Joint rehabilitation device

Abstract

The utility model relates to a joint rehabilitation device. The joint rehabilitation device comprises a first brace, a second brace and a connecting assembly. Any one of the first brace and the second brace is used for sleeving a first limb, and the other one of the first brace and the second brace is used for sleeving a second limb connected with the first limb. The connecting assembly can be changed between a first configuration and a second configuration, in the first configuration, the connecting assembly comprises a mounting piece, a first connecting piece, a second connecting piece and a driving piece, the first connecting piece, the second connecting piece and the driving piece are all movably connected with the mounting piece, the first connecting piece can be detachably connected with the first brace, and the second connecting piece can be detachably connected with the second brace. And the second connecting piece can be detachably connected with the second brace. And in the second configuration, the connecting assembly does not comprise a driving part, and the first brace is movably connected with the second brace through the connecting assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of rehabilitation training, in particular to a joint rehabilitation device. BACKGROUND

[0002] Static progressive stretch can effectively treat trauma, disuse and postoperative joint stiffness. The joint rehabilitation devices currently used at home and abroad are heavy, which is inconvenient for patients to carry out daily activities, and the use experience of the rehabilitation person is poor. CONTENT OF THE UTILITY MODEL

[0003] Therefore, the joint rehabilitation device provided by the present application has a lighter structure, and the rehabilitation person has a lighter weight feeling when using the joint rehabilitation device, and the use experience of the rehabilitation person is better.

[0004] The present application provides a joint rehabilitation device, which comprises a first brace, a second brace and a connecting assembly. Any one of the first brace and the second brace is used to be sleeved on a first limb, and the other is used to be sleeved on a second limb connected with the first limb. The connecting assembly can be changed between a first configuration and a second configuration. In the first configuration, the connecting assembly comprises a mounting, a first connecting piece, a second connecting piece and a driving piece, the first connecting piece, the second connecting piece and the driving piece are all movably connected with the mounting, the first connecting piece can be detachably connected with the first brace, and the second connecting piece can be detachably connected with the second brace. The driving piece has a first state and a second state, in the first state, the driving piece can drive the first connecting piece and the second connecting piece to move, and in the second state, the driving piece, the first connecting piece and the second connecting piece are self-locked. In the second configuration, the connecting assembly does not comprise the driving piece, and the first brace is movably connected with the second brace through the connecting assembly.

[0005] Optionally, in the first configuration, the driving piece comprises a worm, the first connecting piece comprises a first worm wheel, the worm and the first worm wheel are both rotatably connected with the mounting, and the worm is meshingly connected with the first worm wheel; the first connecting piece comprises a first gear, the second connecting piece comprises a second gear, the first gear and the second gear are both rotatably connected with the mounting, the first worm wheel is coaxial with the first gear, and the first gear is meshingly connected with the second gear.

[0006] Optionally, a set transmission ratio i1 is provided between the first worm wheel and the first gear, and satisfies 0.5≤i1≤1.

[0007] Optionally, a set transmission ratio i2 is provided between the first gear and the second gear, and satisfies 0.5≤i2≤1.

[0008] Optionally, the driving piece further comprises a first bevel gear, a second bevel gear and a rocker handle, the first bevel gear is connected with the worm, the second bevel gear is connected with the rocker handle, the rocker handle is rotatably connected with the mounting, and the first bevel gear is meshingly connected with the second bevel gear.

[0009] Optionally, the mounting member comprises a body portion and at least two bearing portions connected to each other, the first worm gear, the first gear, the second gear and the rocker handle are rotationally connected to the body portion, the connecting shaft between the worm and the first bevel gear is rotationally connected to the at least two bearing portions, and the at least two bearing portions are spaced along the axis of the connecting shaft.

[0010] Optionally, the first connecting member comprises a first support and at least two first fasteners, the first support is provided with a first through sliding slot, the at least two first fasteners are arranged in the first through sliding slot and are spaced along the length direction of the first through sliding slot, and the at least two first fasteners are detachably connected to the first support; wherein the at least two first fasteners can be in a fastened state or an unfastened state, in the fastened state, the at least two first fasteners can fasten the first support, and in the unfastened state, the at least two first fasteners can slide along the first through sliding slot.

[0011] Optionally, in the second configuration, the connecting assembly comprises a third connecting member and a fourth connecting member rotationally connected to each other, the third connecting member is detachably connected to the first support, and the fourth connecting member is detachably connected to the second support.

[0012] Optionally, the third connecting member comprises a first rotational connecting portion, the fourth connecting member comprises a second rotational connecting portion and a third rotational connecting portion, the first rotational connecting portion, the second rotational connecting portion and the third rotational connecting portion are rotationally connected to each other, and the first rotational connecting portion is located between the second rotational connecting portion and the third rotational connecting portion.

[0013] Optionally, the weight of the connecting assembly in the second configuration is less than the weight of the connecting assembly in the first configuration.

[0014] The prior art joint rehabilitation device integrates the structure for assisting rehabilitation training and the structure for assisting free activity, resulting in a relatively large structure weight of the prior art joint rehabilitation device. Compared with the prior art, the rehabilitation person can flexibly change the configuration structure inside the connecting assembly of the joint rehabilitation device of the present application, i.e. the rehabilitation person can change the connecting assembly between the first configuration and the second configuration, so that the joint rehabilitation device of the present application only has the structure for assisting rehabilitation training or only has the structure for assisting free activity, so that the structure weight of the joint rehabilitation device of the present application is relatively small in any configuration. When using the joint rehabilitation device in any configuration, the rehabilitation person has less weight bearing feeling, and the rehabilitation person has a better use experience. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0016] Figure 1 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0017] Figure 2 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure. Figure 1 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0018] Figure 3 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure. Figure 1 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0019] Figure 4 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure. Figure 3 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0020] Figure 5 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0021] Figure 6 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0022] Figure 7 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0023] Figure 8 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0024] Figure 9 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0025] Figure 10 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0026] Figure 11 The structural schematic diagram of the joint rehabilitation device provided by the present application in a first specific embodiment is shown in the figure.

[0027] Figure 12 The structural schematic diagram of the joint rehabilitation device provided by the present application in a second specific embodiment is shown in the figure.

[0028] Figure 13 The structural schematic diagram of the joint rehabilitation device provided by the present application in a second specific embodiment is shown in the figure. Figure 12 The structural schematic diagram of the joint rehabilitation device provided by the present application in a second specific embodiment is shown in the figure.

[0029] Figure 14Assembly structure diagram of the third brace and the third fastener;

[0030] Figure 15 Assembly structure diagram of the fourth brace and the fourth fastener.

