Limb length adjustment mechanism and rehabilitation equipment

Abstract

This application relates to a limb length adjustment mechanism and rehabilitation equipment. The limb length adjustment mechanism includes: a support frame; a limb rod movably mounted on the support frame along its axial direction; a nut connector threadedly connected to the limb rod and rotatably mounted on the support frame; an angular contact ball bearing, through which the nut connector is rotatably mounted on the support frame; a guide rod fixedly mounted within the support frame, its axial direction parallel to that of the limb rod, and a circumferential limiting member on the limb rod that can move axially along the guide rod to restrict rotation; and a drive assembly that drives the nut connector to rotate, thereby causing the limb rod to reciprocate along its axial direction. The limb length adjustment mechanism of this application has the advantages of high automation, high adjustment efficiency, and high accuracy, meeting diverse usage needs and exhibiting good adaptability. Furthermore, its overall structure is compact, rationally designed, and durable. The entire mechanism is stable, reliable, and low-noise during operation, making it widely applicable in rehabilitation equipment.

Description

Technical Field

[0001] This application falls under the field of rehabilitation medical equipment, specifically involving limb length adjustment mechanisms and rehabilitation equipment. Background Technology

[0002] Rehabilitation medical robots can help patients with a variety of active and passive training, which not only frees rehabilitation physicians from heavy physical labor, allowing them to guide multiple patients in rehabilitation training at the same time, but also increases patients' motivation and intensity of exercise.

[0003] However, current rehabilitation medical equipment has a low degree of automation in its adjustment mechanisms to match the different limb lengths of patients. Most of them are semi-automated or purely manual adjustment methods, which are inefficient and have poor accuracy. Utility Model Content

[0004] This application provides a limb length adjustment mechanism and rehabilitation equipment to solve the technical problems of poor adjustment efficiency and low precision of the limb length adjustment mechanism.

[0005] To solve the above-mentioned technical problems, this application adopts the following technical solution: a limb length adjustment mechanism, comprising: a bracket; a limb rod movably disposed on the bracket along an axial direction, the limb rod having an external thread; a nut connector threadedly connected to the limb rod, the nut connector being rotatably disposed on the bracket; an angular contact ball bearing sleeved on the outside of the nut connector, the nut connector being rotatably disposed on the bracket via the angular contact ball bearing; a guide rod fixedly disposed within the bracket, the axial direction of the guide rod being parallel to the axial direction of the limb rod, the limb rod being provided with a circumferential limiting member that can move along the axial direction of the guide rod to limit the rotation of the limb rod; and a drive assembly that drives the nut connector to rotate, thereby causing the limb rod to reciprocate along an axial direction.

[0006] According to one embodiment of this application, the circumferential limiting member includes a limiting block, which is fixedly disposed at one end of the limb facing the bracket, and is sleeved on the outside of the guide rod and slidably disposed on the guide rod.

[0007] According to one embodiment of this application, the nut connector includes: a cylindrical threaded sleeve, which is sleeved on the outside of the limb and threadedly connected to the limb; an annular boss, which is formed on the outer periphery of the cylindrical threaded sleeve; and two angular contact ball bearings, which are respectively located on both sides of the annular boss.

[0008] According to one embodiment of this application, the bracket is cylindrical and includes an upper bracket, a connecting tube, and a lower bracket connected in sequence. The upper bracket is used to connect external components. One end of the guide rod is fixed to the upper bracket, and the other end extends to the lower bracket. One end of the limb extends from one side of the lower bracket to the outside of the bracket and is used to connect external components. One end of the nut connector extends from one side of the lower bracket to the outside of the bracket and is used to dock with the drive component.

[0009] According to one embodiment of this application, the lower bracket has an inwardly extending abutting edge at one end away from the connecting tube body, and the angular contact ball bearing abuts against the abutting edge. A mounting cavity is formed inside the lower bracket. The bracket further includes: a mounting plate disposed between the connecting tube body and the lower bracket, the mounting plate abutting against the nut connector and the angular contact ball bearing on the side facing the connecting tube body, so as to axially limit the nut connector and the angular contact ball bearing within the mounting cavity; and the guide rod is fixedly disposed at one end away from the upper bracket on the mounting plate.

