Joint training device

Abstract

This application discloses a joint training device, which includes a drive component, an execution component, and a detection component. The drive component outputs a constant-speed rotational motion; the execution component includes a rotating rod, which is connected to the drive component via a rotating shaft to drive the rod to rotate; the detection component detects the torque applied to the rotating rod; and the rotating rod is equipped with a limit component to limit the rotation angle of the rotating rod. The drive component drives the rotating rod to perform a constant-speed rotational motion via the rotating shaft. The user's limb contacts the rotating rod and applies a resistance force opposite to the direction of rotation, thereby subjecting the rotating rod to torque. The user performs rehabilitation training in this manner. Simultaneously, the detection component detects the torque applied to the rotating shaft and uses this to assess the user's muscle recovery status; the limit component limits the rotation angle of the rotating rod to prevent injury to the user's limbs in case of abnormal rotation, ensuring the safety of the device.

Description

Technical Field

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

[0002] Isokinetic exercise is a special type of exercise characterized by a constant angular velocity throughout joint movement, while resistance is dynamically adjusted in real time according to muscle strength. During this process, muscle contraction only increases its own tension and output torque, but cannot change the preset angular velocity. This mode allows muscles to withstand their maximum load at every point along the entire range of motion, thus achieving efficient training. This technique was initially used primarily for muscle function assessment and muscle recovery training after sports injuries. With continued research and the development of application technologies, isokinetic exercise techniques are increasingly widely used in rehabilitation medicine.

[0003] Currently, CT, MRI, or DXA are commonly used in clinical practice to measure muscle volume and mass. However, these devices are bulky and heavy, making them difficult to reposition and unsuitable for daily rehabilitation training. Related techniques employ isokinetic training using rotating rods, where the user applies force to the rods with their limbs. However, the rods rotate only 360°, and abnormal rotation can easily injure the user's limbs. Utility Model Content

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a joint training device capable of limiting the movement of a rotating rod.

[0005] According to a first aspect of this application, a joint training device includes a drive assembly, an execution assembly, and a detection assembly. The drive assembly is used to output a rotational motion at a constant speed. The execution assembly includes a rotating rod, which is connected to the drive assembly via a rotating shaft to drive the rotating rod to rotate. The rotating rod extends radially outward along the rotating shaft and is used to bear a force applied by a user's limb in the opposite direction to the rotation of the rotating rod. The detection assembly is used to detect the torque on the rotating rod. The rotating rod is equipped with a limiting assembly to limit the rotation angle of the rotating rod.

[0006] The joint training device according to the embodiments of this application has at least the following beneficial effects: the drive component drives the rotating rod to rotate at a constant speed through the rotating shaft, the user's limb contacts the rotating rod and applies a resistance force opposite to the direction of rotation, thereby subjecting the rotating rod to torque, and the user performs rehabilitation training in this way; at the same time, the detection component is used to detect the torque on the rotating shaft and to assess the user's muscle recovery status; the limiting component is used to limit the rotation angle of the rotating rod to avoid injury to the user's limbs when the rotating rod rotates abnormally, thus ensuring the safety of the device.

[0007] According to some embodiments of this application, the limiting component includes a machine head and a limiting pin. The machine head is sleeved on the outer periphery of the rotating shaft. The end face of the machine head facing the rotating rod is provided with a plurality of limiting holes. The limiting pin can be inserted into the limiting holes to limit the rotation angle of the rotating rod by structural interference with the rotating rod and the limiting pin.

[0008] According to some embodiments of this application, the machine head is provided with a button board and a light-emitting board. The button board is provided with a plurality of buttons, and the light-emitting board is provided with a plurality of LEDs. Each button and each LED corresponds one-to-one with each of the limiting holes. When the limiting pin is inserted into the limiting hole, the limiting pin triggers the button, and the button controls the corresponding LED to stay lit to indicate the position of the limiting pin.

[0009] According to some embodiments of this application, the detection component includes a torque sensor, an amplifier board, and a main board. The torque sensor is mounted on the rotating shaft and is used to detect the torque received by the rotating shaft. The amplifier board is sleeved on the outer periphery of the rotating shaft and is electrically connected to the main board. The amplifier board is used to amplify the signal sent by the torque sensor and transmit the amplified signal to the main board.