[0031] Reference signs:

[0032] 10 - joint rehabilitation device;

[0033] 1 - first brace;

[0034] 11 - first body;

[0035] 111 - first mounting platform;

[0036] 111a - first connecting hole;

[0037] 12 - first strap;

[0038] 2 - second brace;

[0039] 21 - second body;

[0040] 211 - second mounting platform;

[0041] 211a - second connecting hole;

[0042] 22 - second strap;

[0043] 3 - first connecting assembly;

[0044] 31 - mounting piece;

[0045] 311 - first part;

[0046] 312 - second part;

[0047] 313 - bearing part;

[0048] 32 - first connecting piece;

[0049] 321 - first worm gear;

[0050] 322 - first gear;

[0051] 323 - first brace;

[0052] 323a - first through sliding slot;

[0053] 324 - first fastener;

[0054] 33 - second connecting piece;

[0055] 331 - second gear;

[0056] 332 - second brace;

[0057] 332a-second through slot;

[0058] 333-second fastener;

[0059] 334-second worm wheel;

[0060] 34-driving member;

[0061] 341-worm;

[0062] 341a-connecting shaft;

[0063] 342-first bevel gear;

[0064] 343-second bevel gear;

[0065] 344-rocker handle;

[0066] 4-second connecting assembly;

[0067] 41-third connecting member;

[0068] 411-first rotary connecting part;

[0069] 412-third strut;

[0070] 412a-third through slot;

[0071] 413-third fastener;

[0072] 42-fourth connecting member;

[0073] 421-second rotary connecting part;

[0074] 422-third rotary connecting part;

[0075] 423-fourth strut;

[0076] 423a-fourth through slot;

[0077] 424-fourth fastener;

[0078] 43-rotating shaft. DETAILED DESCRIPTION

[0079] In order to better understand the technical solutions of the present application, the embodiments of the present application are described in detail below with reference to the drawings.

[0080] It should be clear that the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0081] The terminology used in the embodiments of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used in the description of the embodiments of the present application and the appended claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0082] It should be understood that the term "and / or" used herein only describes an association relationship of associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, the character " / " herein generally represents an "or" relationship between the front and rear associated objects.

[0083] The joint rehabilitation device provided by the present application includes three embodiments, and the subsequent content of the present application will introduce the joint rehabilitation devices of the three embodiments in turn.

[0084] The joint rehabilitation device of the first embodiment:

[0085] The joint rehabilitation device of the embodiment of the present application is used to assist the rehabilitation person (limb joint disease patient) to carry out limb joint rehabilitation training, such as limb joint activity, limb joint static training, etc. The limb joint can be the hip joint between the hip and the thigh, the knee joint between the thigh and the lower leg, the ankle joint between the lower leg and the foot, the shoulder joint between the shoulder and the upper arm, the elbow joint between the upper arm and the lower arm, and the wrist joint between the lower arm and the hand. The subsequent content of the embodiment of the present application mainly takes the knee joint between the thigh and the lower leg as an example to describe the joint rehabilitation device provided by the present application.

[0086] Please refer to Figure 1 The joint rehabilitation device 10 includes a first brace 1, a second brace 2 and a first connecting assembly 3.

[0087] The first brace 1 is used to be sleeved on the first limb (such as the thigh, not shown in the figure) of the rehabilitation person, and the second brace 2 is used to be sleeved on the second limb (such as the lower leg, not shown in the figure) connected with the first limb of the rehabilitation person. Alternatively, the first brace 1 is used to be sleeved on the second limb of the rehabilitation person, and the second brace 2 is used to be sleeved on the first limb of the rehabilitation person. The subsequent content of the embodiment of the present application mainly takes "the first brace 1 can be sleeved on the thigh, and the second brace 2 can be sleeved on the lower leg" as an example to describe the joint rehabilitation device 10 of the embodiment of the present application.

[0088] Among them, please refer to Figure 2As shown, the first brace 1 can include a first body 11 and a first strap 12, the first body 11 has a C-shaped curved sheet structure, and the first strap 12 can connect two free parts of the first body 11. In the case that the first strap 12 only connects one of the two free parts, the rehabilitant or the person assisting the rehabilitation can bend the first body 11 to increase the opening size of the first body 11, so as to fit the first body 11 on the thigh of the rehabilitant, and then the rehabilitant or the person assisting the rehabilitation can connect the first strap 12 to the two free parts of the first body 11, so as to stably fit the first body 11 on the thigh of the rehabilitant. The first strap 12 can be a nylon strap, a buckle strap or other connecting band that can have a binding function.

[0089] Similarly, please refer to Figure 2 As shown, the second brace 2 can include a second body 21 and a second strap 22, the second body 21 has a C-shaped curved sheet structure, and the second strap 22 can connect two free parts of the second body 21. In the case that the second strap 22 only connects one of the two free parts, the rehabilitant or the person assisting the rehabilitation can bend the second body 21 to increase the opening size of the second body 21, so as to fit the second body 21 on the calf of the rehabilitant, and then the rehabilitant or the person assisting the rehabilitation can connect the second strap 22 to the two free parts of the second body 21, so as to stably fit the second body 21 on the calf of the rehabilitant. The second strap 22 can be a nylon strap, a buckle strap or other connecting band that can have a binding function.

[0090] In addition, the first body 11 and the second body 21 can be provided with a plurality of hollow holes (not shown in the figure), which can play the roles of air permeability and weight reduction.

[0091] Similarly, please refer to Figure 3 As shown, the first connecting assembly 3 includes a mounting piece 31, a first connecting piece 32, a second connecting piece 33 and a driving piece 34. The first connecting piece 32, the second connecting piece 33 and the driving piece 34 are movably connected with the mounting piece 31, the first connecting piece 32 can be detachably connected with the first brace 1, and the second connecting piece 33 can be detachably connected with the second brace 2.

[0092] Among them, the first connecting piece 32 and the mounting piece 31 can be connected through a revolute pair or a spherical pair, the second connecting piece 33 and the mounting piece 31 can be connected through a revolute pair or a spherical pair, and the driving piece 34 and the mounting piece 31 can be connected through a revolute pair, a spherical pair or a moving pair.

[0093] For example, the driving member 34 can have a first state and a second state. In the first state, the driving member 34 can drive the first connecting member 32 to rotate relative to the mounting member 31 about the axis O1 and drive the second connecting member 33 to rotate relative to the mounting member 31 about the axis O2. Correspondingly, the first brace 1 connected with the first connecting member 32 also rotates relative to the mounting member 31 about the axis O1, and the second brace 2 connected with the second connecting member 33 also rotates relative to the mounting member 31 about the axis O2. Correspondingly, the thigh covered by the first brace 1 also rotates relative to the mounting member 31 about the axis O1, and the calf covered by the second brace 2 also rotates relative to the mounting member 31 about the axis O2, so that the knee joint between the thigh and the calf can perform the required activities for rehabilitation training.

[0094] The axis O1 is defined as the rotation axis of the rotation connection structure between the mounting member 31 and the first connecting member 32, and the axis O2 is defined as the rotation axis of the rotation connection structure between the mounting member 31 and the second connecting member 33.

[0095] In the second state, the driving member 34, the first connecting member 32 and the second connecting member 33 can be self-locked. Self-locking is defined as follows: under the condition that the driving member 34 does not output driving force to the first connecting member 32 and the second connecting member 33, even if the thigh applies a force to the first connecting member 32 and the calf applies a force to the second connecting member 33 to make the first connecting member 32 and the second connecting member 33 apply a force to the driving member 34, the driving member 34, the first connecting member 32 and the second connecting member 33 are all stationary relative to the mounting member 31, the first connecting member 32 does not rotate relative to the mounting member 31 about the axis O1, the second connecting member 33 does not rotate relative to the mounting member 31 about the axis O2, and correspondingly, the thigh and the calf do not move relative to each other. That is, when the driving member 34 is in the second state, the leg of the rehabilitation patient cannot move freely on its own, so that the leg of the rehabilitation patient maintains a set posture within a set time to perform the required static items for rehabilitation training.