[0010] According to one embodiment of this application, the external thread of the limb is a trapezoidal thread.

[0011] According to one embodiment of this application, the drive assembly includes: a motor, fixedly disposed on the outside of the bracket; a drive gear, fixedly disposed on the output end of the motor; and a driven gear, one end of the nut connector extending outside the bracket, the driven gear being sleeved on the outside of the nut connector and fixed relative to the nut connector, the driven gear meshing with the drive gear.

[0012] According to one embodiment of this application, the outer periphery of the nut connector is provided with a protrusion, and the inner side of the driven gear is correspondingly provided with an embedding groove. When the driven gear is sleeved on the outer side of the nut connector, the protrusion is located in the embedding groove to fix the driven gear and the nut connector circumferentially relative to each other.

[0013] According to one embodiment of this application, a locking nut is threaded to one end of the nut connector extending outside the bracket. The locking nut abuts against the side of the driven gear away from the driven gear, so as to fix the driven gear and the nut connector axially relative to each other.

[0014] According to one embodiment of this application, the limb length adjustment mechanism further includes an end face bearing, which is sleeved on the outside of the nut connector and located between the end faces of the driven gear and the bracket.

[0015] According to one embodiment of this application, the driving gear is a non-rigid gear, and the driven gear is a rigid gear.

[0016] According to one embodiment of this application, the limb length adjustment mechanism further includes: a sensor disposed within the bracket for sensing the position of the end of the limb rod and emitting a signal.

[0017] To solve the above-mentioned technical problems, another technical solution adopted in this application is: a rehabilitation device that uses the limb length adjustment mechanism described above, wherein the limb rod is an upper limb rod or a lower limb rod.

[0018] The beneficial effects of this application are as follows: The limb length adjustment mechanism in this application transmits rotational motion to the nut connector via a drive assembly. The nut connector and the limb rod are threaded together, converting the rotational motion into linear motion. This causes the limb rod to reciprocate along the axial direction on the support, thereby changing the overall length of the limb rod and the support along the limb rod's axial direction, thus achieving length adjustment of the limb length adjustment mechanism. The drive assembly can drive the nut connector to rotate smoothly and precisely. The movement adjustment of the limb rod is not only smooth but also highly controllable and accurate, meeting the diverse needs of different groups for limb length adjustment and achieving automated and precise control.

[0019] Furthermore, the limb length adjustment mechanism of this application also has the advantage of functional integration. The guide rod combines axial guidance and anti-tilt functions, effectively limiting the limb's tilt under radial force and restricting its rotational freedom around the axis caused by tangential force through the cooperation of the guide rod and the circumferential limiting component, thus ensuring the stability of the limb during axial movement. This stability not only improves the accuracy of limb length adjustment but also delays structural wear and extends the service life of the mechanism. The limb can not only restrict its rotational freedom around the axis caused by tangential force through the guide rod, but also transfer radial and axial loads to the support through the angular contact ball bearing, reducing the force on the limb, maintaining the structural reliability and service life of the limb, and further effectively maintaining the adjustment stability and accuracy of the limb.

[0020] The limb length adjustment mechanism of this application reduces the number of parts through functional integration, avoiding the complexity of assembly process caused by too many parts; secondly, the reduction of parts can reduce structural weight, reduce connection points (too many connection points will increase the probability of abnormal noise during use), optimize the spatial layout, and make the component space more compact.

