are both arranged vertically, the axis of the rotating shaft 304 and the axis of the eccentric shaft 310 remain parallel. When the rotating motor 303 is not started, the slider 306 is located in the middle of the connecting rod 305 and the eccentric shaft 310 is aligned with the rotating shaft 304, and the axis of the rotating shaft 304 and the axis of the eccentric shaft 310 coincide with each other. When the rotating motor 303 is started, the rotating shaft 304 rotates under the transmission action of the rotating motor 303 and drives the connecting rod 305 to rotate. Since the slider 306 slides on the connecting rod 305, the slider 306 drives the eccentric shaft 310 relative to the fixed axis ZZ (that is, the axis of the rotating shaft 304). The eccentric shaft 310 is vertically eccentric relative to the fixed axis ZZ (i.e., the axis of the rotating shaft 304), and the slider 306 rotates around the rotating shaft 304. Since the upper end of the eccentric shaft 310 is connected to the mounting hole 302a in the center of the bottom surface of the platform 302 through the universal ball 311, the platform 302 can tilt under the action of the universal ball 311, wherein the eccentric shaft 310 and the rotating shaft 304 always remain parallel. The more eccentric the eccentric shaft 310 is relative to the rotating shaft 304, the more tilted the platform 302, and the greater the swing amplitude of the platform 302. The swing amplitude is determined by the tilt angle of the platform 302 (generally set to 0 to 10 degrees). The more tilted the platform 302 is, the greater the centrifugal force and height difference of the human body are, and the greater the swing amplitude is. Therefore, the rotating motor 303 starts the eccentric shaft 310 to be vertically eccentric and rotate relative to the fixed axis ZZ (i.e., the axis of the rotating shaft 304), and at the same time the platform 302 tilts, and finally the platform 302 continuously swings. The platform 302 moves in sequence along Figure 10 The platform 302 swings at the positions P1, P2, P3, and P4, and the top view corresponding to the positions P1, P2, P3, and P4 is shown in FIG. Figure 11 During training, the person stands or sits on platform 302, producing tension and relaxation exercises for joints and muscle groups. Rotating motor 303 is electrically connected to a control mechanism (not shown), and the swing speed can be infinitely adjusted by the control mechanism.

[0065] Among them, the components that drive the slider 306 to slide include: a guide rail 307, a second electric push rod 308 and a slip ring 309. The guide rail 307 is set on the connecting rod 305, and the slider 306 slides on the guide rail 307. The second electric push rod 308 is located at one end of the guide rail 307 and is used to push the slider 306 to slide on the guide rail 307. The slip ring 309 is sleeved outside the rotating shaft 304 and also includes a motor that drives the second electric push rod 308. The motor is set on the connecting rod 305. The slip ring 309 is used to pass the current of the electric push rod driver to the motor of the second electric push rod 308 to power the motor of the rotating second electric push rod 308, thereby avoiding the entanglement of the wires caused by the use of wires for power supply. The motors of the rotating motor 303 and the second electric push rod 308 are both electrically connected to a control mechanism not shown in the figure, and the operation of the motors of the rotating motor 303 and the second electric push rod 308 is controlled by the control mechanism.

[0066] Furthermore, the bottom periphery of the platform 302 is provided with a plurality of support seats 312, the lower ends of which converge toward the center of the platform 302. Universal wheels 313 are provided at the lower ends of the support seats 312. The base 301 has a spherical surface 301a, and the universal wheels 313 abut against the spherical surface 301a. The support seats 312 are used to mount the universal wheels 313, and the plurality of universal wheels 313 support the platform 302 on the base 301. When the platform 302 swings, the plurality of universal wheels 313 move and contact with the spherical surface 301a of the base 301, forming an elliptical movement trajectory. In order to adapt to the spherical surface 301a of the base 301 and cooperate with the tilt of the platform 302, the lower ends of the plurality of support seats 312 need to converge toward the center of the platform 302. In this embodiment, the support seats 312 are evenly distributed on the bottom surface of the platform 302 , so that the plurality of universal wheels 313 are also evenly distributed, thereby allowing the plurality of universal wheels 313 to bear force substantially evenly to support the platform 302 .