[0010] According to some embodiments of this application, the detection component further includes a carbon brush plate connected to the rotating shaft, the rotating shaft being able to drive the carbon brush plate to rotate, the carbon brush plate contacting the amplification plate through a carbon rod, and the carbon brush plate being used to supply power to the torque sensor.

[0011] According to some embodiments of this application, the rotating shaft is provided with a first mating plane, the rotating rod is provided with a positioning insertion hole, and the inner wall of the positioning insertion hole is provided with a second mating plane. When the rotating shaft is inserted into the positioning insertion hole, the first mating plane contacts the second mating plane, so that the rotating shaft can drive the rotating rod to rotate.

[0012] According to some embodiments of this application, the execution component further includes a fixed knob that passes through the rotating rod and is connected to the rotating shaft. The fixed knob is equipped with a laser positioner that emits a laser beam that propagates axially along the rotating shaft. When the laser beam emitted by the laser positioner irradiates a joint of the user's limb, the joint of the limb is positioned at the location of the rotating shaft.

[0013] According to some embodiments of this application, the joint training device further includes a base assembly, a lifting assembly, and a housing. The driving assembly, the execution assembly, the detection assembly, and the limiting assembly are all disposed in the housing. The housing is connected to the base assembly through the lifting assembly, and the lifting assembly is used to adjust the height of the housing.

[0014] According to some embodiments of this application, the base assembly includes a base plate, a transmission assembly, and a telescopic roller. The base plate is fixedly provided with a support foot, and the telescopic roller is movably disposed on the base plate via a linear bearing. The transmission assembly can drive the telescopic roller to extend along a first direction and support it on the ground, thereby causing the support foot to detach from the ground.

[0015] According to some embodiments of this application, the transmission assembly includes a first connecting rod, a second connecting rod, and an eccentric wheel. The first connecting rod is hinged to the second connecting rod, and the first connecting rod is fixedly connected to the eccentric wheel. The second connecting rod drives the first connecting rod and the eccentric wheel to rotate through movement. The telescopic roller is provided with a top plate, and the top plate contacts the eccentric wheel. The eccentric wheel drives the telescopic roller to perform telescopic movement through rotation.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The present application will be further illustrated below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments illustrated in the following drawings are exemplary and are only used to explain the present application, and should not be construed as limiting the present application.

[0018] Figure 1 This is a schematic diagram of the joint training device according to an embodiment of this application from one perspective; Figure 2 This is an exploded view of the limiting component in the joint training device according to an embodiment of this application; Figure 3 This is an exploded view of the detection component and the drive component in the joint training device according to an embodiment of this application; Figure 4 This is an exploded view of the connection between the rotating shaft and the rotating rod in the joint training device of this application embodiment; Figure 5 This is a schematic diagram of the base assembly in the joint training device according to an embodiment of this application; Figure 6 This is a schematic diagram of the internal structure of the lifting component in the joint training device according to an embodiment of this application; Figure 7 This is a structural schematic diagram of the joint training device according to another embodiment of this application.

[0019] Figure label: 101. First drive unit; 102. Reducer; 103. Controller; 104. Rotating shaft; 201. First mating plane; 202. Rotating rod; 203. Positioning hole; 204. Fixing knob; 205. Laser positioner; 206. Plastic gasket; 301. Machine head; 302. Limiting socket; 303. Keypad; 304. Illuminating panel; 305. Limiting pin; 401. Torque sensor; 402. Amplifier board; 403. Carbon brush plate; 404. Main board; 405. Bakelite board; 406. Support base; 500. Base assembly; 501. Base plate; 502. Support leg; 503. Telescopic roller; 504. Top plate; 505. Linear bearing; 506. First connecting rod; 507. Second connecting rod; 508. Eccentric wheel; 509. Second actuator; 510. Limiting element; 511. Bracket; 600. Lifting assembly; 601. Control box; 602. Cable chain; 603. Input socket; 604. Output socket; 701. Housing; 702. Lifting button; 703. Moving and fixing button; 704. Emergency stop button; 705. Hand-held emergency stop component; 706. Display component; 707. Handrail. Detailed Implementation

[0020] The embodiments of this application are described in detail below with reference to the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0021] In the description of this application, it should be understood that the terms "center", "middle", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing 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, and therefore should not be construed as a limitation of this application.