[0021] The limb length adjustment mechanism of this application has the advantages of high automation, high adjustment efficiency and high accuracy, which can meet different usage needs and has good adaptability; in addition, the overall structure is compact, the design is reasonable, and the durability is good. The entire mechanism has the advantages of stable and reliable operation and low noise, and can be widely used in rehabilitation equipment. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0023] Figure 1 This is a schematic diagram of the overall structure of a limb length adjustment mechanism provided in an embodiment of this application;

[0024] Figure 2 This is a partial structural schematic diagram of a limb length adjustment mechanism provided in an embodiment of this application;

[0025] Figure 3 This is an exploded structural diagram of a limb length adjustment mechanism provided in an embodiment of this application;

[0026] Figure 4 This is another partial structural schematic diagram of the limb length adjustment mechanism provided in one embodiment of this application;

[0027] Figure 5 This is a cross-sectional structural schematic diagram of a limb length adjustment mechanism provided in an embodiment of this application. Detailed Implementation

[0028] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, it should be noted that, for ease of description, only the parts relevant to this application are shown in the accompanying drawings, not the entire structure. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of this application.

[0029] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0030] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the stated features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0031] Please see Figures 1 to 5 , Figure 1 This is a schematic diagram of the overall structure of a limb length adjustment mechanism provided in an embodiment of this application; Figure 2 This is a partial structural schematic diagram of a limb length adjustment mechanism provided in an embodiment of this application; Figure 3 This is an exploded structural diagram of a limb length adjustment mechanism provided in an embodiment of this application; Figure 4 This is another partial structural schematic diagram of the limb length adjustment mechanism provided in one embodiment of this application; Figure 5 This is a cross-sectional structural schematic diagram of a limb length adjustment mechanism provided in an embodiment of this application.

[0032] One embodiment of this application provides a limb length adjustment mechanism 100. The limb length adjustment mechanism 100 includes a bracket 110, a limb 120, a nut connector 130, a guide rod 140, and a drive assembly 150. The limb 120 is movably disposed on the bracket 110 along its axial direction and has external threads. The nut connector 130 is threadedly connected to the limb 120 and is rotatably disposed on the bracket 110. The guide rod 140 is fixedly disposed within the bracket 110, and its axial direction is parallel to that of the limb 120. A circumferential limiting member 141 is provided on the limb 120, which can move axially along the guide rod 140 to limit the rotation of the limb 120. The drive assembly 150 drives the nut connector 130 to rotate, thereby causing the limb 120 to reciprocate along its axial direction.

[0033] The limb length adjustment mechanism 100 in this application transmits rotational motion to the nut connector 130 via a drive assembly 150. The nut connector 130 and the limb rod 120 are threadedly connected, converting the rotational motion into linear motion. This causes the limb rod 120 to reciprocate along the axial direction on the support 110, thereby changing the overall length of the limb rod 120 and the support 110 along the axial direction of the limb rod 120, thus achieving length adjustment of the limb length adjustment mechanism 100. The drive assembly 150 can drive the nut connector 130 to rotate smoothly and precisely. The movement adjustment of the limb rod 120 is not only smooth but also highly controllable and accurate, meeting the diverse needs of different groups for limb length adjustment and achieving automated and precise control.

[0034] Furthermore, the limb length adjustment mechanism 100 of this application also has the advantage of functional integration. The guide rod 140 combines axial guidance and anti-tilt functions. Through the cooperation of the guide rod 140 and the circumferential limiting member 141, it effectively restricts the limb 120 from tilting under radial force and limits the degree of freedom of rotation of the limb 120 around the axis caused by tangential force, thus ensuring the stability of the limb 120 during axial movement. This stability not only improves the accuracy of limb length adjustment but also delays structural wear and extends the overall service life of the mechanism.

[0035] The limb length adjustment mechanism 100 of this application reduces the number of parts through functional integration, avoiding the complexity of assembly process caused by too many parts; secondly, the reduction of parts can reduce structural weight, reduce connection points (too many connection points will increase the probability of abnormal noise during use), optimize the spatial layout, and make the component space more compact.

[0036] The limb length adjustment mechanism 100 of this application has the advantages of high automation, high adjustment efficiency and high accuracy, which can meet different usage needs and has good adaptability; in addition, the overall structure is compact, the design is reasonable, and the durability is good. The entire mechanism has the advantages of stability, reliability and low noise during operation, and can be widely used in rehabilitation equipment.

[0037] Specifically, the limb length adjustment mechanism 100 can be used for adjusting the length of the upper or lower limb. When the limb length adjustment mechanism 100 of this application is applied to a rehabilitation device, the opposite ends of the bracket 110 and the limb rod 120 are respectively used to connect to the rehabilitation device to realize the limb length adjustment of the rehabilitation device.