[0067] Furthermore, the base 301 has a spherical surface 301a with a slot 314 formed therein. A connecting rod 315 is vertically provided on the bottom surface of the platform 302. A guide wheel 316 is provided at the lower end of the connecting rod 315. The guide wheel 316 slides within the slot 314. The guide wheel 316 slides within the slot 314 to ensure that the platform 302 maintains a constant direction during its swinging process, and the human body on the platform always faces the same direction.

[0068] Preferably, a third electric push rod 317 is provided on one side of the slot 314. The third electric push rod 317 is used to push the slot 314 to cause the slot 314 to swing, thereby shifting the swing trajectory of the platform 302 to the left or right. The motor that drives the third electric push rod 317 is fixed to the base 301, and the third electric push rod 317 extends through the spherical surface 301a and connects to the slot 314.

[0069] Preferably, see Figure 1 The traction, rocking and loosening rehabilitation training device also includes a plurality of armrests 400 arranged in the middle of the frame 100. The armrests 400 are used to provide hand grip support during rehabilitation training. In this embodiment, the armrests 400 include three armrests of high, medium and low heights, which can meet the needs of users of different heights.

[0070] Furthermore, the armrest 400 is tilted relative to the horizontal plane to further meet the needs of users of different heights.

[0071] Preferably, the traction, rocking and loosening rehabilitation training device further comprises a touch screen 600 arranged on the frame 100. The touch screen 600 is electrically connected to the control mechanism of the rehabilitation training device. The operation of the rehabilitation training device can be controlled through the touch screen 600.

[0072] Example 2

[0073] See also Figure 12 , different from the first embodiment, the driving assembly of this embodiment includes a universal cross 318, a swing shaft 319, two movable joints 320, and two linear actuators arranged perpendicular to each other. The universal cross 318 is arranged at the upper end of the swing shaft 319 and is movably connected to the center of the bottom surface of the platform 302, so that the platform 302 can rotate in all directions on the swing shaft 319. The two movable joints 320 are both mounted on the lower end of the swing shaft 319. The movable joints 320 can rotate around the swing shaft 319 and can also swing up and down relative to the electric push rod 321. The two linear actuators are respectively hinged to the two movable joints 320.

[0074] Specifically, the linear actuator is a fourth electric push rod 321 , which is hinged to the base so that the fourth electric push rod 321 can swing up and down.

[0075] During operation, the two fourth electric push rods 321 are controlled to extend and retract, thereby controlling the tilt of the lower end of the swing shaft 319. When the swing shaft 319 tilts, the platform 302 tilts at the same time. Therefore, by regularly controlling the two fourth electric push rods 321 to extend and retract with different strokes, the lower end of the swing shaft 319 can be rotated, thereby realizing the same composite motion of rotation and tilt of the platform 302 as in Example 1.

[0076] Preferably, four pressure sensors 322 are installed on the bottom surface of the platform 302 , and the pressure sensors 322 are used to sense the center of gravity of a human body standing or sitting on the platform 302 .

[0077] It should be noted that the motion platform 300 is not limited to the structures described in the first and second embodiments. Other structures capable of achieving compound motions of rotation and tilt are also applicable to the present traction, rocking and loosening rehabilitation training device.

[0078] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A traction swing loosening rehabilitation training device, characterized in that: It comprises a frame (100), a traction mechanism (200) and a motion platform (300) arranged on the frame (100); The traction mechanism (200) is located above the motion platform (300) and is used to traction the human body; The motion platform (300) is arranged at the bottom of the frame (100) and is used to realize the combined motion of rotation and tilt of the human body support surface; The motion platform (300) comprises a base (301), a platform (302) arranged on the base (301), and a driving assembly, wherein the driving assembly drives the platform (302) to perform a composite motion of rotation and tilt relative to a fixed axis (ZZ) perpendicular to the base (301).

2. The traction, rocking and loosening rehabilitation training device according to claim 1, characterized in that: The traction mechanism (200) comprises a support plate (201) fixedly mounted on the frame (100), and a winch module, a pulley module, a spring module, and a position adjustment module arranged on the support plate (201); The winch module is used for retracting and releasing the traction rope (204); the pulley module comprises a first movable pulley (206), a fixed pulley (207) and a second movable pulley (213) arranged in sequence along the direction in which the traction rope (204) comes out of the pulley, and further comprises a tension sensor (205) for detecting the tension of the traction rope (204); the tension sensor (205) is arranged on the support plate (201) and is located on one side of the traction rope (204); the spring module is used for providing elastic force to the first movable pulley (206); and the position adjustment module is used for laterally adjusting the position of the second movable pulley (213).