[0022] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0023] In the description of this application, unless otherwise expressly specified and limited, the terms "set up," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0024] In the description of this application, the use of terms such as "one embodiment," "some embodiments," "an example," "some instances," "some embodiments," "illustrative embodiment," "example," "specific example," and "some examples" indicates that the specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0025] This application provides a joint training device, which includes a drive component, an execution component, a detection component, and a limiting component. The execution component contacts the user's limb, and the drive component causes the execution component to rotate at a constant speed, meaning the execution component rotates at a constant angular velocity. During the rotation of the execution component, the user's limb applies a force opposite to the direction of rotation, thereby achieving the effect of limb rehabilitation training. Simultaneously, due to the force applied by the limb to the execution component, the shaft 104 of the drive component, which transmits torque, experiences torque. The detection component detects this torque during the process to assess the user's muscle recovery status. Notably, the limiting component limits the rotation angle of the execution component, preventing it from exceeding the preset value established for limb rehabilitation training and preventing limb injury caused by abnormal rotation of the execution component.

[0026] The contents of this application are described in detail below with reference to specific embodiments. It should be noted that the following description is merely illustrative and not a specific limitation of this application.

[0027] like Figure 1 As shown, in some embodiments, the drive component can output a constant speed rotational motion, thereby driving the execution component to rotate at a constant speed, which facilitates the user's limbs to perform rehabilitation training under the premise of constant speed rotation.

[0028] The drive assembly includes a first driver 101, a reducer 102, and a controller 103. The controller 103 controls the first driver 101 to output a preset torque. The first driver 101 can be a servo motor. The drive assembly also includes a rotating shaft 104. The first driver 101 is connected to the rotating shaft 104 via the reducer 102, thereby transmitting torque to the rotating shaft 104.

[0029] Furthermore, the actuation component includes a lever 202 connected to a shaft 104, so that the first driver 101 can drive the lever 202 to rotate at a constant speed via the shaft 104. When the user's limb contacts the lever 202 and applies a force to it, the shaft 104 is subjected to torque.

[0030] Specifically, the first end of the rotating rod 202 is connected to the rotating shaft 104 and extends radially outward along the rotating shaft 104. The middle part of the rotating rod 202 is bent, so that the second end of the rotating rod 202 extends radially along the rotating shaft 104. A flexible contact component is installed on the rotating rod 202 near the second end. The user's limb contacts the flexible contact component, thereby applying torque to the rotating rod 202. Since a portion of the rotating rod 202 extends radially outward along the rotating shaft 104, the rotating rod 202 can provide a relatively long lever arm when the user's limb applies force to the rotating rod 202, making it easier for the limb to exert force.

[0031] Understandably, the torque on the pivot 104 reflects the magnitude of the force exerted by the limb on the lever 202, and this device assesses the muscle recovery status of the limb by detecting the torque on the pivot 104. Therefore, the detection component is used to detect the torque on the pivot 104.

[0032] like Figure 2 As shown, in some embodiments, a limiting component is used to limit the rotation angle of the rotating rod 202. The limiting component includes a head 301 and a limiting pin 305. The head 301 is generally formed in an annular shape and surrounds the outer periphery of the rotating shaft 104. The end face of the head 301 facing the rotating rod 202 is provided with a plurality of limiting holes 302. Specifically, the limiting holes 302 are evenly distributed circumferentially on the end face of the head 301.