[0038] In some embodiments, the limb length adjustment mechanism 100 further includes an angular contact ball bearing 160, which is sleeved on the outside of the nut connector 130, and the nut connector 130 is rotatably mounted on the bracket 110 via the angular contact ball bearing 160.

[0039] The angular contact ball bearing 160 is a rolling bearing capable of simultaneously bearing radial and axial loads. The nut connector 130 is rotatably mounted on the bracket 110 via the angular contact ball bearing 160. The radial and axial loads on the limb 120, which are received by and transmitted to the nut connector 130, can be transferred to the bracket 110 via the angular contact ball bearing 160. This improves the rotational stability of the nut connector 130 and reduces frictional resistance during rotation, making the limb 120 smoother during adjustment. Therefore, the limb 120 can not only restrict its degree of freedom of rotation around the axis caused by tangential force via the guide rod 140, but also transmit radial and axial loads to the bracket 110 via the angular contact ball bearing 160, reducing the force on the limb 120, maintaining its structural reliability and service life, and further effectively maintaining the adjustment stability and accuracy of the limb 120.

[0040] Specifically, the nut connector 130 includes a cylindrical threaded sleeve 131 and an annular boss 132. The cylindrical threaded sleeve 131 is fitted onto the outside of the limb 120 and is threadedly connected to the limb 120. The annular boss 132 is formed on the outer periphery of the cylindrical threaded sleeve 131, and two angular contact ball bearings 160 are provided, located on both sides of the annular boss 132 respectively.

[0041] By setting an angular contact ball bearing 160 on each side of the annular boss 132, the axial forces in two directions on the limb 120 can be transmitted to the bracket 110 through the angular contact ball bearing 160, which further improves the stability of the limb length adjustment mechanism 100 when subjected to complex loads.

[0042] The limb length adjustment mechanism 100 of this application has a limb rod 120 that can withstand greater axial and radial forces, solving the problem that current adjustment mechanisms on the market cannot withstand large radial forces. It can be applied to complex force environments caused by differences in the function of patients' lower limbs, and improves the universal applicability of the rehabilitation equipment it is used in.

[0043] In some embodiments, the external thread of the limb rod 120 is a trapezoidal thread. The trapezoidal thread of the limb rod 120 provides axial self-locking, preventing automatic extension and retraction under axial force, further enhancing the stability and safety of the limb length adjustment mechanism 100. Furthermore, the trapezoidal thread design effectively reduces wear between threads, extending the service life of the limb rod 120. In practical applications, the limb length adjustment mechanism 100 maintains a stable length when bearing the patient's weight or undergoing rehabilitation training, ensuring the smooth progress of the rehabilitation process.

[0044] By incorporating trapezoidal threads on the limb 120, it not only connects to external components but also provides axial self-locking capability, further enhancing functional integration. This functional integration addresses the issue of excessive space requirements in transmission equipment, achieving the goal of lightweight design.

[0045] Specifically, the trapezoidal thread is a 30° trapezoidal thread.

[0046] In some embodiments, at least two guide rods 140 are provided, and each guide rod 140 is arranged in a circular array with the limb rod 120 as the central axis. By providing at least two guide rods 140 arranged in a circular array, the force can be better distributed, the load-bearing capacity of the entire mechanism can be improved, and the limb length adjustment mechanism 100 can be more stable during adjustment, and less prone to shaking or displacement. In addition, since each guide rod 140 is arranged in a circular array with the limb rod 120 as the central axis, the guide rods 140 and the limb rod 120 are arranged vertically in the longitudinal direction, which is similar to a series superimposed layout. This not only improves space utilization and reduces the lateral space of the mechanism, making the spatial layout more compact, but also makes full and effective use of the guiding length of the guide rods 140, and the limb rod 120 has a larger axial extension, which can accommodate more users.

[0047] Specifically, the guide rod 140 may have two, three, or more depending on the spatial design; there is no limitation here.