[0096] In detail, if the calf is bent relative to the thigh at this time, for example, the included angle between the calf and the thigh is 80°-100°, the driving member 34 of the joint rehabilitation device 10 of the embodiment of the application can be in the first state to drive the calf to move relative to the thigh to increase the included angle between the calf and the thigh, so that the knee joint changes from the bent state to the stretched state. After the knee joint is stretched, the driving member 34 of the joint rehabilitation device 10 of the embodiment of the application can be in the second state to make the knee joint maintain the stretched state within a set time, so as to achieve the effect of traction training of the knee joint.

[0097] If the calf is stretched relative to the thigh at this time, for example, the angle between the calf and the thigh is 145°-180°, the driving member 34 of the joint rehabilitation device 10 of the embodiment of the application can be in the first state to drive the calf to move relative to the thigh to reduce the angle between the calf and the thigh, so as to make the knee joint change from the stretched state to the bent state. After the knee joint is bent, the driving member 34 of the joint rehabilitation device 10 of the embodiment of the application can be in the second state to make the knee joint keep in the bent state for a set time, so as to achieve the effect of bending training the knee joint.

[0098] The driving member 34 can be a manual driving member, or the driving member 34 can be an electric driving member.

[0099] In addition, the driving member 34 can first drive the first connecting member 32, and the first connecting member 32 drives the second connecting member 33, or the driving member 34 can first drive the second connecting member 33, and the second connecting member 33 drives the first connecting member 32, or the driving member 34 can simultaneously drive the first connecting member 32 and the second connecting member 33.

[0100] Further, the driving member 34 is directly connected to at least one of the first connecting member 32 and the second connecting member 33 through a transmission structure with self-locking function, for example, at least one of a worm-gear transmission structure, a screw-sliding block structure and an electric telescopic structure. Taking the worm-gear transmission structure as an example, the driving member 34 can include a worm, and the first connecting member 32 includes a worm gear, so that the driving member 34 and the first connecting member 32 are directly transmission connected, the structure is relatively simplified, and the structure weight is relatively small. When the joint rehabilitation device of the first embodiment is used, the weight bearing degree of the rehabilitation person is relatively small, and the use experience of the rehabilitation person is relatively good.

[0101] Optionally, the driving member 34 includes a worm 341 as shown in Figure 4 The first connecting member 32 includes a first worm gear 321 as shown in Figure 4 The worm 341 and the first worm gear 321 are rotationally connected with the mounting member 31, and the worm 341 and the first worm gear 321 are meshingly connected.

[0102] The axis O3 of the worm 341 is perpendicular to the axis O1 of the first worm wheel 321, and the connecting structure of the worm 341 and the first worm wheel 321 is a worm and gear connecting structure. When the worm 341 rotates relative to the mounting member 31 about the axis O3, the worm 341 drives the first worm wheel 321 to rotate relative to the mounting member 31 about the axis O1, so as to drive the first connecting member 32 to rotate relative to the mounting member 31 about the axis O1. The worm and gear connecting structure has the effect of increasing torque, and the torque of the first worm wheel 321 can be greater than the torque of the worm 341, that is, the driving force that can be output by the first worm wheel 321 is relatively large, so that the thigh and the lower leg can be reliably driven to move relative to each other. In another aspect, the worm and gear connecting structure has the effect of saving effort, that is, the force used to drive the worm to rotate can be relatively small. When the worm 341 stops rotating, the worm 341 and the first worm wheel 321 are directly self-locked, so that the driving member 34 and the first connecting member 32 are directly self-locked.

[0103] The first connecting member 32 can further include a first gear 322 as shown in Figure 4 The second connecting member 33 includes a second gear 331 as shown in Figure 4 The first gear 322 and the second gear 331 are both rotationally connected with the mounting member 31, the first worm wheel 321 is coaxial with the first gear 322 (axis O1), and the first gear 322 is in meshing connection with the second gear 331. When the first worm wheel 321 rotates relative to the mounting member 31 about the axis O1, the first gear 322 also rotates relative to the mounting member 31 about the axis O1, and the first gear 322 further drives the second gear 331 to rotate relative to the mounting member 31 about the axis O2, so as to drive the second connecting member 33 to rotate relative to the mounting member 31 about the axis O2.

[0104] The rotation direction of the first connecting member 32 and the rotation direction of the second connecting member 33 are opposite, that is, when the first connecting member 32 rotates clockwise, the second connecting member 33 rotates counterclockwise, or when the first connecting member 32 rotates counterclockwise, the second connecting member 33 rotates clockwise.

[0105] In addition, the rehabilitant or the person assisting the rehabilitation can directly manually drive the worm 341 to rotate relative to the mounting member 31 about the axis O3, or the rehabilitant or the person assisting the rehabilitation can indirectly drive the worm 341 to rotate relative to the mounting member 31 about the axis O3 through other structures.

[0106] Furthermore, the axis O3 is perpendicular to the axis O1 and the axis O2.

[0107] In addition, the first worm wheel 321 and the first gear 322 can be integrally formed or detachably connected.

[0108] The mounting member 31 can be a housing structure, the first connecting member 32 can be arranged in the mounting member 31, the first worm gear 321 and the first gear 322 can be located in the mounting member 31, the second connecting member 33 can be arranged in the mounting member 31, and the second gear 331 can be located in the mounting member 31. The relatively closed mounting member 31 can protect the connecting structure located in the mounting member 31.

[0109] In other embodiments (not shown in the drawings), the main body of the mounting member can be a frame structure or a plate structure.

[0110] Optionally, the first worm gear 321 and the first gear 322 have a set transmission ratio i1, which satisfies 0.5≤i1≤1. Specifically, the transmission ratio i1 can be 0.5, 0.6, 0.7, 0.8, 0.9 or 1.

[0111] If the transmission ratio i1 is less than 1, the torque of the first gear 322 can be larger than that of the first worm gear 321, the torque of the second gear 331 driven by the first gear 322 can be larger, and the force of the second support 2 connected with the second connecting member 33 for driving the lower leg can be larger, so that the lower leg can be reliably driven to move relative to the upper leg. At the same time, the setting of the transmission ratio i1 less than 1 can also have the effect of saving effort, that is, the driving force for rotating the first worm gear 321 can be relatively small.

[0112] Optionally, the first gear 322 and the second gear 331 have a set transmission ratio i2, which satisfies 0.5≤i2≤1. Specifically, the transmission ratio i2 can be 0.5, 0.6, 0.7, 0.8, 0.9 or 1.

[0113] If the transmission ratio i2 is less than 1, the torque of the second gear 331 can be larger than that of the first gear 322, the force of the second support 2 connected with the second connecting member 33 for driving the lower leg can be larger, so that the lower leg can be reliably driven to move relative to the upper leg. At the same time, the setting of the transmission ratio i2 less than 1 can also have the effect of saving effort, that is, the driving force for rotating the first gear 322 can be relatively small.