[0033] Furthermore, the limiting pin 305 can be inserted into any limiting hole 302. When the limiting pin 305 is inserted into the limiting hole 302, it protrudes from the end face of the machine head 301 and can form structural interference with the rotating rod 202. Specifically, when two limiting pins 305 are provided, they are inserted into two different limiting holes 302 respectively. Since both limiting pins 305 can form structural interference with the rotating rod 202, the rotating rod 202 can rotate in the area between the two limiting pins 305, but it cannot cross the limiting pins 305. It can be understood that when the rotating rod 202 comes into contact with the limiting pin 305, it reaches its rotation limit position. Therefore, the limiting pin 305 can limit the rotation angle of the rotating rod 202, thereby preventing the rotating rod 202 from exceeding its travel range during rotation.

[0034] Furthermore, to accommodate the rotation of the lever 202 to different users' limbs, the limiting pin 305 can be inserted into different limiting sockets 302. Therefore, the limiting pin 305 of this application can be detachably inserted into the limiting socket 302. Specifically, the limiting pin 305 is equipped with a corresponding button. When the user presses the button, the limiting pin 305 can be inserted into the limiting socket 302. After the installation of the limiting pin 305 is completed, the user releases the button, causing the limiting pin 305 to engage with the limiting socket 302, preventing the limiting pin 305 from dislodging from the limiting socket 302. Because a button is provided on the limiting pin 305, one-button quick insertion and removal of the limiting pin 305 can be achieved, facilitating operation.

[0035] In some embodiments, the head unit 301 is provided with a button plate 303 and a light-emitting plate 304. The button plate 303 is formed into an annular plate structure and surrounds the outer periphery of the rotating shaft 104. The button plate 303 is provided with a plurality of buttons, and the position of each button corresponds one-to-one with the position of each limiting socket 302. When the limiting sockets 302 are arranged in a circle, the buttons are also arranged in a circle.

[0036] Meanwhile, the light-emitting plate 304 is also formed into a ring-shaped plate structure and surrounds the outer periphery of the rotating shaft 104. The light-emitting plate 304 is provided with a number of lamp beads, and the position of each lamp bead corresponds one-to-one with the position of each limiting socket 302. When the limiting control is circumferentially distributed, the lamp beads are also circumferentially distributed.

[0037] Furthermore, when the limiting pin 305 is inserted into the limiting socket 302, as the limiting pin 305 extends, it gradually contacts and triggers the corresponding button. This button is electrically connected to the corresponding LED, and when the button is triggered, it controls the corresponding LED to remain lit, thus clearly displaying the current position of the limiting pin 305 and improving the ease of use of the device.

[0038] like Figure 3 As shown, in some embodiments, the detection component includes a torque sensor 401, which is wrapped around the rotating shaft 104 with flexible silicone. The torque sensor 401 detects changes in torque by deforming the rotating shaft 104, thereby realizing torque detection.

[0039] Furthermore, the detection assembly also includes a main board 404 and an amplifier board 402. The amplifier board 402 is formed into a ring-shaped plate structure and is sleeved on the outer periphery of the rotating shaft 104. Specifically, the amplifier board 402 is a PCBA amplifier board and is used to amplify the electrical signal sent by the torque sensor 401.

[0040] Meanwhile, the amplifier board 402 and the main board 404 are electrically connected. The amplifier board 402 transmits the amplified signal to the main board 404, thereby completing the transmission of the torque signal.

[0041] In addition, the joint training device also includes a support base 406, which is formed as a ring-shaped plate structure and is fitted around the outer periphery of the rotating shaft 104. A bakelite board 405 is fixedly mounted on the surface of the support base 406, and the amplification board 402 is fixedly mounted on the bakelite board 405. Both the bakelite board 405 and the support base 406 are provided with groove structures, which facilitates the connection of the amplification board 402 and the main board 404 along the groove structures through plug-in connectors, thereby reducing wire winding and ensuring stable connection and smooth and aesthetically pleasing wiring.

[0042] In some embodiments, the detection component further includes a carbon brush plate 403, which is connected to a rotating shaft 104 and the rotating shaft 104 can drive the carbon brush plate 403 to rotate.

[0043] Furthermore, the carbon brush plate 403 is equipped with a carbon rod, which is electrically connected to the amplifier board 402 to achieve circuit conduction. This facilitates the power supply of the device to the torque sensor 401, ensuring the smooth implementation of the detection process. Understandably, since the rotating shaft 104 needs to rotate continuously during operation, conventional wire-type connections are unsuitable for this scenario. The electrical connection between the carbon brush plate 403 and the amplifier board 402 via the carbon rod avoids the problem of wire entanglement associated with conventional wires.