[0048] In some embodiments, the circumferential limiting member 141 includes a limiting block 1411. The limiting block 1411 is fixedly disposed at one end of the limb 120 facing the bracket 110. The limiting block 1411 is sleeved on the outside of the guide rod 140 and slidably disposed on the guide rod 140. By setting the limiting block 1411 to be sleeved on the outside of the guide rod 140, when the nut connector 130 rotates, the limb 120 and the guide rod 140 are subjected to a rotational driving force, but because the limiting block 1411 is sleeved on the outside of the guide rod 140, the limiting block 1411 and the limb 120 cannot rotate accordingly, and the rotational motion of the nut connector 130 is converted into the linear motion of the limb 120.

[0049] In addition, since the limiting block 1411 is sleeved outside the guide rod 140, the limiting block 1411 and the guide rod 140 are in full contact, and the radial force is evenly distributed, which makes the axial movement of the limb 120 more stable.

[0050] Furthermore, a self-lubricating bushing 142 is provided at the sliding connection between the limiting block 1411 and the guide rod 140. The self-lubricating bushing 142 reduces the frictional resistance between the limiting block 1411 and the guide rod 140, making the sliding of the limiting block 1411 on the guide rod 140 smoother, reducing energy consumption during operation, and extending the service life of the component. In addition, the self-lubricating bushing 142 can also effectively prevent noise caused by friction, improving the user experience.

[0051] Specifically, the limiting block 1411 has a sliding hole that is slidably connected to the guide rod 140. A self-lubricating bushing 142 is installed in the sliding hole. The limiting block 1411 is also provided with a cover plate 143, which covers and positions the self-lubricating bushing 142 inside the limiting block 1411.

[0052] In some embodiments, the support 110 is cylindrical. The support 110 includes an upper support 111, a connecting tube 112, and a lower support 113 connected sequentially. The upper support 111 is used to connect external components, i.e., other components on the rehabilitation device. One end of the limb rod 120 extends from one side of the lower support 113 to the outside of the support 110, and is used to connect external components, i.e., other components on the rehabilitation device. The lower support 113 is used to accommodate related components such as the nut connector 130. The connecting tube 112 is used to form a longitudinally extending space to constitute the support frame of the support 110, and different lengths of the connecting tube 112 are selected according to requirements to meet different usage needs. One end of the guide rod 140 is fixed to the upper support 111, and the other end extends to the lower support 113 to provide sufficient guidance. One end of the nut connector 130 extends from one side of the lower support 113 to the outside of the support 110, and is used to mate with the drive assembly 150.

[0053] Furthermore, the lower bracket 113 has an inwardly extending abutment edge 1131 at the end away from the connecting tube 112, and the angular contact ball bearing 160 abuts against the abutment edge 1131. A mounting cavity 1132 is formed within the lower bracket 113. The bracket 110 also includes a mounting plate 114, which is clamped and fixed between the connecting tube 112 and the lower bracket 113. The mounting plate 114 abuts against the nut connector 130 and the angular contact ball bearing 160 on the side facing the connecting tube 112, so as to axially limit the nut connector 130 and the angular contact ball bearing 160 within the mounting cavity 1132. The mounting plate 114 has a through hole 1141 for the limb 120 to pass through, so as to limit the nut connector 130 and the angular contact ball bearing 160 without affecting the movement of the limb 120. The two ends of the angular contact ball bearing 160 abut against the abutment edge 1131 of the lower bracket 113 and the mounting plate 114 respectively, thereby achieving axial positioning, and thus the nut connector 130 also achieves axial positioning.

[0054] Specifically, the end of the connecting tube 112 has a space that matches the mounting plate 114. The mounting plate 114 is located in the end space of the connecting tube 112, and the side of the mounting plate 114 facing the lower bracket 113 abuts against the lower bracket 113, thereby achieving clamping between the connecting tube 112 and the lower bracket 113.