[0114] From the above, the transmission structure between the worm 341, the first worm gear 321, the first gear 322 and the second gear 331 can be as shown in Figure 5 .

[0115] Optionally, the driving member 34 can further include as shown in Figure 4 and Figure 6The first bevel gear 342, the second bevel gear 343 and the rocker handle 344 are shown. The first bevel gear 342 is connected with the worm 341, the second bevel gear 343 is connected with the rocker handle 344, the rocker handle 344 is rotatably connected with the mounting member 31, and the first bevel gear 342 is meshingly connected with the second bevel gear 343. In this arrangement, the hand of the person being rehabilitated or the person helping the rehabilitation can rock the rocker handle 344 to rotate the second bevel gear 343 relative to the mounting member 31 about the axis O4, the second bevel gear 343 drives the first bevel gear 342 to rotate relative to the mounting member 31 about the axis O3, and the first bevel gear 342 drives the worm 341 to rotate relative to the mounting member 31 about the axis O3. Through the above arrangement, the rocker handle 344 can be located at a position that is convenient for the hand of the person being rehabilitated or the person helping the rehabilitation to operate, the movement range of the rocker handle 344 does not interfere with the movement range of the first connecting member 32, and the movement range of the rocker handle 344 does not interfere with the movement range of the second connecting member 33.

[0116] The axis O4 is perpendicular to the axis O3, and the axis O4 is parallel to the axis O1 and the axis O2.

[0117] In addition, the first bevel gear 342 and the second bevel gear 343 can have a set transmission ratio i3 that satisfies 0.5≤i3≤1. The transmission ratio i3 can be 0.5, 0.6, 0.7, 0.8, 0.9 or 1. If the transmission ratio i3 is less than 1, the torque can be increased, the torque of the second bevel gear 343 is greater than that of the first bevel gear 342, and the torque of the worm 341 driven by the second bevel gear 343 is greater. At the same time, the setting of the transmission ratio i3 less than 1 can also have the effect of saving effort, that is, the force driving the first bevel gear 342 to rotate can be relatively small.

[0118] Furthermore, the mounting member 31 can be a housing structure, a part of the structure of the rocker handle 344 is located outside the mounting member 31 so that the hand of the person being rehabilitated or the person helping the rehabilitation can rock the rocker handle 344, and another part of the structure of the rocker handle 344 is arranged in the mounting member 31 and extends into the mounting member 31. The first bevel gear 342, the second bevel gear 343 and the worm 341 are all located in the mounting member 31, and the relatively closed mounting member 31 can protect the connecting structure located in the mounting member 31.

[0119] In other embodiments (not shown in the drawings), the rocker handle can also drive the worm through other types of gear mechanisms, such as a helical gear mechanism (two gear axes are staggered).

[0120] Optionally, please refer to Figures 3-4As shown, the mounting member 31 comprises a body portion (a first portion 311 and a second portion 312) and at least two bearing portions 313 connected with each other, the first worm gear 321, the first gear 322, the second gear 331 and the rocker handle 344 are rotationally connected with the body portion, the connecting shaft 341a between the worm 341 and the first bevel gear 342 is rotationally connected with the at least two bearing portions 313, and the at least two bearing portions 313 are spaced along the axis O3 of the connecting shaft 341a, in this arrangement, the connecting shaft 341a can be well supported by the mounting member 31, and the connecting shaft 341a is not prone to structural deformation, cracking or breaking and other structural problems.

[0121] In the embodiment, the bearing portion 313 can be a sliding bearing or a rolling bearing.

[0122] In addition, if the bearing portion 313 is a sliding bearing, the bearing portion 313 can be integrally formed with the first portion 311, or the bearing portion 313 can be integrally formed with the second portion 312.

[0123] Further, the worm 341 and the first bevel gear 342 can be detachably connected.

[0124] In addition, the first portion 311 and the second portion 312 can be detachably connected, the first portion 311 and the second portion 312 enclose a first window (not shown in the figure) and a second window (not shown in the figure), the first window is used for the first connecting member 32 to pass through, the first window has an opening area capable of meeting the rotation range of the first connecting member 32, and the second window is used for the second connecting member 33 to pass through, the second window has an opening area capable of meeting the rotation range of the second connecting member 33.

[0125] In other embodiments, please refer to Figure 7As shown, the driving member 34 may include a worm 341, the first connecting member 32 may include a first worm gear 321, and the second connecting member 33 may include a second worm gear 334. The worm 341 is meshedly connected with the first worm gear 321, and the worm 341 is also meshedly connected with the second worm gear 334. That is, the connection relationship between the worm 341 and the first worm gear 321 is a worm-worm connection, that is, the connection relationship between the worm 341 and the second worm gear 334 is also a worm-worm connection. The first worm gear 321 is located on one side of the worm 341, and the second worm gear 334 is located on the other side of the worm 341. When the worm 341 rotates about the axis O3, the worm 341 drives the first worm gear 321 to rotate about the axis O1, thereby rotating the first connecting member 32 relative to the mounting member 31. The worm 341 also drives the second worm gear 334 to rotate about the axis O2, thereby rotating the second connecting member 33 relative to the mounting member 31. The rotation direction of the first connecting member 32 is opposite to that of the second connecting member 33. When the worm 341 stops rotating, the worm 341 is directly self-locked with the first worm gear 321 and the second worm gear 334 , respectively, so that the driving member 34 is directly self-locked with the first connecting member 32 and the second connecting member 33 , respectively.

[0126] In other embodiments (not shown in the figures), the first connecting member 32 may also be connected to the second connecting member 33 via a planetary gear rotation structure.

[0127] Alternatively, see Figure 8 As shown, the first connecting member 32 includes a first support bar 323 and at least two first fasteners 324. The first support bar 323 is provided with a first through-slot 323a. The at least two first fasteners 324 are passed through the first through-slot 323a and are spaced apart along the length direction X of the first through-slot 323a. Figure 9 The first brace 1 shown is detachably connected (e.g., threaded or snap-fitted). The at least two first fasteners 324 can be in a fastened state or an unfastened state. In the unfastened state, the at least two first fasteners 324 can slide along the first through-slot 323a to change the position of the first fasteners 324 relative to the first support bar 323, thereby changing the position of the first brace 1 relative to the first support bar 323. When the first brace 1 is in a preset position relative to the first support bar 323, the at least two first fasteners 324 can fasten the first support bar 323 to the first brace 1, i.e., the at least two first fasteners 324 are in a fastened state, and the relative movement between the first brace 1 and the first support bar 323 is restricted. Therefore, in the joint rehabilitation device 10 of the embodiment of the present application, the position of the first brace 1 relative to the first connecting assembly 3 is adjustable to accommodate rehabilitators of different body shapes.

[0128] Among them, Figure 8 The first branch 323 shown and theFigure 5 The first worm gear 321 shown can be integrally formed or detachably connected.

[0129] In addition, please refer to Figure 9 As shown, the first body 11 includes a raised first mounting platform 111, and the first mounting platform 111 can be provided with at least two first connecting holes 111a, and the first connecting holes 111a are used for threaded connection with the threaded first fastener 324. Accordingly, the first branch 323 can be fastened to the first mounting platform 111 by the first fastener 324.