[0044] like Figure 4 As shown, in some embodiments, since the rotating shaft 104 needs to drive the rotating rod 202 to rotate, it is necessary to avoid relative rotation between the rotating shaft 104 and the rotating rod 202. Therefore, the rotating shaft 104 is provided with a first mating plane 201, which is located on the side wall of the rotating shaft 104 near the end, so that the end of the rotating shaft 104 is formed into a tapered opening. At the same time, the first end of the rotating rod 202 is provided with a positioning insertion hole 203, and the inner wall of the positioning insertion hole 203 is provided with a second mating plane, so that the inner wall of the positioning insertion hole 203 matches the rotating shaft 104. When the rotating shaft 104 is inserted into the positioning insertion hole 203, the first mating plane 201 and the second mating plane contact each other, which facilitates the rotating shaft 104 to drive the rotating rod 202 to rotate.

[0045] In addition, the actuating component also includes a fixing knob 204, and the end of the rotating shaft 104 is provided with a corresponding threaded hole. The fixing knob 204 can pass through the positioning socket 203 and connect to the threaded hole. As the fixing knob 204 is continuously screwed in, the tapered opening of the rotating shaft 104 and the positioning socket 203 gradually become tighter, ensuring a tight connection between the rotating shaft 104 and the rotating rod 202.

[0046] In some examples, a laser positioner 205 is provided at the end of the fixed knob 204 facing away from the rotating shaft 104. The laser positioner 205 can emit a laser. Before the user's limbs act on the rotating rod 202, the laser emitted by the laser positioner 205 is first ensured to irradiate the joints of the limbs, ensuring that the joints of the limbs are coaxial with the rotating shaft 104, thus preventing the user from using the device in an incorrect posture.

[0047] Furthermore, to ensure accurate positioning of limb joints, it is necessary to ensure that the laser emitted by the laser positioner 205 propagates along the axial direction of the rotating shaft 104.

[0048] Meanwhile, the laser positioner 205 and the fixed knob 204 can be detachably connected. Specifically, the laser positioner 205 is provided with a first magnet, and correspondingly, the fixed knob 204 is provided with a second magnet at the end facing away from the rotating shaft 104. When the first magnet and the second magnet attract each other, the laser positioner 205 can be installed correctly.

[0049] In addition, a plastic gasket 206 is provided between the fixed knob 204 and the rotating rod 202. When the fixed knob 204 approaches the rotating rod 202 through the threaded connection, the fixed knob 204 and the rotating rod 202 clamp the plastic gasket 206 between them. The setting of the plastic gasket 206 can prevent the fixed knob 204 from coming loose and ensure the stability of the connection.

[0050] like Figure 1 As shown, in some embodiments, the joint training device further includes a base assembly 500, a lifting assembly 600, and a housing 701. A drive assembly is disposed within the housing 701, an execution assembly is connected to the outside of the housing 701, an amplification board 402 in the detection assembly is connected to the housing 701 via a support base 406, a main board 404 in the detection assembly is disposed within the housing 701, and a limiting assembly is connected to the housing 701 via the support base 406. Therefore, the drive assembly, execution assembly, detection assembly, and limiting assembly are all disposed within the housing 701. It is understood that the housing 701 protects its internal structure.

[0051] Furthermore, the base assembly 500 is placed on the ground, and the housing 701 is connected to the base assembly 500 via the lifting assembly 600. The lifting assembly 600 can adjust the height of the housing 701 through telescopic movement, so that the height of each working structure matches the user, making it convenient for the user to use this device.

[0052] In addition, handles 707 are provided on opposite sides of the housing 701, allowing users to adjust the actual position of the device via the handles 707, which facilitates the transportation of the device.