[0055] During installation, the mounting plate 114 can be placed in the end space of the connecting pipe 112 and further fixed to the connecting pipe 112 with fasteners such as screws. When the connecting pipe 112 is assembled with the lower bracket 113, the corresponding ends of the connecting pipe 112 and the lower bracket 113 can be further fixed with fasteners such as screws. The mounting plate 114 fully realizes the clamping and fixing between the connecting pipe 112 and the lower bracket 113, thereby achieving axial limiting of the nut connector 130 and the angular contact ball bearing 160.

[0056] Furthermore, the end of the guide rod 140 furthest from the upper bracket 111 is fixedly mounted on the mounting plate 114. Since one end of the guide rod 140 is fixed to the upper bracket 111 and the other end is fixed to the mounting plate 114, the stable fixation of both ends of the guide rod 140 makes the entire bracket 110 structure more stable and improves the stability of the axial movement of the limb 120.

[0057] Specifically, the upper bracket 111 and the connecting pipe 112 are interconnected by slot positioning and locking screws, and the connecting pipe 112 and the lower bracket 113 are interconnected by slot positioning and locking screws. The mounting plate 114 can be fixed to the end of the lower bracket 113 or the connecting pipe 112 by slot positioning and locking screws, and is clamped between the lower bracket 113 and the connecting pipe 112. The bracket 110 and the internal structure are reasonably matched with a precise inner diameter to withstand radial force, and all parts are tightened together by locking screws and nuts to withstand axial force.

[0058] By disassembling the bracket 110 into an upper bracket 111, a connecting tube 112, a lower bracket 113, and a mounting plate 114, the overall structure can be easily disassembled and assembled.

[0059] In some embodiments, the drive assembly 150 includes a motor 151, a drive gear 152, and a driven gear 153. The motor 151 is fixedly mounted on the outside of the bracket 110. The drive gear 152 is fixed to the output end of the motor 151. The driven gear 153 meshes with the drive gear 152, and is sleeved on the outside of the nut connector 130 and fixed relative to it. When adjustment is required using the limb length adjustment mechanism 100, the motor 151 drives the drive gear 152 to rotate, which in turn drives the meshing driven gear 153 to rotate, thereby rotating the nut connector 130. The drive assembly 150 is not only simple in structure and easy to implement, but also ensures stable transmission of driving force, making the adjustment of the limb 120 more precise and reliable.

[0060] To achieve relative fixation between the driven gear 153 and the nut connector 130, they need to be fixed relative to each other in both the axial and circumferential directions. Specifically, to achieve circumferential fixation, the nut connector 130 has a protrusion 133 on its outer periphery, and the driven gear 153 has a corresponding groove 1531 on its inner side. When the driven gear 153 is fitted onto the outer side of the nut connector 130, the protrusion 133 is located within the groove 1531. Because the protrusion 133 is located within the groove 1531, the nut connector 130 and the driven gear 153 are circumferentially fixed, allowing the driven gear 153 to drive the nut connector 130 to rotate synchronously.

[0061] Specifically, the protrusion 133 is a C-shaped flat key. Of course, the protrusion 133 can also be other shapes, as long as it achieves the relative fixation of the nut connector 130 and the driven gear 153.

[0062] To achieve axial relative fixation between the driven gear 153 and the nut connector 130, a locking nut 170 is threadedly connected to one end of the nut connector 130 extending outside the bracket 110. The locking nut 170 abuts against the side of the driven gear 153 opposite to the driven gear 153, thereby axially fixing the driven gear 153 and the nut connector 130 relative to each other. When the locking nut 170 is tightened to the driven gear 153 until the driven gear 153 abuts against the end face of the bracket 110, the driven gear 153 is axially positioned, and thus axially fixed relative to the nut connector 130.

[0063] Furthermore, the limb length adjustment mechanism 100 also includes an end face bearing 180. The end face bearing 180 is sleeved on the outside of the nut connector 130 and is located between the end faces of the driven gear 153 and the bracket 110. By providing the end face bearing 180, the friction during rotation can be reduced, making the rotation of the driven gear 153 smoother.

[0064] Furthermore, the driving gear 152 is a non-rigid gear, while the driven gear 153 is a rigid gear. By using a combination of the non-rigid driving gear 152 and the rigid driven gear 153 for transmission, compared with traditional rigid gear transmission, meshing noise between gears can be eliminated, improving user comfort.