[0130] Furthermore, the first support 323 may be a retractable structure, and the length of the first support 323 can be extended to at least a first length or a second length. When the length of the first support 323 can be extended to at least a set length, a positioning structure inside the first support 323 can position the length of the first support 323 to the set length. For example, the positioning structure can be a recessed portion-raised portion matching structure or a fastener.

[0131] In other embodiments (not shown), the first support bar may include a first sliding rod, the first brace may include a first sliding hole, at least a portion of the first sliding rod may be located within the first sliding hole, so that the first support bar is slidably connected to the first brace, and the first connector may include a first fastener. The first fastener may be detachably connected to the first brace, and the first fastener may be in a state of fastening the first sliding rod to restrict movement of the first sliding rod relative to the first sliding hole, thereby restricting movement of the first brace relative to the first connector. The first fastener may also be in a state of not fastening the first sliding rod to allow the first sliding rod to move freely relative to the first sliding hole, thereby allowing the first brace to slide freely relative to the first connector.

[0132] Similarly, please refer to Figure 10 As shown, the second connecting member 33 may include a second branch 332 and at least two second fasteners 333. The second branch 332 is provided with a second through-slot 332a. The at least two second fasteners 333 are passed through the second through-slot 332a and are spaced apart along the length direction X of the second through-slot 332a. Figure 11The second brace 2 shown is detachably connected (e.g., threaded or snap-fitted). The at least two second fasteners 333 can be in a fastened state or an unfastened state. In the unfastened state, the at least two second fasteners 333 can slide along the second through-slot 332a to change the position of the second fasteners 333 relative to the second support bar 332, thereby changing the position of the second brace 2 relative to the second support bar 332. When the second brace 2 is located at a preset position relative to the second support bar 332, the at least two second fasteners 333 can fasten the second support bar 332 to the second brace 2, i.e., the at least two second fasteners 333 are in a fastened state, and the relative movement of the second brace 2 and the second support bar 332 is restricted. Therefore, in the joint rehabilitation device 10 of the embodiment of the present application, the position of the second brace 2 relative to the first connecting assembly 3 is adjustable to accommodate rehabilitators of different body shapes.

[0133] in, Figure 10 The second branch 332 and Figure 5 The second gear 331 shown can be integrally formed or detachably connected.

[0134] In addition, please refer to Figure 11 As shown, the second body 21 includes a raised second mounting platform 211, and the second mounting platform 211 can be provided with at least two second connecting holes 211a, and the second connecting holes 211a are used for threaded connection with the threaded second fastener 333. Accordingly, the second branch 332 can be fastened to the second mounting platform 211 by the second fastener 333.

[0135] Furthermore, the second leg 332 may be a retractable structure, and the length of the second leg 332 may be retracted to at least a first length or a second length. When the length of the second leg 332 is retracted to at least a set length, a positioning structure within the second leg 332 may position the length of the second leg 332 to the set length. For example, the positioning structure may be a recessed portion-raised portion matching structure or a fastener.

[0136] In other embodiments (not shown), the second support bar may include a second sliding rod, the first brace may include a second sliding hole, at least a portion of the second sliding rod may be located within the second sliding hole, so that the second support bar is slidably connected to the second brace, and the second connector may include a second fastener. The second fastener may be detachably connected to the second brace, and the second fastener may be in a state of fastening the second sliding rod to restrict movement of the second sliding rod relative to the second sliding hole, thereby restricting movement of the second brace relative to the second connector. The second fastener may also be in a state of not fastening the second sliding rod to allow the second sliding rod to move freely relative to the second sliding hole, thereby allowing the second brace to slide freely relative to the second connector.

[0137] Second embodiment:

[0138] The joint rehabilitation device of the embodiments of the present application is used to assist the limb joint of the rehabilitation person to carry out daily free activities. Similarly, the limb joint can be the hip joint between the hip and the thigh, the knee joint between the thigh and the lower leg, the ankle joint between the lower leg and the foot, the shoulder joint between the shoulder and the upper arm, the elbow joint between the upper arm and the lower arm, and the wrist joint between the lower arm and the hand. The subsequent content of the embodiments of the present application mainly takes the knee joint between the thigh and the lower leg as an example to describe the joint rehabilitation device provided by the embodiments of the present application.

[0139] Please refer to Figure 12 The joint rehabilitation device 10 includes a first brace 1, a second brace 2, and a second connecting assembly 4.

[0140] The first brace 1 is used to be sleeved on the first limb (for example, the thigh, not shown in the figure) of the rehabilitation person, and the second brace 2 is used to be sleeved on the second limb (for example, the lower leg, not shown in the figure) connected with the first limb of the rehabilitation person. Alternatively, the first brace 1 is used to be sleeved on the second limb of the rehabilitation person, and the second brace 2 is used to be sleeved on the first limb connected with the second limb of the rehabilitation person.

[0141] The subsequent content of the embodiments of the present application mainly takes “the first brace 1 can be sleeved on the thigh, and the second brace 2 can be sleeved on the lower leg” as an example to describe the joint rehabilitation device of the embodiments of the present application.

[0142] The structure of the first brace 1 of the second embodiment please refer to the structure of the first brace 1 of the first embodiment described above, and the structure of the second brace 2 of the second embodiment please refer to the structure of the second brace 2 of the first embodiment described above, which will not be described here.

[0143] Please refer to Figure 12 The second connecting assembly 4 includes a third connecting piece 41 and a fourth connecting piece 42 which are rotationally connected, the third connecting piece 41 is detachably connected with the first brace 1, and the fourth connecting piece 42 is detachably connected with the second brace 2.

[0144] The connecting structure of the first brace 1, the second brace 2, and the second connecting assembly 4 can be used as the exoskeleton structure of the leg of the rehabilitation person to achieve the effect of assisting the support of the leg of the rehabilitation person, so as to reduce the stress degree of the knee joint, thereby helping the knee joint to recover quickly. Since the third connecting piece 41 and the fourth connecting piece 42 are rotationally connected, the connecting structure of the first brace 1, the second brace 2, and the second connecting assembly 4 will not limit the free bending movement of the leg of the rehabilitation person. Therefore, when the rehabilitation person does not need rehabilitation training, that is, when the rehabilitation person carries out daily activities, the rehabilitation person can use the joint rehabilitation device 10 shown in Figure 12 to assist the rehabilitation person to carry out daily free activities.

[0145] Optionally, please refer to Figure 13As shown, the third connecting member 41 comprises a first rotating connecting part 411, the fourth connecting member 42 comprises a second rotating connecting part 421 and a third rotating connecting part 422, the first rotating connecting part 411, the second rotating connecting part 421 and the third rotating connecting part 422 are rotatingly connected, and the first rotating connecting part 411 is located between the second rotating connecting part 421 and the third rotating connecting part 422. In this arrangement, the second rotating connecting part 421 and the third rotating connecting part 422 can limit the movement of the first rotating connecting part 411 along the axis O5, and the second rotating connecting part 421 and the third rotating connecting part 422 can limit the rotation of the first rotating connecting part 411 around the axis O6. Therefore, this arrangement can improve the structural strength of the connecting structure between the third connecting member 41 and the fourth connecting member 42, so that the structural reliability of the second connecting assembly 4 is relatively high.