[0053] like Figure 5 As shown, in some embodiments, the base assembly 500 includes a base plate 501, a transmission assembly, and telescopic rollers 503. The base plate 501 has feet 502 on the side facing the ground. Specifically, four feet 502 are provided to ensure the base is stably placed on the ground. When the device is adjusted to the target position, it is placed on the ground via the feet 502, preventing the device from moving on the ground.

[0054] Furthermore, multiple telescopic rollers 503 are provided; specifically, four telescopic rollers 503 are provided. When the user needs to move the position of this device, the transmission component drives the telescopic rollers 503 to extend along a first direction, wherein the first direction is... Figure 5 The X-axis direction is shown in the diagram. As the telescopic roller 503 extends, it gradually approaches and contacts the ground until the support leg 502 leaves the ground. At this point, the device is supported by four support rollers, facilitating the user's repositioning of the device.

[0055] In some embodiments, the transmission assembly includes a first connecting rod 506, a second connecting rod 507, and an eccentric wheel 508, with one second connecting rod 507 corresponding to two first connecting rods 506 and two eccentric wheels 508. Both ends of the second connecting rod 507 are hinged to the first connecting rods 506, and the second connecting rod 507 drives the two first connecting rods 506 to rotate through movement. Simultaneously, the first connecting rods 506 are fixedly connected to the eccentric wheels 508, causing the eccentric wheels 508 to rotate as well.

[0056] The base plate 501 is fixedly equipped with a bracket 511, and the eccentric wheel 508 is rotatably mounted on the bracket 511 to ensure stable rotation of the eccentric wheel 508. A limiting member 510 is provided between the first link 506 and the second link 507, which can limit the relative rotation between the first link 506 and the second link 507, thereby preventing overtravel.

[0057] Furthermore, the telescopic roller 503 is movably mounted on the base plate 501 to enable its telescopic movement. To ensure stable movement of the telescopic roller 503, it is connected to the base plate 501 via a linear bearing 505.

[0058] Meanwhile, the telescopic roller 503 is provided with a top plate 504, which is used to contact the eccentric wheel 508. As the eccentric wheel 508 rotates, the eccentric wheel 508 can drive the telescopic roller 503 to telescopically move through the top plate 504, so that the telescopic roller 503 is close to or away from the ground.

[0059] Specifically, a second driver 509 is provided on the base plate 501. The second driver 509 is used to drive the second link 507 to perform offset movement, thereby driving the eccentric wheel 508 to rotate through the first link 506.

[0060] like Figure 6 As shown, in some embodiments, the lifting assembly 600 is used to drive the housing 701 to adjust its height. Here, the lifting assembly 600 adopts the structure of a lifting column. Specifically, the housing 701 is provided with a lifting button 702, which is connected to the main board 404 via a cable to control the lifting assembly 600 to perform lifting movements.

[0061] The lifting assembly 600 includes a housing, a control box 601, an input socket 603, and an output socket 604. The control box 601 is installed inside the housing, which is highly integrated and saves space on the outside of the housing.

[0062] Furthermore, the input socket 603 at the bottom of the lifting assembly 600 is connected to the output socket 604 at the top, and the output socket 604 reaches the input socket 603 through wiring inside the housing. This internal wiring reduces the need for additional connections. Simultaneously, the internal cables are fitted with cable chains 602, which prevents cables from becoming tangled inside the housing.

[0063] like Figure 7 As shown, in some embodiments, the surface of the housing 701 is provided with a movable fixing button 703, an emergency stop button 704, and a hand-held emergency stop component 705. The movable fixing button 703 is used to control the movement of the telescopic roller 503, the emergency stop button 704 is used to control the device to stop moving, and the hand-held emergency stop component 705 is used for emergency stopping of the device.

[0064] In addition, the device also includes a display component 706, which includes a connecting rod and a display screen. The connecting rod extends from the surface of the housing 701 and is connected to the display screen, which is used to display and set various parameters during the rehabilitation exercise process.

[0065] In actual implementation, the drive component drives the rotating rod 202 to rotate at a constant speed through the rotating shaft 104. The user applies reverse resistance by contacting the rotating rod 202 with their limbs, causing the rotating rod 202 to bear torque, thereby achieving muscle strength rehabilitation training. The detection component monitors the torque on the rotating shaft 104 in real time, thereby assessing the user's muscle strength recovery level. The limit mechanism is used to set the rotation angle range of the rotating rod 202, providing protection in case of abnormal movement, preventing user injury, and ensuring the safe operation of the equipment.