[0065] Specifically, the motor 151 is radially fixed to the bracket 110 by locking screws, thereby fixing and positioning the fixed end of the drive assembly 150. The output end of the motor 151 is connected and fixed to the drive gear 152 by locking screws. The motor 151 can be a motor 151 with a brake function. When the motor 151 stops working, the brake function can lock the output shaft of the motor 151 in time to prevent the motor 151 from reversing or moving accidentally due to external load or inertia, thereby ensuring the stability and safety of the limb length adjustment mechanism 100.

[0066] In some embodiments, the limb length adjustment mechanism 100 further includes a sensor 190. The sensor 190 is disposed within the bracket 110 and is used to sense the position of the end of the limb 120 and emit a signal.

[0067] By using sensor 190 to mark the zero point of the limb 120, the displacement data fed back by sensor 190 is transmitted to the CPU processor in the external mechanism to mark this position as the zero point of the limb length. When different limb lengths need to be adjusted, the limb length data is converted into a control signal for servo motor 151 through the external control system, so as to realize the forward or reverse rotation and stop of motor 151, thus achieving precise control of limb length displacement.

[0068] Specifically, sensor 190 is connected to upper bracket 111 via locking screw to sense the position of limb 120 at one end inside bracket 110.

[0069] The sensor 190 can be an infrared sensor 190, a photoelectric sensor 190, a limit switch, or other sensing structures that can detect distance.

[0070] In one specific embodiment, the motor 151 of the drive assembly 150 and the sensor 190 inside the bracket 110 are electrically connected to an external control system. The external control system sets the limb length parameter and transmits the parameter to the motor 151 as an electrical signal. At this time, the motor 151 is enabled and starts to rotate, driving the drive gear 152 to transmit the motion to the nut connector 130 through the driven gear 153 in a gear transmission manner. The nut connector 130 starts to rotate and converts the rotational motion into linear motion of the limb 120 through the trapezoidal thread transmission. At this time, the limb 120 moves towards the sensor 190. When it reaches a predetermined distance from the trigger position at the lower end of the sensor 190, the sensor 190 is enabled and transmits a signal to the external control system. At this time, the external control system issues a stop command to the motor 151 and marks this position as the limb length zero point. Subsequently, the external control system sends a specific electrical pulse signal to the motor 151 based on the previously set limb length parameters and the transmission ratio calculation. The motor 151 rotates according to the instructions of the external control system and transmits the motion to the limb 120 through the transmission chain. When the limb 120 moves to the set length, the motor 151 is disabled and the brake is locked.

[0071] Another embodiment of this application provides a rehabilitation device, which includes the limb length adjustment mechanism 100 in any of the above embodiments.

[0072] Specifically, the rehabilitation equipment can be upper limb rehabilitation equipment or lower limb rehabilitation equipment, and the limb bar 120 corresponds to upper limb bar 120 or lower limb bar 120.

[0073] It should be noted that the terms "horizontal" and "vertical" do not imply that the components must be absolutely horizontal or vertical, but rather that they can be slightly tilted. Similarly, the terms "parallel" and "perpendicular" do not imply that the components are absolutely parallel or perpendicular, but rather that they can have a certain angular deviation. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but rather that it can be slightly tilted. In addition, the orientations or positional relationships indicated by terms such as "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" are based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships that are commonly used when the product of this application is in use. They are only for the purpose of describing the embodiments of this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0074] It is understood that in this document, "multiple" means at least two, such as two, three, etc., unless otherwise specified. Furthermore, the terms "including" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. The term "and / or" merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0075] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A limb length adjustment mechanism, characterized in that, include: support; A limb rod is movably disposed on the bracket along the axial direction, and the limb rod has external threads; A nut connector is threadedly connected to the limb rod, and the nut connector is rotatably mounted on the bracket. An angular contact ball bearing is sleeved on the outside of the nut connector, and the nut connector is rotatably mounted on the bracket via the angular contact ball bearing; A guide rod is fixedly installed inside the bracket. The axial direction of the guide rod is parallel to the axial direction of the limb rod. The limb rod is provided with a circumferential limiting member that can move along the axial direction of the guide rod to limit the rotation of the limb rod. The drive assembly drives the nut connector to rotate, thereby causing the limb to reciprocate along the axial direction.