3. The traction, rocking and loosening rehabilitation training device according to claim 2, characterized in that: The winch module comprises a winch (202) for winding the traction rope (204), a servo motor (203), a first gear (218) and a second gear (219), wherein the servo motor (203) is arranged on the support plate (201), an output shaft of the servo motor (203) is connected to the first gear (218), the first gear (218) and the second gear (219) are meshed and connected, and the second gear (219) is coaxially arranged with the winch (202).

4. The traction, rocking and loosening rehabilitation training device according to claim 2, characterized in that: The spring module comprises a guide shaft (208), a spring (209) and a mounting frame (210), wherein the mounting frame (210) is arranged on the support plate (201), one end of the spring (209) is fixed on the support plate (201), and the other end is connected to the guide shaft (208), and the end of the guide shaft (208) away from the spring (209) is connected to the first movable pulley (206), and the first movable pulley (206) is located above the middle of the support plate (201).

5. The traction, rocking and loosening rehabilitation training device according to claim 2, characterized in that: A long through hole (201a) is provided in the middle of the support plate (201), and the position adjustment module comprises a slide rail (214), a slide plate (215), a first electric push rod (216) and a displacement sensor (217). The slide rail (214) is arranged on the support plate (201) and is located on both sides of the through hole (201a); the slide plate (215) is slidably arranged on the slide rail (214); the second movable pulley (213) is arranged on the bottom surface of the slide plate (215); one end of the slide plate (215) is connected to the first electric push rod (216); and a displacement sensor (217) is provided on one side of the slide plate (215).

6. The traction, rocking and loosening rehabilitation training device according to claim 1, characterized in that: The driving assembly includes a rotating motor (303), a rotating shaft (304), a connecting rod (305), a slider (306), an eccentric shaft (310) and a universal ball (311); The rotating shaft (304) is vertically arranged, the rotating motor (303) is transmission-connected to the lower end of the rotating shaft (304), the upper end of the rotating shaft (304) is connected to the middle part of the connecting rod (305), the slider (306) slides on the top surface of the connecting rod (305) and is restricted to slide between one end of the connecting rod (305) and the middle part of the connecting rod (305), the eccentric shaft (310) is vertically arranged on the top surface of the slider (306), the upper end of the eccentric shaft (310) is connected to the universal ball (311), a mounting hole (302a) is provided in the center of the bottom surface of the platform (302), the universal ball (311) is rotatably connected in the mounting hole (302a), and the fixed axis (ZZ) is the axis of the rotating shaft (304).

7. The traction, rocking and loosening rehabilitation training device according to claim 6, characterized in that: The base (301) has a spherical surface (301a), a slot (314) is provided on the spherical surface (301a), a connecting rod (315) is vertically provided on the bottom surface of the platform (302), a guide wheel (316) is provided at the lower end of the connecting rod (315), and the guide wheel (316) slides in the slot (314).

8. The traction, rocking and loosening rehabilitation training device according to claim 7, characterized in that: It also includes a third electric push rod (317) arranged on one side of the card slot (314), and the third electric push rod (317) is used to push the card slot (314) to cause the card slot (314) to swing.

9. The traction, rocking and loosening rehabilitation training device according to claim 1, characterized in that: The driving assembly includes a universal cross-member (318), a swing shaft (319), two movable joints (320), and two linear actuators arranged perpendicular to each other. The universal cross-member (318) is arranged at the upper end of the swing shaft (319) and is movably connected to the center of the bottom surface of the platform (302). The two movable joints (320) are both sleeved on the lower end of the swing shaft (319), and the two linear actuators are respectively hinged to the two movable joints (320).

10. The traction, rocking and loosening rehabilitation training device according to any one of claims 1 to 9, characterized in that: It also includes a plurality of handrails (400) arranged in the middle of the frame (100).

11. The traction, rocking and loosening rehabilitation training device according to any one of claims 1 to 9, characterized in that: It also includes a touch screen (600) arranged on the frame (100), and the touch screen (600) is electrically connected to the control mechanism of the rehabilitation training device.

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