[0066] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A joint training device, characterized in that, include: A drive component for outputting rotational motion at a constant speed; An execution component, the execution component including a rotating rod, the drive component connected to the rotating rod via a rotating shaft to drive the rotating rod to rotate, the rotating rod extending radially outward along the rotating shaft, the rotating rod being used to bear a force applied by a user's limb in the opposite direction to the rotation direction of the rotating rod; A detection component, the detection component being used to detect the torque applied to the rotating rod; The rotating rod is equipped with a limiting component, which is used to limit the rotation angle of the rotating rod.

2. The joint training device according to claim 1, characterized in that, The limiting assembly includes a machine head and a limiting pin. The machine head is sleeved on the outer periphery of the rotating shaft. The end face of the machine head facing the rotating rod has a plurality of limiting holes. The limiting pin can be inserted into the limiting holes to limit the rotation angle of the rotating rod through structural interference with the rotating rod and the limiting pin.

3. The joint training device according to claim 2, characterized in that, The machine head is provided with a button board and a light-emitting board. The button board is provided with a number of buttons, and the light-emitting board is provided with a number of LEDs. Each button and each LED corresponds to a limit socket. When the limit pin is inserted into the limit socket, the limit pin triggers the button, and the button controls the corresponding LED to stay lit to indicate the position of the limit pin.

4. The joint training device according to claim 1, characterized in that, The detection assembly includes a torque sensor, an amplifier board, and a main board. The torque sensor is mounted on the rotating shaft and is used to detect the torque on the rotating shaft. The amplifier board is sleeved on the outer periphery of the rotating shaft and is electrically connected to the main board. The amplifier board is used to amplify the signal sent by the torque sensor and transmit the amplified signal to the main board.

5. The joint training device according to claim 4, characterized in that, The detection component also includes a carbon brush plate connected to the rotating shaft, which drives the carbon brush plate to rotate. The carbon brush plate contacts the amplification plate through a carbon rod and is used to supply power to the torque sensor.

6. The joint training device according to claim 1, characterized in that, The rotating shaft has a first mating plane, the rotating rod has a positioning hole, and the inner wall of the positioning hole has a second mating plane. When the rotating shaft is inserted into the positioning hole, the first mating plane contacts the second mating plane, so that the rotating shaft can drive the rotating rod to rotate.

7. The joint training device according to claim 1, characterized in that, The actuation component also includes a fixed knob that passes through the rotating rod and is connected to the rotating shaft. The fixed knob is equipped with a laser positioner that emits a laser beam that propagates axially along the rotating shaft. When the laser beam emitted by the laser positioner irradiates a joint of the user's limb, the joint of the limb is positioned at the location of the rotating shaft.

8. The joint training device according to claim 1, characterized in that, The joint training device further includes a base assembly, a lifting assembly, and a housing. The drive assembly, the execution assembly, the detection assembly, and the limiting assembly are all disposed in the housing. The housing is connected to the base assembly through the lifting assembly, and the lifting assembly is used to adjust the height of the housing.

9. The joint training device according to claim 8, characterized in that, The base assembly includes a base plate, a transmission assembly, and telescopic rollers. The base plate is fixedly provided with support legs. The telescopic rollers are movably mounted on the base plate via linear bearings. The transmission assembly can drive the telescopic rollers to extend along a first direction and support them on the ground, thereby lifting the support legs off the ground.

10. The joint training device according to claim 9, characterized in that, The transmission assembly includes a first connecting rod, a second connecting rod, and an eccentric wheel. The first connecting rod is hinged to the second connecting rod, and the first connecting rod is fixedly connected to the eccentric wheel. The second connecting rod drives the first connecting rod and the eccentric wheel to rotate through movement. The telescopic roller is provided with a top plate, which contacts the eccentric wheel. The eccentric wheel drives the telescopic roller to perform telescopic movement through rotation.

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