[0146] The first rotating connecting part 411, the second rotating connecting part 421 and the third rotating connecting part 422 can each be provided with a connecting hole (not shown in the figure), and the second connecting assembly 4 can further comprise a rotating shaft 43, the rotating shaft 43 is sequentially arranged in the three connecting holes, so that the first rotating connecting part 411, the second rotating connecting part 421 and the third rotating connecting part 422 are rotatingly connected.

[0147] In other embodiments (not shown in the figure), the first rotating connecting part can comprise two rotating shafts oppositely arranged along the axis O5, the second rotating connecting part and the third rotating connecting part can each be provided with a connecting hole, and each rotating shaft can be arranged in the corresponding connecting hole, so that the first rotating connecting part 411, the second rotating connecting part 421 and the third rotating connecting part 422 are rotatingly connected.

[0148] Optionally, please refer to Figure 14 As shown, the third connecting member 41 comprises a third branch 412 and at least two third fasteners 413, the third branch 412 is provided with a third through sliding slot 412a, and the at least two third fasteners 413 are arranged in the third through sliding slot 412a and are spaced along the length direction X of the third through sliding slot 412a. The at least two third fasteners 413 and the at least two first fasteners 411 are arranged in the same through sliding slot, and the at least two third fasteners 413 and the at least two second fasteners 412 are arranged in the same through sliding slot. Figure 9The first brace 1 is detachably connected (e.g. threaded or clamped). At least two third fasteners 413 can be in a fastened state or an unfastened state. In the unfastened state, the at least two third fasteners 413 can slide along the third through-slots 412a to change the position of the third fasteners 413 relative to the third strut 412, so that the position of the first brace 1 relative to the third strut 412 can be changed. When the first brace 1 is located at a preset position relative to the third strut 412, the at least two third fasteners 413 can fasten the third strut 412 to the first brace 1, i.e. the at least two third fasteners 413 are in the fastened state, and limit the relative movement of the first brace 1 and the third strut 412. Therefore, the position of the first brace 1 relative to the second connecting assembly 4 in the joint rehabilitation device 10 of the embodiments of the present application can be adjusted to adapt to rehabilitation persons of different sizes.

[0149] In the embodiments of the present application, the third strut 412 and the first rotary connecting part 411 can be integrally formed, or the third strut 412 and the first rotary connecting part 411 can be detachably connected. Figure 14 In the embodiments of the present application, the third strut 412 and the first rotary connecting part 411 can be integrally formed, or the third strut 412 and the first rotary connecting part 411 can be detachably connected. Figure 13 In the embodiments of the present application, the third strut 412 and the first rotary connecting part 411 can be integrally formed, or the third strut 412 and the first rotary connecting part 411 can be detachably connected. Figure 14 In the embodiments of the present application, the third strut 412 and the first rotary connecting part 411 can be integrally formed, or the third strut 412 and the first rotary connecting part 411 can be detachably connected. Figure 13 In the embodiments of the present application, the third strut 412 and the first rotary connecting part 411 can be integrally formed, or the third strut 412 and the first rotary connecting part 411 can be detachably connected.

[0150] In addition, as shown in FIG. 1, the first body 11 of the first brace 1 includes a protruding first mounting table 111, which can be provided with at least two first connecting holes 111a for threaded connection with the threaded third fasteners 413. Correspondingly, the third strut 412 can be fastened to the first mounting table 111 by the third fasteners 413. Figure 9 In addition, as shown in FIG. 1, the first body 11 of the first brace 1 includes a protruding first mounting table 111, which can be provided with at least two first connecting holes 111a for threaded connection with the threaded third fasteners 413. Correspondingly, the third strut 412 can be fastened to the first mounting table 111 by the third fasteners 413.

[0151]

[0152] ​In other embodiments (not shown in the figures), the third branch can include a third sliding rod, the first brace can include a first sliding hole, at least part of the structure of the third sliding rod can be located in the first sliding hole, so that the third branch is in sliding connection with the first brace, the third connecting member can include a third fastener, the third fastener can be detachably connected with the first brace, the third fastener can be in a state of fastening the third sliding rod, so as to limit the movement of the third sliding rod relative to the first sliding hole, thereby limiting the movement of the first brace relative to the third connecting member. The third fastener can also be in a state of not fastening the third sliding rod, so that the third sliding rod can move freely relative to the first sliding hole, thereby allowing the first brace to slide freely relative to the third connecting member.

[0153] Similarly, please refer to Figure 15 As shown, the fourth connecting member 42 can include a fourth branch 423 and at least two fourth fasteners 424, the fourth branch 423 is provided with a fourth through sliding groove 423a, and the at least two fourth fasteners 424 are arranged in the fourth through sliding groove 423a and are spaced apart along the length direction X of the fourth through sliding groove 423a. The at least two fourth fasteners 424 are detachably connected (such as threaded connection or clamping) with the second brace 2 as shown. Figure 11 Among them, the at least two fourth fasteners 424 can be in a fastened state or an unfastened state. In the unfastened state, the at least two fourth fasteners 424 can slide along the fourth through sliding groove 423a to change the position of the fourth fastener 424 relative to the fourth branch 423, so as to change the position of the second brace 2 relative to the fourth branch 423. When the second brace 2 is located at a predetermined position relative to the fourth branch 423, the fourth branch 423 can be fastened to the second brace 2 by the at least two fourth fasteners 424, that is, the at least two fourth fasteners 424 are in the fastened state, and the relative movement of the second brace 2 and the fourth branch 423 is limited. Therefore, the position of the second brace 2 relative to the second connecting assembly 4 in the joint rehabilitation device 10 of the embodiment of the present application is adjustable to adapt to rehabilitation persons of different sizes.

[0154] Among them, Figure 15 As shown, the fourth branch 423 and Figure 13 The second rotating connection part 421 and the third rotating connection part 422 shown in the figure can be integrally formed or detachably connected.

[0155] In addition, please refer to Figure 11 As shown, the second body 21 of the second brace 2 includes a protruding second mounting table 211, the second mounting table 211 can be provided with at least two second connecting holes 211a, the second connecting holes 211a are used for threaded connection with the threaded fourth fasteners 424, correspondingly, the fourth branch 423 can be fastened to the second mounting table 211 by the fourth fasteners 424.

[0156] Further, the fourth support 423 can be a telescopic structure, and the length of the fourth support 423 can be telescoped to at least the first length or the second length. When the length of the fourth support 423 is telescoped to any set length, a positioning structure inside the fourth support 423 can position the length of the fourth support 423 to the set length. For example, the positioning structure can be a recess-protrusion matching structure or a fastener.

[0157] In other embodiments (not shown in the drawings), the fourth support can include a fourth sliding rod, the first support can include a second sliding hole, at least part of the fourth sliding rod can be located in the second sliding hole, so that the fourth support is in sliding connection with the second support, the fourth connecting member can include a fourth fastener, the fourth fastener can be detachably connected with the second support, and the fourth fastener can be in a state of fastening the fourth sliding rod to limit the movement of the fourth sliding rod relative to the second sliding hole, thereby limiting the movement of the second support relative to the fourth connecting member. The fourth fastener can also be in a state of not fastening the fourth sliding rod, so that the fourth sliding rod can move freely relative to the second sliding hole, thereby allowing the second support to slide freely relative to the fourth connecting member.