2. The limb length adjustment mechanism according to claim 1, characterized in that, At least two guide rods are provided, and each guide rod is arranged in a circular array with the axis of the limb as the central axis.

3. The limb length adjustment mechanism according to claim 1, characterized in that, The circumferential limiting component includes a limiting block, which is fixedly disposed at one end of the limb facing the bracket. The limiting block is sleeved on the outside of the guide rod and slidably disposed on the guide rod.

4. The limb length adjustment mechanism according to claim 1, characterized in that, The nut connector includes: A cylindrical threaded sleeve is fitted onto the outside of the limb and threadedly connected to the limb; An annular boss is formed on the outer periphery of the cylindrical threaded sleeve, and two angular contact ball bearings are provided, located on both sides of the annular boss.

5. The limb length adjustment mechanism according to claim 4, characterized in that, The bracket is cylindrical and includes an upper bracket, a connecting tube, and a lower bracket connected in sequence. The upper bracket is used to connect external components. One end of the guide rod is fixed to the upper bracket, and the other end extends to the lower bracket. One end of the limb extends from one side of the lower bracket to the outside of the bracket and is used to connect external components. One end of the nut connector extends from one side of the lower bracket to the outside of the bracket and is used to dock with the drive component.

6. The limb length adjustment mechanism according to claim 5, characterized in that, The lower bracket extends inwardly from the end away from the connecting pipe body, and has an abutting edge. The angular contact ball bearing abuts against the abutting edge. A mounting cavity is formed inside the lower bracket. The bracket also includes: A mounting plate is clamped and fixed between the connecting tube and the lower bracket. The mounting plate abuts against the nut connector and the angular contact ball bearing on the side facing the connecting tube, so as to axially limit the nut connector and the angular contact ball bearing within the mounting cavity. The mounting plate has a through hole for the limb rod to pass through. The end of the guide rod away from the upper bracket is fixedly mounted on the mounting plate.

7. The limb length adjustment mechanism according to claim 1, characterized in that, The external thread of the limb is a trapezoidal thread.

8. The limb length adjustment mechanism according to claim 1, characterized in that, The driving component includes: The motor is fixedly mounted on the outside of the bracket; The drive gear is fixed to the output end of the motor; Driven gear, one end of the nut connector extends outside the bracket, the driven gear is sleeved on the outside of the nut connector and fixed relative to the nut connector, the driven gear meshes with the driving gear.

9. The limb length adjustment mechanism according to claim 8, characterized in that, The outer periphery of the nut connector is provided with a protrusion, and the inner side of the driven gear is provided with a corresponding insertion groove. When the driven gear is sleeved on the outer side of the nut connector, the protrusion is located in the insertion groove to fix the driven gear and the nut connector circumferentially.

10. The limb length adjustment mechanism according to claim 8, characterized in that, A locking nut is threaded onto one end of the nut connector extending outside the bracket. The locking nut abuts against the side of the driven gear opposite to the driven gear, thereby fixing the driven gear and the nut connector axially relative to each other.

11. The limb length adjustment mechanism according to claim 10, characterized in that, The limb length adjustment mechanism also includes an end face bearing, which is sleeved on the outside of the nut connector and located between the end face of the driven gear and the bracket.

12. The limb length adjustment mechanism according to claim 8, characterized in that, The driving gear is a non-rigid gear, and the driven gear is a rigid gear.

13. The limb length adjustment mechanism according to claim 1, characterized in that, The limb length adjustment mechanism also includes: A sensor, located within the support frame, is used to sense the position of the end of the limb and emit a signal.

14. A rehabilitation device, characterized in that, The limb length adjustment mechanism according to any one of claims 1-13, wherein the limb rod is an upper limb rod or a lower limb rod.

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