[0158] Third embodiment:

[0159] The joint rehabilitation device of the embodiments of the present application can be used to assist the rehabilitation of the limb joint rehabilitation training, and the joint rehabilitation device of the embodiments of the present application can also assist the rehabilitation of the limb joint to carry out daily free activities. Similarly, the limb joint can be the hip joint between the hip and the thigh, the knee joint between the thigh and the lower leg, the ankle joint between the lower leg and the foot, the shoulder joint between the shoulder and the upper arm, the elbow joint between the upper arm and the lower arm, and the wrist joint between the lower arm and the hand. The subsequent content of the embodiments of the present application mainly takes the knee joint between the thigh and the lower leg as an example to describe the joint rehabilitation device provided by the embodiments of the present application.

[0160] The joint rehabilitation device 10 includes a first support 1, a second support 2, and a connecting assembly. The connecting assembly can be changed between a first configuration and a second configuration.

[0161] When the rehabilitation person needs rehabilitation training, the connecting assembly can be provided with the first configuration. In the first configuration, the connecting assembly can be a first connecting assembly 3, i.e., the connecting assembly can include a mounting member 31, a first connecting member 32, a second connecting member 33, and a driving member 34. The first connecting member 32, the second connecting member 33, and the driving member 34 are all movably connected with the mounting member 31, the first connecting member 32 is detachably connected with the first support 1, and the second connecting member 33 is detachably connected with the second support 2, so that the joint rehabilitation device 10 can have the function of assisting the rehabilitation training. For related specific structures and technical effects, please refer to the content of the joint rehabilitation device 10 of the first embodiment described above, which will not be described here.

[0162] The connecting assembly can be provided with a second configuration when the rehabilitation person needs to freely move. In the second configuration, the connecting assembly can be a second connecting assembly 4, that is, the connecting assembly can include a third connecting piece 41 and a fourth connecting piece 42 rotatably connected, the third connecting piece 41 is detachably connected with the first brace 1, and the fourth connecting piece 42 is detachably connected with the second brace 2, so that the joint rehabilitation device 10 has the function of assisting free movement. For details, please refer to the contents of the second embodiment of the joint rehabilitation device 10 described above, and this will not be repeated here. Of course, the third connecting piece 41 and the fourth connecting piece 42 can also be connected by a ball pair.

[0163] The prior art joint rehabilitation device integrates the structure for assisting rehabilitation training and the structure for assisting free movement, resulting in a relatively large structure weight of the prior art joint rehabilitation device. Compared with the prior art, the rehabilitation person can flexibly change the configuration structure inside the connecting assembly, that is, the rehabilitation person can change the connecting assembly between the first configuration and the second configuration, so that the joint rehabilitation device 10 only has the structure for assisting rehabilitation training or only has the structure for assisting free movement, so that the structure weight of the joint rehabilitation device 10 in any configuration is relatively small. When using the joint rehabilitation device 10 in any configuration, the rehabilitation person has less weight feeling, and the use experience of the rehabilitation person is better.

[0164] Among them, the weight of the connecting assembly in the second configuration is less than the weight of the connecting assembly in the first configuration, that is, the weight of the second connecting assembly 4 can be less than the weight of the first connecting assembly 3. When the rehabilitation person uses the joint rehabilitation device 10 formed by the first brace 1, the second brace 2 and the second connecting assembly 4, the weight of the joint rehabilitation device 10 borne by the limb of the rehabilitation person is smaller, the weight feeling of the limb of the rehabilitation person in daily free movement is less, and the use experience of the rehabilitation person is better.

[0165] In addition, the structure of the first brace 1 of the third embodiment please refer to the structure of the first brace 1 of the first embodiment described above, the structure of the second brace 2 of the third embodiment please refer to the structure of the second brace 2 of the first embodiment described above, the structure of the first connecting assembly 3 of the third embodiment please refer to the structure of the first connecting assembly 3 of the first embodiment described above, the structure of the second connecting assembly 4 of the third embodiment please refer to the structure of the second connecting assembly 4 of the second embodiment described above, this will not be repeated here.

[0166] If the first brace 323 is integrally formed with the first worm gear 321, the second brace 332 is integrally formed with the second gear 331, the third brace 412 is integrally formed with the first rotary connecting part 411, and the fourth brace 423, the second rotary connecting part 421 and the third rotary connecting part 422 are integrally formed, the structure has the advantage of high structural strength.

[0167] If the first branch 323 is detachably connected with the first worm gear 321, the second branch 332 is detachably connected with the second gear 331, the third branch 412 is detachably connected with the first rotating connecting part 411, the fourth branch 423 is detachably connected with the second rotating connecting part 421, and the fourth branch 423 is detachably connected with the third rotating connecting part 422. The detachable connection structure described in this section can be a plug-in buckle connection structure, which has the advantages of quick assembly and quick disassembly.

[0168] When the user needs to change the joint rehabilitation device 10 from having the function of assisting rehabilitation training to having the function of assisting free activity, the user can detach the first branch 323 from the first worm gear 321 and detach the second branch 332 from the second gear 331 without disassembling the branches and the brace, and then detachably connect the first branch 323 with the first rotating connecting part 411 and detachably connect the second branch 332 with the second rotating connecting part 421 and the third rotating connecting part 422.

[0169] When the user needs to change the joint rehabilitation device 10 from having the function of assisting free activity to having the function of assisting rehabilitation training, the user can detach the third branch 412 from the first rotating connecting part 411 and detach the fourth branch 423 from the second rotating connecting part 421 and the third rotating connecting part 422 without disassembling the branches and the brace, and then detachably connect the third branch 412 with the first worm gear 321 and detachably connect the fourth branch 423 with the second gear 331.

[0170] In short, the first worm gear 321, the second gear 331, the first rotating connecting part 411, the second rotating connecting part 421, and the third rotating connecting part 422 can be detachably connected with any branch.

[0171] Fourth embodiment:

[0172] The joint rehabilitation device of the embodiments of the present application can be used to assist the rehabilitation of the limb joint rehabilitation training, and the joint rehabilitation device of the embodiments of the present application can also assist the rehabilitation of the limb joint to carry out daily free activity. Similarly, the limb joint can be the hip joint between the hip and the thigh, the knee joint between the thigh and the calf, the ankle joint between the calf and the foot, the shoulder joint between the shoulder and the upper arm, the elbow joint between the upper arm and the lower arm, and the wrist joint between the lower arm and the hand. The subsequent content of the embodiments of the present application mainly describes the joint rehabilitation device provided by the embodiments of the present application taking the knee joint between the thigh and the calf as an example.

[0173] The joint rehabilitation device 10 comprises a first brace 1, a second brace 2 and a connecting assembly. The connecting assembly can be changed between a first configuration and a second configuration.

[0174] When the rehabilitant needs rehabilitation training, the connecting assembly can be provided with the first configuration. In the first configuration, the connecting assembly can be the first connecting assembly 3, i.e., the connecting assembly comprises the mounting member 31, the first connecting member 32, the second connecting member 33, and the driving member 34. Among them, the first connecting member 32, the second connecting member 33, and the driving member 34 are all movably connected with the mounting member 31, the first connecting member 32 is detachably connected with the first brace 1, and the second connecting member 33 is detachably connected with the second brace 2, so that the joint rehabilitation device 10 has the function of assisting rehabilitation training. For related specific structures and technical effects, please refer to the content of the joint rehabilitation device 10 of the first embodiment described above, which will not be repeated here.

[0175] When the rehabilitant needs to move freely, the connecting assembly can be provided with the second configuration. In the second configuration, the connecting assembly can comprise the mounting member 31, the first connecting member 32, and the second connecting member 33, but the connecting assembly does not comprise the driving member 34. Among them, the first connecting member 32 and the second connecting member 33 are both rotatably connected with the mounting member 31, and the first connecting member 32 and the second connecting member 33 are meshingly connected. The first connecting member 32 is detachably connected with the first brace 1, and the second connecting member 33 is detachably connected with the second brace 2. In this setting, the first connecting member 32 and the second connecting member 33 can move freely relative to the mounting member 31, so that the joint rehabilitation device 10 has the function of assisting free movement.

[0176] The prior art joint rehabilitation device integrates the structure for assisting rehabilitation training and the structure for assisting free movement, resulting in a relatively large structure weight of the prior art joint rehabilitation device. Compared with the prior art, the rehabilitant can flexibly change the configuration structure inside the connecting assembly, i.e., the rehabilitant can change the connecting assembly between the first configuration and the second configuration, so that the joint rehabilitation device 10 only has the structure for assisting rehabilitation training or only has the structure for assisting free movement, so that the structure weight of the joint rehabilitation device 10 in any configuration is relatively small. When the rehabilitant uses the joint rehabilitation device 10 in any configuration, the rehabilitant has less weight feeling, and the use experience of the rehabilitant is better.

[0177] The structure of the first brace 1 of the fourth embodiment please refer to the structure of the first brace 1 of the first embodiment described above, the structure of the second brace 2 of the fourth embodiment please refer to the structure of the second brace 2 of the first embodiment described above, and the structure of the first connecting assembly 3 of the fourth embodiment please refer to the structure of the first connecting assembly 3 of the first embodiment described above, which will not be repeated here.

[0178] Among them, the weight of the connecting assembly in the second configuration is less than the weight of the connecting assembly in the first configuration.

[0179] In any of the above embodiments, at least one of the first brace 1 and the second brace 2 can be obtained by a three-dimensional printing process to enable the brace to better fit the rehabilitant. The three-dimensional printing process for making the brace is described as follows:

[0180] a) Data acquisition:

[0181] Scan the limb of the rehabilitant using a three-dimensional scanner to obtain a three-dimensional data model of the limb. The three-dimensional scanner can be a portable handheld three-dimensional scanner or other similar device capable of physical scanning.

[0182] b) Import the three-dimensional data model of the limb into a computer for personalized design to obtain a target brace model:

[0183] Take the contour of the skin of the rehabilitant in the three-dimensional data model of the limb as the basis for brace design, obtain an initial brace model by setting the thickness of this part of the skin contour, and perform operations such as hollowing-out design, smoothing treatment, and additional structure design on the basis of the initial brace model to obtain a target brace model. The additional structure can be a structure for connecting with other components, such as a mounting table for connecting with the first connecting assembly, a mounting table for connecting with the second connecting assembly, and a strap for wearing the brace.

[0184] c) Brace printing:

[0185] Import the target brace model into a three-dimensional printer for printing to obtain the brace.

[0186] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An articulating rehabilitation device, characterized by, The joint rehabilitation device comprises a first brace, a second brace and a connecting assembly; Any one of the first brace and the second brace is used to be sleeved on a first limb, and the other one is used to be sleeved on a second limb connected with the first limb; The connecting assembly can be changed between a first configuration and a second configuration; In the first configuration, the connecting assembly comprises a mounting, a first connecting piece, a second connecting piece and a driving piece, the first connecting piece, the second connecting piece and the driving piece are movably connected with the mounting, the first connecting piece is detachably connected with the first brace, the second connecting piece is detachably connected with the second brace, the driving piece has a first state and a second state, in the first state, the driving piece can drive the first connecting piece and the second connecting piece to move, in the second state, the driving piece, the first connecting piece and the second connecting piece are self-locked; In the second configuration, the connecting assembly does not comprise the driving piece, and the first brace is movably connected with the second brace through the connecting assembly.

2. The articular rehabilitation device of claim 1, wherein, In the first configuration, the driving piece comprises a worm, the first connecting piece comprises a first worm wheel, the worm and the first worm wheel are rotatably connected with the mounting, and the worm is meshingly connected with the first worm wheel; The first connecting piece comprises a first gear, the second connecting piece comprises a second gear, the first gear and the second gear are rotatably connected with the mounting, the first worm wheel is coaxial with the first gear, and the first gear is meshingly connected with the second gear.

3. The articular rehabilitation device of claim 2, wherein, A transmission ratio i1 between the first worm wheel and the first gear is set, and satisfies 0.5≤i1≤1.

4. The articulating rehabilitation device of claim 2, wherein, A transmission ratio i2 between the first gear and the second gear is set, and satisfies 0.5≤i2≤1.

5. The articulating rehabilitation device of claim 2, wherein, The driving piece further comprises a first bevel gear, a second bevel gear and a rocker handle, the first bevel gear is connected with the worm, the second bevel gear is connected with the rocker handle, the rocker handle is rotatably connected with the mounting, and the first bevel gear is meshingly connected with the second bevel gear.

6. The articulating rehabilitation device of claim 5, wherein, The mounting comprises a body part and at least two bearing parts connected with each other, the first worm wheel, the first gear, the second gear and the rocker handle are rotatably connected with the body part, a connecting shaft between the worm and the first bevel gear is rotatably connected with at least two bearing parts, and at least two bearing parts are spaced along an axis of the connecting shaft.

7. The articular rehabilitation device according to any one of claims 1 to 6, characterized in that, In the first configuration, the first connecting piece comprises a first support and at least two first fasteners, the first support is provided with a first through sliding groove, at least two first fasteners are arranged in the first through sliding groove and are spaced along a length direction of the first through sliding groove, and at least two first fasteners are detachably connected with the first brace; At least two of the first fasteners can be in a fastened state or an unfastened state, in the fastened state, the at least two first fasteners can fasten the first splint to the first brace, in the unfastened state, the at least two first fasteners can slide along the first through-slots.

8. The joint rehabilitation device according to any one of claims 1 to 6, characterized in that, In the second configuration, the connecting assembly comprises a third connecting member and a fourth connecting member in rotational connection, the third connecting member can be detachably connected with the first brace, and the fourth connecting member can be detachably connected with the second brace.

9. The articulating rehabilitation device of claim 8, wherein, The third connecting member comprises a first rotational connection part, the fourth connecting member comprises a second rotational connection part and a third rotational connection part, the first rotational connection part, the second rotational connection part and the third rotational connection part are in rotational connection, and the first rotational connection part is located between the second rotational connection part and the third rotational connection part.

10. The articular rehabilitation device according to any one of claims 1 to 6, characterized in that, The weight of the connecting assembly in the second configuration is less than the weight of the connecting assembly in the first configuration.

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